煤矿辅助运输机器人关键技术研究

Research on key technologies of coal mine auxiliary transportation robot

针对煤矿辅助运输机器人移动速度较快、行驶路线多变、行驶路面情况复杂等特殊工况,给出了煤矿辅助运输机器人的结构形式和技术架构:采用无驾驶室的结构设计,以自动驾驶系统为控制中枢,以轮式防爆线控动力底盘为移动平台,通过可更换的多种上装载具,实现不同物料在井下运输的无人化。针对煤矿辅助运输机器人的环境感知、定位导航和路径规划三大功能,提出了相应的解决方案:①矿井低照度环境下的机器视觉增强及感知融合技术:通过深度相机红外成像技术和平面激光雷达探测技术相结合的方式实现机器人的环境感知功能;②煤矿井下受限空间内的无线通信及定位技术:利用物联网无线通信定位和即时定位与地图构建(SLAM)技术相结合的方式实现机器人执行运输作业时的主动精确定位;③矿井复杂地质条件下的路径规划及避障机制:利用最短路径搜索算法和动态窗口算法分别实现该机器人的全局路径规划和局部路径规划功能。

In view of special working conditions of coal mine auxiliary transportation robot such as fast moving speed,variable driving routes and complex driving road conditions,structural form and technical architecture of coal mine auxiliary transportation robot are given:the cabless structure design is adopted,automatic driving system is taken as control center,wheeled explosion-proof wire-controlled power chassis is used as mobile platform,and unmanned transportation of different materials underground is realized through a variety of replaceable upper loading tools.In view of three functions of environment perception,positioning navigation and path planning of coal mine auxiliary transportation robot,corresponding solutions are respectively proposed:①Machine vision enhancement and perception fusion technology in mine low illumination environment:environment perception function of robot is realized by combining depth camera infrared imaging technology and planar lidar detection technology;②Wireless communication and positioning technology in confined space of underground coal mine:combination of IoT wireless communication positioning and simultaneous localization and mapping(SLAM)technology is used to achieve active and precise positioning of robot during transportation operation;③Path planning and obstacle avoidance mechanism under complex geological conditions of coal mine:the shortest path search algorithm and dynamic window algorithm are used to realize functions of global path planning and local path planning of the robot respectively.