The 3D laser range finder design for the navigation and mapping for the coal mine robot

Olivka, Petr; Mihola, Milan; Novák, Petr; Kot, Tomáš; Babjak, Ján

doi:10.1109/carpathiancc.2016.7501155

Cited by 10 publications

(5 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Light detection and ranging (LiDAR) sensors send out quick laser pulses and measure the returning light. With the dense, highresolution 3D maps laser sensors can make, they can be computationally expensive [92,93].…”

Section: Time-of-flight-based Methodsmentioning

confidence: 99%

Survey of unmanned subterranean exploration, navigation, and localisation

Martz

Al-Sabban

Smith

2020

IET cyber-systems robotics

View full text Add to dashboard Cite

Subsurface networks include mining tunnels, caves, and the urban underground. Each of these environments presents a complex setting with significant challenges in exploration, exploitation, etc. Multiple hazards exist, including environmental and structural, and conditions degrade and change temporally. We present a survey of research in autonomy, networking and mobility focused on exploring and/or mapping subsurface networks in unpredictable and unexplored environments. The focus is on mining tunnels as a proxy subterranean environment; motivated by the proximity of the authors to the Bonita Peak Mining District; a Superfund site consisting of 48 historic mines which have contaminated soil, groundwater and surface water with heavy metals as a result of historic practices. The exploration and assessment of the mining tunnels for remediation efforts presents an extremely challenging problem in subterranean navigation. Arguably, the environment in question is the most extreme and challenging subterranean environment. Unmanned assets must enter to explore and re‐map the tunnels to assess safety for subsequent entrance by robots and/or humans for proper remediation. The survey is split into three categories — Locomotion, GPS‐denied navigation and localization, and Communication. It is concluded with a proposed design for a platform that addresses the difficulties of exploring an abandoned mine

show abstract

Section: Time-of-flight-based Methodsmentioning

confidence: 99%

Survey of unmanned subterranean exploration, navigation, and localisation

Martz

Al-Sabban

Smith

2020

IET cyber-systems robotics

View full text Add to dashboard Cite

show abstract

“…In The presented and realized technical solution with the two CCD cameras assumes such disposition to capture all object data coordinates. Thus, we try to avoid a technical solution and such disposition where the "z" coordinate axis will not be sufficiently able to determine shape, depth, and height of the sensing object [29]. Concerning this requirement, the CCD cameras' fixation at a right angle (in the mutual one) was also considered.…”

Section: -100mentioning

confidence: 99%

Center of Gravity Coordinates Estimation Based on an Overall Brightness Average Determined from the 3D Vision System

Holubek

Vagaš

2021

Applied Sciences

View full text Add to dashboard Cite

In advanced manufacturing technologies (including complex automated processes) and their branches of industry, perception and evaluation of the object parameters are the most critical factors. Many production machines and workplaces are currently equipped as standard with high-quality special sensing devices based on vision systems to detect these parameters. This article focuses on designing a reachable and fully functional vision system based on two standard CCD cameras usage, while the emphasis is on the RS 232C communication interface between two sites (vision and robotic systems). To this, we combine principles of the 1D photogrammetric calibration method from two known points at a stable point field and the available packages inside the processing unit of the vision system (as filtering, enhancing and extracting edges, weak and robust smoothing, etc.). A correlation factor at camera system (for reliable recognition of the sensed object) was set from 84 to 100%. Then, the pilot communication between both systems was proposed and then tested through CREAD/CWRITE commands according to protocol 3964R (used for the data transfer). Moreover, the system was proven by successful transition of the data into the robotic system. Since research gaps in this field still exist and many vision systems are based on PC processing or intelligent cameras, our potential research topic tries to provide the price–performance ratio solution for those who cannot regularly invest in the newest vision technology; however, they could still do so to stay competitive.

show abstract

“…An example of autonomous navigation control can be found in [28]. The mapping subsystem is intended for 3D map building during robot movement in a coal mine [24]. This system contains a Sick LMS111 two-dimensional (2D) laser scanner mounted on a rotating axis adding the third dimension to scanning.…”

Section: Sensors 3d Mapping and Autonomymentioning

confidence: 99%

Implementation of Explosion Safety Regulations in Design of a Mobile Robot for Coal Mines

et al. 2018

Self Cite

View full text Add to dashboard Cite

The article focuses on specific challenges of the design of a reconnaissance mobile robotic system aimed for inspection in underground coal mine areas after a catastrophic event. Systems that are designated for these conditions must meet specific standards and regulations. In this paper is discussed primarily the main conception of meeting explosion safety regulations of European Union 2014/34/EU (also called ATEX—from French “Appareils destinés à être utilisés en ATmosphères Explosives”) for Group I (equipment intended for use in underground mines) and Category M1 (equipment designed for operation in the presence of an explosive atmosphere). An example of a practical solution is described on main subsystems of the mobile robot TeleRescuer—a teleoperated robot with autonomy functions, a sensory subsystem with multiple cameras, three-dimensional (3D) mapping and sensors for measurement of gas concentration, airflow, relative humidity, and temperatures. Explosion safety is ensured according to the Technical Report CLC/TR 60079-33 “s” by two main independent protections—mechanical protection (flameproof enclosure) and electrical protection (automatic methane detector that disconnects power when methane breaches the enclosure and gets inside the robot body).

show abstract

The 3D laser range finder design for the navigation and mapping for the coal mine robot

Cited by 10 publications

References 3 publications

Survey of unmanned subterranean exploration, navigation, and localisation

Survey of unmanned subterranean exploration, navigation, and localisation

Center of Gravity Coordinates Estimation Based on an Overall Brightness Average Determined from the 3D Vision System

Implementation of Explosion Safety Regulations in Design of a Mobile Robot for Coal Mines

Contact Info

Product

Resources

About