煤矿智能巡检机器人定位技术研究  

Research on Positioning Technology of Intelligent Inspection Robot in Coal Mine

作　　者：高金波 田骞 周焘 GAO Jinbo;TIAN Qian;ZHOU Tao(Shaanxi Shanmei Hancheng Mining Industry Co.,Ltd.,Hancheng 715400,China)

机构地区：[1]陕西陕煤韩城矿业有限公司,陕西韩城715400

出　　处：《煤炭技术》2023年第11期234-236,共3页Coal Technology

摘　　要：煤矿智能巡检机器人目前已经广泛应用于工作面风险排查、参数测定等工作,基于超声波测距技术与卡尔曼滤波法对煤矿智能巡检机器人定位技术进行研究。分析推导二维坐标下的定位公式并利用卡尔曼滤波法对输出结果进行自计算校正,以得出最优解。同时,在试验现场多个点位布置超声波接收器,提取10个时间节点的坐标值进行结果分析,横坐标误差率与纵坐标误差率最大值均在5%以内,平均值均在3%以内,能够满足煤矿智能巡检机器人的实时定位。At present,the intelligent inspection robot in coal mine has been widely used in the work of risk inspection and parameter determination in the working face.Studies the positioning technology of the intelligent inspection robot in coal mine based on ultrasonic ranging technology and Kalman filtering method.The positioning formula in two-dimensional coordinates is analyzed and derived,and the output result is self-calculated and corrected by Kalman filtering method to obtain the optimal solution.At the same time,the ultrasonic receiver is arranged at multiple points on the test site,and the coordinate values of 10 time nodes are extracted for result analysis.The maximum value of the abscissa error rate and the ordinate error rate are within 5%,and the average value is within 3%,which can meet the real-time positioning of the coal mine intelligent inspection robot.

关 键 词：智能算法 定位技术 煤矿智能化 超声波定位 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]