矿井机器人智能巡检系统设计  

Design of Mine Robot Intelligent Inspection System

作　　者：郭坤闪 GUO Kunshan(Henan Zhongping Automation Limited by Share Ltd.,Pingdingshan,Henan Province,467000 China)

机构地区：[1]河南中平自动化股份有限公司,河南平顶山467000

出　　处：《科技资讯》2022年第12期22-25,共4页Science & Technology Information

摘　　要：井下采煤有许多问题,如冒顶、水灾,还含有二氧化碳和一氧化碳等有害气体以及甲烷等爆炸性气体。针对建设智能矿山的检查和监测等任务,智能巡检机器人集数据采集、视频巡检、智能分析、故障报警等功能于一体。对井下生产现场及大型设备进行智能巡检,实现无人值守作业,为数字化矿井建设提供有力支持。该文强调了对巡检机器人的重要要求,以及在设计此类机器人时遇到的一些限制。为了实现井下巡检的自动化,根据团队设计的基于柔性履带的悬挂式巡检机器人的机械结构和综采工作面巡检要求,设计了巡检机器人控制系统,介绍了巡检机器人的机械结构;并根据矿井巡检自动化的要求,提出了巡检机器人控制系统的功能要求,设计了基于分层控制的控制系统结构,其包括控制系统的总体方案、控制系统的硬件设计和控制系统的软件设计。接着该文还讨论了针对巡检系统的判别分析和系统应用,设计了多传感器数据采集解码模块,建立了视觉精定位的机器人自主充电模块和基于视觉辅助判断和串级PID控制算法的机器人自主运行模块。There are many problems in underground coal mining, such as roof fall, flood, harmful gases such as carbon dioxide and carbon monoxide, and explosive gases such as methane. In view of the inspection and monitoring of the construction of intelligent mine, the intelligent inspection system integrates data acquisition, video monitoring, intelligent analysis, fault alarm and other functions. Intelligent inspection of underground production site and large equipment can realize unattended operation and provide strong support for digital mine construction. This paper highlights the important requirements for inspection robots and some limitations encountered in the design of such robots. In order to realize the automation of underground inspection, according to the mechanical structure of the suspended inspection robot based on flexible crawler designed by the team and the inspection requirements of the fully mechanized mining face, the inspection robot control system is designed, the mechanical structure of the inspection robot is introduced, and according to the requirements of mine inspection automation, the functional requirements of the inspection robot control system are put forward, and the control system structure based on hierarchical control is designed, it includes the overall scheme of the control system, the hardware design of the control system and the software design of the control system. Then, this paper also discusses the discriminant analysis and system application of the inspection system, designs a multi-sensor data acquisition and decoding module, and establishes a robot autonomous charging module for visual fine positioning and a robot autonomous operation module based on visual aided judgment and cascade PID control algorithm.

关 键 词：矿井机器人 软件设计 巡检系统 矿井环境 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]