综采工作面巡检机器人设计及应用

doi:10.11799/ce202411032

摘要/Abstract

摘要： 对于综采工作面可视化远程干预模式，采用巡检机器人代替人工巡检是实现智能开采的重要手段，在系统分析综采工作面巡检机器人研究现状的基础上，提出了包括巡检机器人自适应工作面、多传感器融合的环境感知与定位等难点，通过设计一种适用于综采工作面的巡检机器人系统，解决了巡检机器人自适应综采工作面的难题，并实现工作面环境视频图像采集、滚筒跟踪、快速巡检等功能。经现场验证，巡检机器人主机续航时间≥3.5 h，续航里程≥4.5 km，定位精度≤0.1 m，最大巡检速度可达0.35 m/s，为真正实现巡检机器人代人巡检提供完整、可靠的解决方案。

关键词: 智能化无人开采, 综采工作面, 巡检机器人, 柔性轨道, 自由巡检

Abstract: The use of inspection robots instead of manual inspection is an important means to achieve intelligent mining in the visualization remote intervention mode of fully mechanized working face. Based on the systematic analysis of the research status of inspection robots in fully mechanized working face, difficulties such as adaptive working face of inspection robots and environmental perception and positioning with multi-sensor fusion are proposed. By designing an inspection robot system suitable for fully mechanized mining face, Solved the problem of adaptive comprehensive mining face for inspection robots, and achieved functions such as video image acquisition, drum tracking, and rapid inspection of the working face environment. After on-site verification, the main engine of the inspection robot has a endurance time of ≥ 3.5h, a endurance mileage of ≥ 4.5Km, a positioning accuracy of ≤ 0.1m, and a maximum inspection speed of 0.35m/s, providing a complete and reliable solution for truly realizing the replacement inspection of inspection robots.

中图分类号:

TD67

谷敏永. 综采工作面巡检机器人设计及应用[J]. 煤炭工程, 2024, 56(11): 219-224.

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