A Coupled Visual and Inertial Measurement Units Method for Locating and Mapping in Coal Mine Tunnel

Zhu, Daixian; Ji, Kangkang; Wu, Dong; Liu, Shulin

doi:10.3390/s22197437

Cited by 5 publications

(1 citation statement)

References 33 publications

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“…With the development of sensor technology, under complex geological conditions [7,8], the methods for measuring the contour of tunnel surfaces can be mainly divided into two categories: photogrammetry [9] and 3D-laser scanning [10][11][12]. The former method is severely affected by tunnel lighting, dust, and construction, etc.…”

Section: Introductionmentioning

confidence: 99%

Drilling Path Planning of Rock-Drilling Jumbo Using a Vehicle-Mounted 3D Scanner

Peng

et al. 2023

Sustainability

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Achieving intelligent rock excavation is an important development direction in underground engineering construction. Currently, some rock-drilling jumbos are able to perform autonomous operations under ideal contour surfaces. However, irregular contour surfaces resulting from factors such as rock characteristics, drilling deviation, and blasting effects present a significant challenge for automated drilling under non-ideal surfaces, which constrains the intelligentization of rock excavation. To address this issue, this paper proposes a method for extracting contour surfaces and planning drilling paths based on a vehicle-mounted 3D scanner. This method effectively extracts contour surfaces and optimizes drilling paths, thereby improving work efficiency and safety. Specifically, the proposed method includes: (i) the real-time scanning of cross-sectional contours using a vehicle-mounted 3D scanner to construct an accurate three-dimensional point-cloud model and obtain contour over-digging information; the acquired data are compared with theoretical drilling maps in the vehicle’s coordinate system to re-plan the blasting-hole point set; (ii) the development of a volume-based dynamic search algorithm based on the irregularities of contour surfaces to detect potential collisions between holes; and (iii) the conversion of the drilling sequence planning based on the new blasting hole point set into a traveling salesman problem (TSP), and optimization using a Hybrid Greedy Genetic Algorithm (HGGA) to achieve path traversal of all drilling positions. The effectiveness of the proposed method was verified using rock excavation in a certain mine as an example. The results show that the overall recognition rate of the contour over-digging reached over 80%, the number of arm collisions was significantly reduced, and the distance traveled by the drilling rig was reduced by 35% using the improved genetic algorithm-based rock-drilling rig path planning.

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Section: Introductionmentioning

confidence: 99%

Drilling Path Planning of Rock-Drilling Jumbo Using a Vehicle-Mounted 3D Scanner

Peng

et al. 2023

Sustainability

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Autonomous Positioning for Mobile Vehicles Based on Visual‐Inertial Fusion in Challenging Dark Roadway Scenes

Cui,

Pu,

et al. 2024

Journal of Field Robotics

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Accurate positioning for autonomous driven underground mining vehicles (UMVs) and coal mine robots (CMRs) is indeed one of the cores in the intelligentization of coal mining. Completely different from positioning on the ground and in parking scenes, there will be great difficulties in realizing the accurate active positioning for UMVs shuttled in dark and narrow roadways. We propose an effective visual and inertial fusion positioning method for autonomous CMRs and roadheaders in challenging roadway scenarios based on the odometer‐aided inertial navigation system and visual pose estimation system. Velocity information of the odometer is adapted to restrain the error accumulation of inertial positioning based on a Kalman filter. The hybrid visual feature detection algorithm is put forward to improve the accuracy and robustness of visual observation information in a dark environment. Autonomous experiments for CMRs and roadheaders are separately performed in the narrow roadway and dark passageway to demonstrate the applicability of our localization method. The proposed approach outperforms the subsystems and existing methods in accuracy and has outstanding stability.

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Research and trend of key technology of mining mobile robot mapping

Wang,

Sun,

et al. 2024

Third International Conference on Mechatronics and Mechanical Engineering (ICMME 2024)

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The change in maps after accidents poses significant inconvenience for personnel and rescue teams. Focused on surface and underground mining exploration maps, and considering the rapid emergency response of mining exploration robots, efforts are directed at determining optimal technical combinations by Analysising encompasses navigation positioning, wireless communication, data processing, and real-time mapping. Specially, in surface mining environments, inertial navigation combined with LiDAR(LIght Detection And Ranging) technology excels, considering factors like error accuracy, application scenarios, data processing capability, detection range, reliability, and cost. Wi-Fi technology is commonly used for data transmission. In underground mining environments, a combination of inertial navigation and visual technology, typically employing Zigbee wireless communication, is more suitable. Detailed analysis of real-time mapping techniques, emphasizing the comparison between laser SLAM (Simultaneous Localization and Mapping) and visual SLAM, as well as improvements in ORB-SLAM1-3(a Versatile and Accurate Monocular SLAM System), is presented. Finally, the prospects and trends of artificial intelligence in mobile robot map exploration are discussed, aiming to provide more accurate, reliable, and efficient solutions for mining exploration. These research findings contribute to optimizing the performance of intelligent mining exploration robots, enhancing their application capabilities in mining exploration and emergency rescue.

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A Coupled Visual and Inertial Measurement Units Method for Locating and Mapping in Coal Mine Tunnel

Cited by 5 publications

References 33 publications

Drilling Path Planning of Rock-Drilling Jumbo Using a Vehicle-Mounted 3D Scanner

Drilling Path Planning of Rock-Drilling Jumbo Using a Vehicle-Mounted 3D Scanner

Autonomous Positioning for Mobile Vehicles Based on Visual‐Inertial Fusion in Challenging Dark Roadway Scenes

Research and trend of key technology of mining mobile robot mapping

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