基于SLAM导航的煤矿井下机器人设计  

Design of Coal Mine Downhole Robot Based on SLAM Navigation

作　　者：赵文金 朱子恒 吴云雁 Zhao Wenjin;Zhu Ziheng;Wu Yunyan(Shanxi Lu'an Environmental Protection Energy Development Co.,Ltd.Changcun Coal Mine,Shanxi Changzhi 046100)

机构地区：[1]山西潞安环保能源开发股份有限公司常村煤矿,山西长治046100

出　　处：《山东煤炭科技》2024年第2期161-165,共5页Shandong Coal Science and Technology

摘　　要：针对机器人在井下精准定位难题,实现机器人操作等问题,设计基于SLAM算法导航的井下机器人,利用激光雷达完成地形扫描,搭载Jetson Nano主机接收雷达数据实现建图、定位、路径规划、避障等功能,单片机接收来自主机的指令实现车轮电机速度与转角控制,进而完成井下探测、开采、运输、救援等工作。通过实验室的测试,验证了所设计的井下机器人能够有效地实现导航、避障等功能。Aiming at the problems of the difficult problem of downhole precise positioning of the robot,realizing the operation of the robot and so on,a downhole robot based on SLAM algorithm navigation is designed.The robot uses lidar to complete terrain scanning,the host equipped with Jetson Nano receives radar data to realize the functions of mapping,positioning,path planning,obstacle avoidance and so on.The singlechip receives instructions from the host to realize the speed and turning angle control of the wheel motor,thereby completing downhole exploration,mining,transportation,rescue and other work.Through laboratory testing,it is verified that the designed downhole robot can effectively achieve functions such as navigation and obstacle avoidance.

关 键 词：井下机器人 SLAM 导航 实验测试 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]