瓦斯探测仿生蜘蛛机器人的研究与设计  

Research and Design of Gas Detection Bionic Spider Robot

作　　者：赵振磊 张美长 张嘉辉 谭瑶 计广硕 王金鹏 邓春鑫 ZHAO Zhenlei;ZHANG Meichang;ZHANG Jiahui

机构地区：[1]辽宁工程技术大学,辽宁阜新123000

出　　处：《科技创新与应用》2024年第31期34-37,共4页Technology Innovation and Application

基　　金：国家级大学生创新训练项目基金(202310147010)。

摘　　要：为保障煤矿安全生产,更好地监测井下瓦斯浓度。该文设计一款可以在矿井复杂环境中完成瓦斯浓度实时监测与预警、数据传输的多功能六足智能仿生机器人。该仿生蜘蛛机器人可以在煤壁上安全做业,机器人在煤壁采集的数据将被传送到云平台。并在云平台使用WOA-LSTM算法对瓦斯浓度进行预测。运用双目摄像头以及激光雷达等多种传感器实现融合定位功能,使机器人在井下有序作业。该机器人通过感知、导航、控制以及智能决策等方面的协作,实现对复杂环境下的高效精确巡视,以确保矿井安全生产。In order to ensure safe production in coal mines,the concentration of underground gas should be better monitored.In this paper,a multifunctional six-legged intelligent bionic robot is designed that can complete real-time monitoring and early warning of gas concentration and data transmission in complex mine environments.The bionic spider robot can safely operate on the coal wall,and the data collected by the robot on the coal wall will be transmitted to the cloud platform.The WOA-LSTM algorithm is used to predict gas concentration on the cloud platform.Binocular cameras and multiple sensors such as lidar are used to realize the fusion positioning function,allowing the robot to operate in an orderly manner underground.The robot achieves efficient and precise inspections in complex environments through collaboration in sensing,navigation,control and intelligent decision-making to ensure safe production in mines.

关 键 词：仿生 瓦斯检测 WOA-LSTM 瓦斯超前预测 矿井灾害防治 

分 类 号：TD76[矿业工程—矿井通风与安全]