SLAM技术及其在矿山无人驾驶领域的研究现状与发展趋势
SLAM technology and its research status and development trend in the field of unmanned mining
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摘要: 近年来,我国有关部门多次发布推进煤矿智能化建设的政策文件,要求将智能化技术与煤炭产业融合。无人驾驶作为当下热门的智能化技术,已被认为是煤矿智能化建设的重要手段。无人驾驶包括环境感知、定位建图、规划决策、自动控制等几大环节,其中,定位建图是各环节的前提与基础。SLAM是目前主流的定位建图技术,已针对地面、室内环境进行多年研究,并在多领域得到应用;但目前针对矿山复杂环境的研究尚处于起始阶段,具有广阔的发展前景。为推动SLAM技术在矿山无人驾驶领域的发展,对SLAM技术原理、成熟SLAM方案、现阶段矿山SLAM研究现状、未来矿山SLAM发展趋势进行了探讨。首先,明确了SLAM技术原理及框架;之后,由于SLAM技术在矿山无人驾驶领域的研究应用可借鉴地面成熟的技术方案,调研了目前地面具有代表性的SLAM方案,并根据所使用传感器,从视觉、激光以及多传感器融合三方面对其进行归类、分析与总结,得出了“多传感器融合是优化SLAM技术的重要手段”结论;接着,探究了现阶段矿山SLAM技术的研究现状,分析了视觉、激光、多传感器融合三种SLAM方案在井工煤矿、露天矿山的适用性与研究价值,得出了“多传感器融合SLAM是井工煤矿领域的最佳研究方案”、“SLAM技术在露天矿山领域研究价值不高”结论;最后基于前文分析,结合人工智能以及硬件发展趋势,提出矿山无人驾驶领域SLAM技术未来应向多传感器融合、固态化、智能化方向发展。
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关键词:
- 煤矿智能化 /
- 无人驾驶 /
- 定位建图 /
- Simultaneous Localization and Mapping /
- 多传感器融合
Abstract: In recent years, relevant departments in China have repeatedly issued policy documents to promote the intelligent construction of coal mines, requiring the integration of intelligent technology with the coal in-dustry. As a popular intelligent technology, autonomous driving has been considered an important means of intelligent construction in coal mines. Autonomous driving includes several major processes, including environmental perception, location mapping, planning and decision-making, and automatic control. Among them, location mapping is the premise and foundation of each process. SLAM is currently the mainstream positioning and mapping technology, which has been studied for many years for ground and indoor envi-ronments and has been applied in multiple fields; However, research on complex mining environments is still in its early stages and has broad development prospects. In order to promote the development of SLAM technology in the field of unmanned driving in mines, the principles of SLAM technology, mature SLAM solutions, current research status of mine SLAM, and future development trends of mine SLAM were dis-cussed. Firstly, the principle and framework of SLAM technology were clarified; Afterwards, as the research and application of SLAM technology in the field of unmanned mining can draw on mature ground tech-nology solutions, representative SLAM solutions on the ground were investigated. Based on the sensors used, they were classified, analyzed, and summarized from three aspects: vision, laser, and multi-sensor fusion. The conclusion was drawn that "multi-sensor fusion is an important means to optimize SLAM technology"; Furthermore, the current research status of mining SLAM technology was explored, and the applicability and research value of three SLAM schemes, namely vision, laser, and multi-sensor fusion, in underground coal mines and open-pit mines were analyzed. The conclusion was drawn that "multi-sensor fusion SLAM is the best research scheme in the field of underground coal mines" and "the research value of SLAM tech-nology in open-pit mines is not high"; Finally, based on the previous analysis, combined with the devel-opment trends of artificial intelligence and hardware, it is proposed that SLAM technology in the field of unmanned mining should develop towards multi-sensor fusion, solid-state, and intelligent direction in the future.
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