关键词: 掘进工作面, 机器人, 地质雷达, 全景扫描, 数字孪生, 质量评价

Abstract: In the process of coal mine excavation, the safety detection is an important link in production after blasting oper-ation. Aiming at the traditional safety evaluation method of safety officers using portable detection equipment and open hole experience judgment after excavation blasting, a robot technology for blasting quality evaluation is proposed in this paper. The realization method of crawler robot base in the environment of heading face is studied. The robot scans the front end of heading work by carrying geological radar to identify the stability of roof and surrounding rock. The three-dimensional laser scanning technology for underground roadway is studied. After panoramic scanning of underground roadway, the data is transmitted to the management and control platform system, Process and analyze the collected scanning data, generate the three-dimensional solid model of under-ground roadway, compare the obtained solid model with the design and construction drawings, and complete the acceptance of roadway construction quality; At the same time, the changes of solid model in multiple time periods are compared to assist in the analysis of roadway surrounding rock stability. Through the autonomous inspection of the robot, the rapid evaluation of roadway safety and quality in the initial stage of blasting in the heading face is realized, the operators in dangerous environment are reduced, and the intelligent level of the heading face is improved.