煤矿井下自主巡检机器人研究与应用

Research and application of autonomous inspection robots in underground coal mines

为了解决煤矿井下巡检效率低、人工巡检存在安全隐患等问题,设计了一种适用于煤矿井下复杂环境的自主巡检机器人。介绍了该巡检机器人的总体设计,详细阐述了该巡检机器人结构设计以及软硬件设计,并对环境建图、自主导航等关键技术进行了介绍。该巡检机器人硬件部分配备了多种传感器以感知井下恶劣环境,软件部分采用改进的ORB SLAM3算法提高弱光条件下的定位精度,结合A算法进行全局路径规划,并通过DWA算法实现局部避障。通过在中煤新集口孜东矿业有限公司进行了工业性试验表明,该巡检机器人在提升巡检效率、降低人工成本和保障作业安全方面具有显著优势。

To address the issues of low inspection efficiency and safety risks associated with manual inspections in underground coal mines,an autonomous inspection robot suitable for the complex environment of underground coal mines was designed.The overall design of the autonomous inspection robot was introduced,the system design and software and hardware design of the autonomous inspection robot were expounded in detail,and environment mapping,autonomous navigation and other key technologies were introduced.The hardware part of the inspection robot was equipped with multiple sensors to sense the harsh underground environment;the software part used an improved ORB SLAM3 algorithm to improve the positioning accuracy under low light conditions,used the A algorithm for global path planning,and achieved local obstacle avoidance through the DWA algorithm.The industrial test conducted in China Coal Xinjikou Zidong Mining Co.,Ltd.showed that the robot had significant advantages in improving patrol efficiency,reducing labor costs and ensuring operation safety.