基于机器人巡检的矿冶领域四足机器人开发研究  

Development and Research on Quadruped Robots in the Field of Mining and Metallurgy Based on the Robot Inspection System

作　　者：郭丽敏 张维国 古健 李建舟[1] 郝朋越[1] 刘君[1] GUO Li-min;ZHANG Wei-guo;GU Jian;LI Jian-zhou;HAO Peng-yue;LIU Jun

机构地区：[1]中国恩菲工程技术有限公司,北京100038

出　　处：《有色设备》2022年第6期30-35,共6页Nonferrous Metallurgical Equipment

摘　　要：随着物联网的普及,各行各业的数字化转型和智能化升级已经成为必然趋势,实现大量基础设施和设备运转的无人值守,机器人巡检和运维成为关键环节。矿冶生产场景存在厂区结构复杂、设备多样,工艺阀门众多且危险系数高等特点,机器人巡检仅在某些典型场景取得了一些应用成果。本文综述了目前主流的几类智能巡检机器人的特点及应用案例,自主研发了四足巡检机器人,在矿冶领域的安全预警和应急疏散中取得了较好的应用效果。With the promotion of the Internet of Things, digital transformation and intelligent upgrading have been an inevitable trend for all industries. To realize unattended operation for a large number of infrastructure and equipment, robot inspection and maintenance become a crucial part. There are many features of mining and metallurgy, such as the complex structure, diverse equipment, numerous process valves and high risks, etc. Robot inspection only has achieved some application results in certain typical scenarios. This paper provides an overview of the features and application cases of several types of mainstream intelligent inspection robots.

关 键 词：巡检机器人 矿冶领域 导航控制 环境感知 

分 类 号：TD67[矿业工程—矿山机电] TP242[自动化与计算机技术—检测技术与自动化装置]