Design of control system for mine inspection device based on laser SLAM

Abstract

In order to realize the unmanned mining of the fully mechanized mining face in the coal mine, instead of the staff to explore and monitor the dangerous mining environment, we designed a control system for a mining inspection device based on laser SLAM. To meet the requirements of low power consumption and rapid parallel processing, NVIDIA Jetson AGX was chosen as the main control module, and dual communication method of WiFi and LoRa was adopted to meet different data transmission needs. The core of the driving system employs the STM32F103C8T6 microcontroller to drive the brushless DC motor by receiving instructions from the main control module. The algorithm uses non-maximum suppression to extract fine feature to achieve local maximum search, so as to locate and identify the target more accurately. Prototype tests of the inspection device control system were conducted in two different experimental environments: an indoor laboratory setting and an underground coal mine comprehensive mining working face. The tests aimed to assess mapping clarity, precise positioning, and target recognition effectiveness. The experimental results show that the design has excellent performance in feature extraction and other algorithms, and has high positioning accuracy, which meets the needs of practical applications.

Keywords

• fully mechanized working face
• inspection device
• laser slam
• dual communication method
• feature extraction