The invention relates to a mine autonomous three-dimensional surveying and mapping unmanned vehicle and a surveying and mapping method. The method comprises the steps: enabling a laser radar on the unmanned vehicle to collect the point cloud data of a current environment in real time during the advancing process of the unmanned vehicle in the mine, and transmitting the corresponding point cloud data to a host frame by frame; enabling the host to screen out high-value data points, and acquiring a plane feature point set and an edge feature point set according to the high-value data points; performing iterative pose optimization calculation to obtain the pose of the unmanned vehicle corresponding to the current frame, and creating a three-dimensional map of the current frame; and according to the three-dimensional map, planning an advancing route of the unmanned vehicle in real time, and according to the advancing route, controlling the unmanned vehicle to advance through a controller. The surveying and mapping task in the mine can be autonomously completed, and the efficiency and the precision are high.
本发明涉及一种矿山自主三维测绘无人车及测绘方法,方法包括:无人车在矿井中行进的过程中,其上的激光雷达实时采集当前环境的点云数据,并逐帧发送对应的点云数据至主机;主机从中筛选出高价值数据点,并据此分别获取平面特征点集合和边缘特征点集合;据此通过迭代位姿优化计算得到无人车对应所述当前帧的姿态,同时创建当前帧的三维地图;依据该三维地图,实时规划无人车的行进路线,并依据所述行进路线,通过控制器控制无人车行进。本发明能够自主完成矿井内部的测绘任务,且效率高和精度高。
Mine autonomous three-dimensional surveying and mapping unmanned vehicle and surveying and mapping method
矿山自主三维测绘无人车及测绘方法
2021-11-02
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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