井下凿岩机器人自主操作方法研究进展  

Research progress on autogenous operation method of underground rock-drilling robots

作　　者：黄开启[1] 苏建华[2] 张宇仁[2] 

机构地区：[1]江西理工大学机电工程学院,江西赣州341000 [2]中国科学院自动化研究所,北京100191

出　　处：《矿山机械》2013年第2期4-8,共5页Mining & Processing Equipment

摘　　要：凿岩机器人是有效解决井下人工凿岩带来的安全、效率和钻爆精度等诸多问题的重要装备,凿岩智能化也是实现"少、无人矿山"和"数字化矿山"的重要研究方向。井下复杂环境的矿道断面感知、凿岩运动规划和钻孔精确自定位、智能钻孔控制和基于钻孔参数信息提取的凿岩岩层识别是凿岩机器人实现自主操作的4个关键技术。分析与总结了国内外井下凿岩机器人自主操作方法的研究现状与进展,并对相关研究做出展望。The rock-drilling robot is an important equipment to solve many issues such as safety and efficiency of underground artificial drilling as well as precision of drilling and blasting. And intelligent drilling is the main research direction to realize ＂little-manned or unmanned mine＂ and ＂digital mine＂. Perception of mine tunnel landforms, scheduling of drilling motion and accurate self-positioning of drilling, control of intelligent drilling and rock identification based on drilling parameter data are the four key technologies to achieve autogenous operation of rock-drilling robot. In addition, the current research status and progress on autogenous operation methods of rock- drilling robot at home and abroad were analyzed and summerized, and relevant research was forecasted.

关 键 词：凿岩机器人 自主操作 感知与定位 钻孔控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]