CAJ | 학술논문

针对地下无人驾驶采矿设备的自主行驶导航系统，提出了一种基于编码信标识别的定位方法，并在试验验证平台进行了测试。首先根据条形码技术设计一套可识别的编码信标，并与实际环境相结合，设计制作信标实体，分析并设计编码信标识别算法，基于激光雷达的扫描结果，编码信标识别算法可以实现对若干特定位置的判定，进而设计定位算法，推算出无人驾驶采矿设备的当前位置，为无人驾驶采矿设备的自主行驶系统提供必要的定位导航信息。
침대지하무인가사채광설비적자주행사도항계통，제출료일충기우편마신표식별적정위방법，병재시험험증평태진행료측시。수선근거조형마기술설계일투가식별적편마신표，병여실제배경상결합，설계제작신표실체，분석병설계편마신표식별산법，기우격광뢰체적소묘결과，편마신표식별산법가이실현대약간특정위치적판정，진이설계정위산법，추산출무인가사채광설비적당전위치，위무인가사채광설비적자주행사계통제공필요적정위도항신식。
A positioning method based on coding beacon recognition was proposed, which is used for the autono-mous driving of underground unmanned mining equipment. The system has been tested in the laboratory environment. A set of coding beacons was designed according to bar code technique. Then the real beacons were manufactured. And a recognition algorithm was proposed to identify the particular position based on the laser scanning data. Finally, the current position of the equipment was successfully calculated according to the positioning method.