煤矿机器人关键共性技术与发展策略  

The key common technology and development strategy of coal mine robot

作　　者：马宏伟[1,2] 聂珍[1,2] 王川伟[1,2] 薛旭升[1,2] 夏晶[1,2] MA Hongwei;NIE Zhen;WANG Chuanwei;XUE Xusheng;XIA Jing(College of Mechanical and Engineering,Xi’an University of Science and Technology;Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring)

机构地区：[1]西安科技大学机械工程学院 [2]西安科技大学陕西省矿山机电装备智能监测重点实验室

出　　处：《智能矿山》2020年第1期63-70,共8页Journal of Intelligent Mine

基　　金：国家自然科学基金资助项目(51975468);煤矿机电设备智能检测与控制科技创新团队资助项目(2018TD-032);国家自然科学基金青年基金资助项目(51705412)。

摘　　要：依据我国煤矿智能化的发展战略,针对煤矿机器人发展现状,阐述了煤矿机器人是煤矿机电装备的核心成员,构建煤矿智能化系统的重要力量;凝练了煤矿机器人“换人、替人、协助人,航空、航地、航水域,监测、监控、监管理,救险、救灾、救生命”的光荣使命;分析了煤矿机器人研发面临的“空间有限,地形复杂;设备众多,系统庞大;传感检测,对象多变;电磁干扰,信噪比低;环境艰险,防护严苛;持续工作,续航不足”等六大严峻挑战;指出了煤矿机器人亟待解决的“本体设计、位姿检测、自主导航、运动规划、传感检测、智能控制、通信传输、防爆防护、人机交互、健康维护”等十大关键共性技术;提出了“点-线-面贯通,水-陆-空布局,人-机-群协同,基-技-用并行”的煤矿机器人发展策略;展望了煤矿机器人发展的美好愿景。According to the development strategy of the intellectualization of coal mine in China and the present situation of the development of coal mine robot,this paper expounds that the coal mine robot is the core member of the electromechanical equipment of coal mine and the important force to construct the intellectualization system of coal mine.Condensed the glorious mission of the coal mine robot:“Replacing people,substitution and assisting people;Navigable air,ground and waters;Monitor measurement,control and management;Rescue emergency,disaster and lives”.The six serious challenges of coal mine robot research and development has been analyzed,“limited space and complex terrain;Numerous equipment and huge system;Sensor detection and changeable object;Electromagnetic interference and low signal-to-noise ratio;Dangerous environment and strict protection;Long working hours and short endurance”,etc.Ten key common technologies which need to be solved urgently are pointed out,such as“ontology design,position detection,autonomous navigation,motion planning,sensing detection,intelligent control,communication transmission,explosion-proof protection,human-machine interaction,and health maintenance”,etc.Some development strategies of coal mine robots are put forward,which is"point-line-surface connection,water-ground-air layout,man-machine-group coordination,basis-technology-application parallel".The good prospect of coal mine robot development is prospected.

关 键 词：煤矿机器人 关键共性技术 发展策略 煤矿智能化 

分 类 号：TD82[矿业工程—煤矿开采] TD67[矿业工程—矿山开采] TP242[自动化与计算机技术—检测技术与自动化装置]