Research On The Localization And Material Taking Technology For Bucket-Wheel Based On Simultaneous Localization And Mapping(SLAM) Algorithm

This paper proposes a solution for automatic positioning and efficient material handling of Bucket-wheel based on simultaneous localization and mapping(SLAM)algorithm.The engineering innovation research conducted in this paper aims to provide a practical solution for the Bucket-wheel industry.The specific details are discussed below.(1)Research on Bucket-wheel Positioning Technology based on Simultaneous Localization and Mapping AlgorithmWhen using the synchronous localization and mapping algorithm for bucket-wheel positioning,the large amount of dust in the material yard affects the accuracy of the algorithm.This paper proposes a method to reduce the impact of dust on the algorithm and successfully applies it to the material yard environment.In order to further measure the accuracy of the algorithm in the material yard environment,a method for measuring the accuracy of the synchronous localization and mapping algorithm is proposed and its effectiveness is verified according to the on-site conditions.(2)Research on Material Taking Technology of Bucket WheelDue to the unpredictable shape of the material pile,the bucket-wheel is prone to blockage,which makes it difficult to ensure safety in the material yard.Building on the simultaneous localization and mapping algorithm that has determined the position of the bucket-wheel and created a 3D digital model of the material pile,this paper proposes for the first time the use of principal component analysis(PCA)to analyze the 3D data of the material pile,extract height and curvature features,and determine the important parameters in the bucket-wheel’s material retrieval process.Furthermore,a simulation environment is constructed based on the ROS operating system to validate the reliability of this method.(3)Human-machine interface designThe human-machine interface is designed in the QT environment,including a login interface,automatic mode interface,simulation/manual interface,and status information interface.The automatic mode interface monitors the three-dimensional state of the bucketwheel,while the simulation interface simulates the on-site environment of the bucket-wheel to reduce the danger during subsequent algorithm testing.The status information interface displays information annotations around the image to improve information readability.