摘要
为解决煤矿井下巷道巡检存在的劳动强度大、巡检效率低、漏检误检等问题,设计了1种具有最优路径规划、自主行走的履带式巡检机器人系统。详细阐述了该系统的硬件、软件设计,以STM32电路控制板、激光雷达、Jetson Xavier NX(模组系统)构建了巡检机器人的硬件系统,以机器人操作系统(Robot Operating System,ROS)构建了巡检机器人的软件系统,并采用改进的A算法进行路径规划和自主行走控制,最后实施了仿真与测试。结果表明,巡检机器人系统能够实现最优路径规划和自主行走,并代替人工巡检,降低了巡检人员的劳动强度,提升了巡检效率,有效地避免了漏检误检。
In order to solve the problems of roadway inspection in coal mine,such as high labor intensity,low inspection efficiency,missing inspection and false inspection,a crawling-type inspection robot system with optimal path planning and autonomous walking was designed.The hardware and software design of the system were described in detail.STM32 circuit control board,laser radar and Jetson Xavier NX(module system)were used to construct the hardware system of the inspection robot,robot operating system(ROS)was used to construct the software system of the inspection robot,and the improved A algorithm was used for path planning and autonomous walking control.Finally,simulation and testing were carried out.The results show that the inspection robot system can realize optimal path planning and autonomous walking,and replace manual inspection,reduce the labor intensity of inspection personnel,improve inspection efficiency,and effectively avoid missing and false inspection.
作者
胡盼
HU Pan(Shanxi Pingshu Coal Industry Co.,Ltd.,Jinzhong 045400,Shanxi,China)
出处
《能源与节能》
2024年第6期158-160,187,共4页
Energy and Energy Conservation
