Tunnel and Underground Space (터널과지하공간)

Korean Society for Rock Mechanics and Rock Engineering (한국암반공학회)
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Field Experiment of a LiDAR Sensor-based Small Autonomous Driving Robot in an Underground Mine

라이다 센서 기반 소형 자율주행 로봇의 지하광산 현장실험

  • Kim, Heonmoo (Department of Energy Resources Engineering, Pukyong National University) ;
  • Choi, Yosoon (Department of Energy Resources Engineering, Pukyong National University)
  • 김헌무 (부경대학교 환경해양대학 에너지자원공학과) ;
  • 최요순 (부경대학교 환경해양대학 에너지자원공학과)
  • Received : 2020.01.07
  • Accepted : 2020.01.28
  • Published : 2020.02.29
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Abstract

In this study, a small autonomous driving robot was developed for underground mines using the Light Detection and Ranging (LiDAR) sensor. The developed robot measures the distances to the left and right wall surfaces using the LiDAR sensor, and automatically controls its steering to drive along the centerline of mine tunnel. A field experiment was conducted in an underground amethyst mine to test the driving performance of developed robot. During five repeated driving tests, the robot showed stable driving performance overall. There were no collision accidents with the wall of mine tunnel.

본 연구에서는 라이다 센서를 활용한 지하광산용 소형 자율주행 로봇을 개발하였다. 개발된 로봇은 라이다 센서를 사용하여 좌, 우 벽면까지의 거리를 측정하고, 지하광산 갱도의 중앙선을 따라 이동하도록 조향을 자동 제어한다. 개발된 로봇의 주행성능을 테스트하기 위해 지하 자수정광산에서 현장실험 수행하였다. 5번의 반복 실험에서 로봇은 전체적으로 안정적인 주행성능을 보여주었다. 광산 갱도 벽면과의 충돌 사고도 발생하지 않았다.

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