Lidar based map construction fusion method for underground coal mine shaft bottom

XUE Guanghui; LI Ruixue; ZHANG Zhenghao; LIU Shuang; WEI Jinbo

doi:10.13199/j.cnki.cst.2022-1111

Volume 51 Issue 8

Aug. 2023

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COAL SCIENCE AND TECHNOLOGY > 2023 > 51(8): 219-227. > DOI: 10.13199/j.cnki.cst.2022-1111

XUE Guanghui，LI Ruixue，ZHANG Zhenghao，et al. Lidar based map construction fusion method for underground coal mine shaft bottom[J]. Coal Science and Technology，2023，51（8）：219−227

. DOI: 10.13199/j.cnki.cst.2022-1111

Citation:

XUE Guanghui，LI Ruixue，ZHANG Zhenghao，et al. Lidar based map construction fusion method for underground coal mine shaft bottom[J]. Coal Science and Technology，2023，51（8）：219−227

. DOI: 10.13199/j.cnki.cst.2022-1111

XUE Guanghui，LI Ruixue，ZHANG Zhenghao，et al. Lidar based map construction fusion method for underground coal mine shaft bottom[J]. Coal Science and Technology，2023，51（8）：219−227

. DOI: 10.13199/j.cnki.cst.2022-1111

Citation:

XUE Guanghui，LI Ruixue，ZHANG Zhenghao，et al. Lidar based map construction fusion method for underground coal mine shaft bottom[J]. Coal Science and Technology，2023，51（8）：219−227

. DOI: 10.13199/j.cnki.cst.2022-1111

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Lidar based map construction fusion method for underground coal mine shaft bottom

1.
School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing 100083, China
2.
Key Laboratory of Intelligent Mining and Robotics, Ministry of Emergency Management, Beijing 100083, China
3.
Institute of Intelligent Mine and Robotics, China University of Mining and Technology, Beijing 100083, China

Funds:

National Natural Science Foundation of China（51874308，61673385）

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Received Date: July 12, 2022
Available Online: July 14, 2023

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Abstract

Abstract

Intellectualization of coal mine is the technical support for high-quality development of coal industry, and robot replacement of key posts is the development trend of realizing efficient mining of coal with few people and no people. Simultaneous localization and mapping (SLAM) is one of the key technologies for autonomous movement and navigation of coal mine robots. The environment of underground coal mine is a typical unstructured environment, with narrow space, complex and changeable structure and uneven lighting, posing a severe challenge to the realization of SLAM in the underground coal mine. The research status of the map construction of the underground coal mine is summarized. In view of the shortcomings of the loopback detection of the LeGO-LOAM algorithm, the SegMatch algorithm is used to improve the loopback detection module of the LeGO-LOAM, the ICP algorithm is used to optimize the global map, and an improved algorithm integrating LeGO-LOAM and SegMatch is proposed, and the principle and implementation of the algorithm are discussed. The underground simulation scene experiments of coal mine were carried out, the mapping effect and accuracy of SLAM algorithm before and after the improvement were compared and analyzed, and the results showed that the map loopback effect constructed by the improved algorithm was better, and the estimated trajectory was smoother and more accurate. The construction method of two-dimensional occupied grid map is studied aiming at the navigation requirements, and the accuracy of the grid map constructed by this method is verified through experiments. The results show that the grid map after effectively filtering outliers such as dynamic obstacles has a mapping accuracy of 0.01 m, and the required storage space is 3 orders of magnitude lower than that of the point cloud map. The research results are helpful to the realization of SLAM and real-time positioning and autonomous navigation of the coal mine robot under the unstructured environment of the underground coal mine.
- underground coal mine,
- simultaneous localization and mapping,
- LeGO-LOAM,
- SegMatch,
- occupancy grid map,
- unstructured environment

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References

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Lidar based map construction fusion method for underground coal mine shaft bottom

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