井下防淤积清仓机器人行走机构纠偏控制研究

Deviation correction control method of the moving mechanism of silt prevention and clearing robot for underground coal mine sump

煤矿井下水仓环境淤泥沉积,清仓机器人清淤时易偏离行走路线,为此,提出煤矿井下水仓防淤积清仓机器人行走机构纠偏控制方法。分析清淤机器人的组成结构,构建机器人运动学模型;利用防爆相机和激光指向仪组成位姿测量系统,采集机器人实时位姿信息;计算位姿误差,设置运动学控制规律,确定PID控制函数,通过设计的PID控制器实现行走机构纠偏控制。实验结果表明,所提方法能够较为准确地采集机器人的行走位姿信息,确保机器人在设定路线下行驶,避免撞击障碍物,提高工作效率。

The sludge deposition in the environment of the underground bunker of the coal mine is likely to lead to deviation from the walking path for the clearing robot when clearing the sludge.Therefore,a deviation correction control method for the walking mechanism of the anti-siltation clearing robot of the underground coal mine sump is proposed.Structure of the robot is analyzed,and the kinematics model of the robot is built.The position and orientation measurement system is composed of explosion-proof camera and laser pointer to collect real-time position and orientation information of the robot.The position and attitude error is calculated,the kinematics control law is set,the PID control function is determined,and the deviation correction control of the walking mechanism is realized through the designed PID controller.The experimental results show that the proposed method can accurately collect the robot’s walking position and pose information,ensure that the robot travels under the set route,avoid hitting obstacles,and improve the work efficiency.