摘要
基于煤矿环境参数、设备状态及人员情况的巡检需求,针对井下低照度、巷道结构复杂且尚无精确的四旋翼导航定位系统(如北斗、GPS等)等特点,设计了一种煤矿四旋翼巡检机器人。该机器人以机载计算机为控制核心,结合光流、超声波等传感器构建自主飞行控制系统;通过MAVROS向飞控发送控制指令及获取飞行数据;依靠携带的温湿度传感器、气体传感器和摄像头实时获取井下环境信息并通过无线网络将采集到的数据和视频信息实时回传云平台。实验结果表明,该机器人运行稳定,自主性能良好,数据传输可靠。
Based on the inspection requirements of coal mine environmental parameters,equipment status and personnel conditions,a coal mine quadrotor inspection robot was designed for the characteristics of underground operation,such as lowilluminance,complicated roadway structure and no accurate quadrotor navigation and positioning system( such as Beidou,GPS,etc.). The robot uses an on-board computer as the control core and combines optical flow,ultrasonic and other sensors to build an autonomous flight control system;sends instructions to flight controllers and acquires flight data through MAVROS;and uses the temperature and humidity sensors,gas sensors,and cameras to carry the real-time environment information. And the collected data and video information are transmitted back to the cloud platform in real time through the wireless network.Experimental results show that the robot runs stably,has good autonomy and reliable data transmission.
作者
张力
马宏伟
梁艳
薛旭升
ZHANG Li;MA Hong-wei;LIANG Yan;XUE xu-sheng(College of Mechanical Engineering,Xi'an University of Science and Technology,Xi'an 710054,China;Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring,Xi’an 710054,China)
出处
《煤炭工程》
北大核心
2021年第2期180-185,共6页
Coal Engineering
基金
国家自然基金项目“煤矿井下多机械臂智能协同分拣煤矸石基础研究”(E050103)
陕西省重点研发计划重点产业创新链项目“煤矿综采工作面智能巡检机器人研发”(S2018-YF-ZDLGY-0011)
国家自然科学基金重点项目“数字煤矿及智能化开采基础理论研究”(51834006)。
关键词
煤矿四旋翼飞行机器人
巷道环境检测
信息回传
控制系统
coal mine quadrotor flying robot
roadway environment detection
information return
control system
