【摘要】 井下自主导航是煤炭开采智能化非常关键的一个环节。由于井下环境复杂,寻常的导航轨迹生成方式不适用于井下导航轨迹的生成,论文提出了一种基于点云骨线的井下导航轨迹生成方法并通过实验进行验证;该方法针对井下环境复杂的特点,首先对井下点云场景进行平面提取,接着以中值理论为基础,对提取的平面进行骨线提取;实验结果表明,该方法在环境恶劣的井下也能为系统提供导航轨迹。更多还原

【Abstract】 Downhole self-guided navigation is a key part of the intelligence of coal mining. Due to the complex downhole environment,the ordinary navigation trajectory generation method is not suitable for the generation of downhole navigation trajectory.This paper proposes a method for generating downhole navigation trajectory based on the point cloud Skeleton line and validates it through experiments. This method is aimed at the complex features of the downhole environment. Firstly,plane extraction is performed on the downhole point cloud scene. Then,the extracted Skeleton line is extracted from the extracted plane based on the median theory. The experimental results show that the method can provide the navigation trajectory for the system in a poor environment.更多还原