救援探测机器人动力系统设计  

Design of Power System of Rescue and Detection Robot

作　　者：薛春荣 李小波 王成锋 Xue Chunrong;Li Xiaobo;Wang Chengfeng(Key Laboratory of Coal Mine Gas Disaster Early Warning and Prevention of National Mine Safety Administration,Chongqing 400037,China;Chongqing Research Institute,China Coal Technology and Engineering Group,Chongqing 400037,China)

机构地区：[1]煤矿瓦斯灾害预警与防控国家矿山安全监察局重点实验室,重庆400037 [2]中煤科工集团重庆研究院有限公司,重庆400037

出　　处：《煤矿机械》2024年第5期1-5,共5页Coal Mine Machinery

基　　金：国家重点研发计划项目(2022YFB4703603);中煤科工集团重庆研究院有限公司自立项目(2023ZDZX04)。

摘　　要：针对救援探测机器人在防爆条件下动力匹配设计的难点,首先通过对救援探测机器人的动力系统进行分析研究,确定了动力系统优化的关键部件及其参数决策范围,建立动力系统的多目标优化模型。其次,利用PlatEMO多目标优化平台,采用非支配排序的NSGA-II遗传算法对救援探测机器人动力参数优化问题进行求解。最后,参照求解结果设计救援探测机器人的动力系统,并制造样机进行测试,结果表明救援探测机器人的动力性能参数满足设计要求。Aiming at the difficulty of power matching design for rescue and detection robot under explosion-proof conditions,firstly,by analyzing and studying the power system of the rescue and detection robot,the key components and parameter decision-making scope for optimizing the power system have been determined,established a multi-objective optimization model for power system.Secondly,using the PlatEMO multi-objective optimization platform,the non dominated sorting NSGA-II genetic algorithm was used to solve the optimization problem of dynamic parameters for rescue and detection robot.Finally,designed the power system parameters of the rescue and detection robot based on the solution results,and a prototype was manufactured for testing.The results showed that the power performance parameters of the rescue and detection robot meet the design requirements.

关 键 词：事故救援 探测机器人 多目标优化 光缆通信 动力匹配 

分 类 号：TD774[矿业工程—矿井通风与安全] TP242[自动化与计算机技术—检测技术与自动化装置]