非结构化巷道巡检机器人皮带机稀疏点云边缘提取技术
Unstructured roadway inspection robot belt conveyor sparse point cloud edge extrac-tion technology
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摘要: 目前煤矿点云边缘特征的应用主要集中在综采面点云识别、露天矿自动驾驶等领域,对井工煤矿巷道无人化巡检的应用较少。在皮带巷巡检任务中,皮带机边缘提取能使机器人获取自身相对皮带机的空间位姿,为其执行巡检任务、判断煤流运输情况提供环境信息支持。提出一种基于投影-四叉树方法的边缘提取技术(Quadtree-based Points Edge Extraction, QBPEE),首先通过对点云环境下的井工煤矿环境特征进行分析分类,提出一种针对皮带巷的适应性传感器布置方案,将雷达数量需求降至1台。其次针对皮带机点云稀疏问题,通过结合RANSAC平面提取与投影-四叉树结构实现边缘提取,与另3种典型算法相比,能更有效应对皮带机点云的分区、聚类问题。根据对柠条塔煤矿皮带巷的数据采样,确定SOR滤波阈值为KD=25、MulThresh=0.1,皮带机平面提取阈值为0.02。最后利用rviz与Gazebo联合仿真,将使用手持激光扫描仪获取的皮带巷稠密点云模型转换为具备表面的巷道仿真场景。在仿真及现场实验中测试巡检平台不同运动工况、雷达遮蔽率及环境反射情况条件下的提取结果,在连续10000帧扫描中,不同运动工况下准确率最低96.33%,当雷达遮蔽率低于30%时,最低取准确率79.23%,饱和水层覆盖条件下最低准确率88%,单帧计算成本36ms,低于其它典型算法,为井下无人化巡检提供了关键技术支撑。所构建的皮带巷仿真数据及部分测试视频开源于Github。Abstract: Currently, the application of point cloud edge features in coal mines is primarily focused on areas such as identification of comprehensive mining faces and autonomous driving in open-pit mines, with relatively limited application in unmanned tunnel inspection tasks. In the context of belt roadway inspection in coal mines, edge extraction of belt conveyor enables robots to ascertain their spatial pose relative to the conveyor, thereby providing environmental information crucial for executing inspection tasks and assessing coal flow transportation conditions. Introduces a Quadtree-based Points Edge Extraction (QBPEE) technique, which combines projection with a quadtree method. Initially, through an analysis and classification of environ-mental characteristics in underground coal mines under point cloud scenarios, a sensor deployment scheme tailored to belt corridors is proposed, reducing the requirement for lidar units to a single device. Addressing the sparsity issue in belt conveyor point clouds, the method integrates RANSAC plane extraction with the quadtree structure to achieve edge extraction, demonstrating enhanced performance in handling segmenta-tion and clustering issues of belt conveyor point clouds compared to three other typical algorithms. Based on data sampling from the Ningtiaota Coal Mine's belt roadway, the SOR filtering thresholds are set at KD=25 and MulThresh=0.1, with a plane extraction threshold for the conveyor belt at 0.02. Subsequently, rviz and Gazebo are utilized in a joint simulation to convert a densely scanned point cloud model of the belt roadway, obtained via handheld laser scanning, into a tunnel simulation scenario with surfaces. The extraction results are tested under various simulated and real-world operational conditions of the inspection platform, con-sidering factors such as different motion scenarios, radar obstruction rates, and environmental reflections. Over 10,000 consecutive frames, accuracy remains above 96.33% across varying motion conditions, drops to a minimum of 79.23% when radar obstruction is below 30%, and reaches 88% under conditions of full saturation water layer coverage, with a per-frame computation time of 36ms, which is lower than other typical algorithms. This work thus provides a key technological underpinning for unmanned tunnel inspec-tions in underground mines. The constructed roadway simulation data and part of the test video are derived from Github.
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Key words:
- Belt Conveyor Roadway /
- Point Cloud /
- Edge Detection /
- Mobile Robot Inspection
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