Simultaneous localization and mapping (SLAM) is the key technology for the automation of intelligent mining equipment and the digitization of the mining environment. However, the shotcrete surface and symmetrical roadway in underground coal mines make light detection and ranging (LiDAR) SLAM prone to degeneration, which leads to the failure of mobile robot localization and mapping. To address these issues, this paper proposes a robust LiDAR SLAM method which detects and compensates for the degenerated scenes by integrating LiDAR and inertial measurement unit (IMU) data. First, the disturbance model is used to detect the direction and degree of degeneration caused by insufficient line and plane feature constraints for obtaining the factor and vector of degeneration. Second, the degenerated state is divided into rotation and translation. The pose obtained by IMU pre-integration is projected to plane features and then used for local map matching to achieve two-step degenerated compensation. Finally, a globally consistent LiDAR SLAM is implemented based on sliding window factor graph optimization. The extensive experimental results show that the proposed method achieves better robustness than LeGO-LOAM and LIO-SAM. The absolute position root mean square error (RMSE) is only 0.161 m, which provides an important reference for underground autonomous localization and navigation in intelligent mining and safety inspection.

The existing multi-manipulator sorting method for gangue that utilizes a multi-task allocation strategy is not satisfactory. The single manipulator working space is fixed, lowering the cooperation degree between the manipulators and leading to a low sorting rate. Therefore, this paper proposes a multi-manipulator cooperative sorting method that can work globally. First, a benefit function based on the sorting time and quality of the gangue is constructed by combining the gangue flow information and the manipulator state. The time parameter is obtained via the manipulator’s dynamic target tracking trajectory planning algorithm based on PID control. Secondly, the benefits matrix is standardized and updated many times to improve the Hungarian algorithm to achieve task allocation, and the initial solution with priority is obtained. Finally, the solutions are analyzed and processed cooperatively in order of priority. The conflicts between multiple robotic arms are eliminated through task cooperation and trajectory cooperation until the sorting task that the robot arm can execute is obtained from the allocation results. Experiments involving different sorting methods were completed on a multi-arm coal and gangue sorting experimental robot platform. The experimental results show that the sorting efficiency of the proposed method is about 10% and 20% higher than that of the fixed space dynamic and designated space fixed points methods, respectively, under different belt speeds. This method can guarantee system benefits, effectively implements cooperative control of multi-manipulator operations in the whole area, and improves the efficiency of coal gangue sorting.

The polygonal drill pipe is one of the most critical yet weakest part in a high-torque drill machine. The inspection of a polygonal drill pipe to avoid its failure and thus to ensure safe operation of the drilling machine is of great importance. However, the current most frequently used ultrasonic inspection method is time-consuming and inefficient when dealing with a polygonal drill pipe, which is normally up to several meters. There is an urgent need to develop an efficient method to inspect polygonal drill pipes. In this paper, an ultrasonic guided wave technique is proposed to inspect polygonal drill pipes. Dispersion curves of polygonal drill pipes are firstly derived by using the semi-analytical finite element method. The ALID (absorbing layer using increasing damping) technique is applied to eliminate unwanted boundary reflections. The propagation characteristics of ultrasonic guided waves in normal, symmetrically damaged, and asymmetrically damaged polygonal drill pipes are studied. The results have shown that the ultrasonic guided wave technique is a promising and effective method for the inspection of polygonal drill pipes.

Realizing robust six degrees of freedom (6DOF) state estimation and high-performance simultaneous localization and mapping (SLAM) for perceptually degraded scenes (such as underground tunnels, corridors, and roadways) is a challenge in robotics. To solve these problems, we propose a SLAM algorithm based on tightly coupled LiDAR-IMU fusion, which consists of two parts: front end iterative Kalman filtering and back end pose graph optimization. Firstly, on the front end, an iterative Kalman filter is established to construct a tightly coupled LiDAR-Inertial Odometry (LIO). The state propagation process for the a priori position and attitude of a robot, which uses predictions and observations, increases the accuracy of the attitude and enhances the system robustness. Second, on the back end, we deploy a keyframe selection strategy to meet the real-time requirements of large-scale scenes. Moreover, loop detection and ground constraints are added to the tightly coupled framework, thereby further improving the overall accuracy of the 6DOF state estimation. Finally, the performance of the algorithm is verified using a public dataset and the dataset we collected. The experimental results show that for perceptually degraded scenes, compared with existing LiDAR-SLAM algorithms, our proposed algorithm grants the robot higher accuracy, real-time performance and robustness, effectively reducing the cumulative error of the system and ensuring the global consistency of the constructed maps.

Aiming at the problems of grab failure and manipulator damage, this paper proposes a dynamic gangue trajectory planning method for the manipulator synchronous tracking under multi-constraint conditions. The main reason for the impact load is that there is a speed difference between the end of the manipulator and the target when the manipulator grabs the target. In this method, the mathematical model of seven-segment manipulator trajectory planning is constructed first. The mathematical model of synchronous tracking of dynamic targets based on a time-minimum manipulator is constructed by taking the robot’s acceleration, speed, and synchronization as constraints. The model transforms the multi-constraint-solving problem into a single-objective-solving problem. Finally, the particle swarm optimization algorithm is used to solve the model. The calculation results are put into the trajectory planning model of the manipulator to obtain the synchronous tracking trajectory of the manipulator. Simulation and experiments show that each joint of the robot’s arm can synchronously track dynamic targets within the constraint range. This method can ensure the synchronization of the position, speed, and acceleration of the moving target and the target after tracking. The average position error is 2.1 mm, and the average speed error is 7.4 mm/s. The robot has a high tracking accuracy, which further improves the robot’s grasping stability and success rate.

Skewness Decision Tree Support Vector Machine (SDTSVM) algorithm is widely known as a supervised learning model for multi-class classification problems. However, the classification accuracy of the SDTSVM algorithm depends on the perfect selection of its parameters and the classification order. Therefore, an improved SDTSVM (ISDTSVM) algorithm is proposed in order to improve the classification accuracy of steel cord conveyor belt defects. In the proposed model, the classification order is determined by the sum of the Euclidean distances between multi-class sample centers and the parameters are optimized by the inertia weight Particle Swarm Optimization (PSO) algorithm. In order to verify the effectiveness of the ISDTSVM algorithm with different feature space, experiments were conducted on multiple UCI (University of California Irvine) data sets and steel cord conveyor belt defects using the proposed ISDTSVM algorithm and the conventional SDTSVM algorithm respectively. The average classification accuracies of five-fold cross-validation were obtained, based on two kinds of kernel functions respectively. For the Vowel, Zoo, and Wine data sets of the UCI data sets, as well as the steel cord conveyor belt defects, the ISDTSVM algorithm improved the classification accuracy by 3%, 3%, 1% and 4% respectively, compared to the SDTSVM algorithm. The classification accuracy of the radial basis function kernel were higher than the polynomial kernel. The results indicated that the proposed ISDTSVM algorithm improved the classification accuracy significantly, compared to the conventional SDTSVM algorithm.