煤矿智能巡检机器人平滑轨迹规划研究  

Research on smooth trajectory planning of intelligent inspection robot in coal mines

作　　者：王申峰 雷延峰 江伟 徐丽君 刘新佩 李亚宁 Wang Shenfeng;Lei Yanfeng;Jiang Wei;Xu Lijun;Liu Xinpei;Li Yaning(Kuqa Kexing Coal Industry Co.,Ltd.,Xinjiang Kuqa,842300,China;Dedicated Measurement Control Co.,Ltd.,Shanxi Taiyuan,030032,China)

机构地区：[1]库车市科兴煤炭实业有限责任公司,新疆库车842300 [2]山西戴德测控技术有限公司,山西太原030032

出　　处：《机械设计与制造工程》2024年第6期61-66,共6页Machine Design and Manufacturing Engineering

基　　金：库车市科兴煤炭实业有限责任公司项目课题(THKYYSQ2022JD02)。

摘　　要：为解决传统机器人搭载的巡检仪器易受煤矿崎岖地面影响的问题,提出一种煤矿智能巡检机器人平滑轨迹规划方法。首先根据矿井情况构建机器人整体架构并设计并联结构,保证巡检仪的稳定;然后根据巡检机器人的运动方式构建其运动学模型,并计算位置误差,以实现对巡检机器人的理想控制;最后采用自适应遗传算法(AGA)对巡检机器人展开避障优化,通过计算获取最优路径,从而构建轨迹规划适应度函数,以此实现机器人巡检轨迹规划的目的,同时利用多项差值函数对规划轨迹进行平滑处理。实验结果表明,所提规划方法具有较为理想的规划轨迹能力,且最终的规划结果稳定性好。In order to solve the problem that the inspection instruments carried by traditional robots are easily affected by the rough ground of coal mine,a smooth trajectory planning method for intelligent inspection robots in coal mine is proposed.Firstly,the overall structure of the robot is constructed according to the mine situation and the parallel structure is designed to ensure the stability of the inspection instrument.Then,according to the motion mode of the inspection robot,the kinematics model is constructed,and the position error is calculated to realize the ideal control of the inspection robot.Finally,adaptive genetic algorithm(AGA)is used to optimize the obstacle avoidance of the inspection robot,and the optimal path is obtained through calculation,so as to construct the fitness function of trajectory planning and realize the purpose of trajectory planning of robot inspection.Meanwhile,multiple difference functions are used to smooth the planned trajectory.The experiment shows that the proposed planning method has ideal trajectory planning ability and the final planning result is stable.

关 键 词：并联结构 位置误差 自适应遗传算法 巡检机器人 平滑轨迹 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]