煤矿无轨运输机器人多智能体控制系统关键技术研究  

Research on key technologies of multi-agent control system for trackless transportation robot in coal mines

作　　者：周德华 ZHOU Dehua(China Coal Technology and Engineering Group Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;China National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030006,China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司,山西太原030006 [2]煤矿采掘国家工程实验室,山西太原030006

出　　处：《煤矿安全》2024年第7期213-218,共6页Safety in Coal Mines

基　　金：天地科技股份有限公司科技创新创业资金专项资助项目(2022-2-TD-ZD012);山西省科技成果引导专项资助项目(202104021301067)。

摘　　要：为了解决煤矿下井无轨辅助运输效率低、柴油机尾气污染较大、智能化、信息化水平较低等问题,提出了以锂离子电池为动力源的煤矿井下无轨运输机器人的设计方案。无轨运输机器人具备零排放、环境感知、多信息融合、自主路径规划、自导航、自主行走等功能,以及煤矿井下特定区域的物料自主转运功能。给出了无轨运输机器人的技术架构;详细介绍了无轨运输机器人的底盘结构与底盘电气系统设计、逻辑控制过程和无轨运输机器人无线通信与自主定位设计方案;介绍了环境感知与路径规划的方案设计。In order to solve the problems of low efficiency of trackless auxiliary transportation in coal mine,high pollution of diesel exhaust,low intelligence and low information level,a design scheme of trackless transportation robot in coal mine with lithium ion battery as power source was put forward.The trackless transport robot has zero emission,environment perception,multi-information fusion,autonomous path planning,self-navigation,autonomous walking and other functions,as well as the autonomous transfer of materials in specific areas of the coal mine.The technical framework of the trackless transportation robot is given.The chassis structure,chassis electrical system design,logic control process and wireless communication and autonomous positioning design scheme of the trackless transport robot are introduced in detail.The scheme design of environment awareness and path planning is introduced.

关 键 词：无轨运输机器人 线控技术 无线通信 自主定位 路径规划 

分 类 号：TD676[矿业工程—矿山机电]