煤矿井下智能巡检机器人自动控制技术的研究

Research on Automatic Control Technology of Intelligent Inspection Robot in Coal Mine

针对煤矿无人化程度不高的情况,本文提出了一种智能巡检机器人的控制技术,用于综采工作面液压支架的调直。分析了机器人的功能需求,提出了控制系统的总体方案,针对机器人遇到的障碍类型提出了相应的行走路线。设计了控制器的硬件结构及软件流程,对传感器的型号及安装位置进行选型设计。智能巡检机器人控制系统以自动避障为核心,可实现工作人员的远程监控,满足了工作面液压支架直线度测量的无人化与智能化需求。

In view of the low degree of unmanned coal mine,this paper puts forward a control technology of intelligent inspection robot,which is used to straighten the hydraulic support in the fully mechanized coal mining face.The functional requirements of the robot are analyzed,the overall scheme of the control system is proposed,and the corresponding walking route is proposed according to the types of obstacles encountered by the robot.The hardware structure and software flow of the controller are designed,and the type and installation position of the sensor are selected.The control system of intelligent inspection robot takes automatic obstacle avoidance as the core,which can realize the remote monitoring of workers and meet the unmanned,and intelligent requirements of straightness measurement of hydraulic support in the working face.