煤矿井筒巡检机器人自主移动控制方法仿真  

Simulation of Autonomous Movement Control Method for Coal Mine Shaft Inspection Robot

作　　者：智宝岩 尤峰 ZHI Bao-yan;YOU Feng(China Coal Shaanxi Energy and Chemical Group Co.,LTD,Yulin Shaanxi 719000,China)

机构地区：[1]中煤陕西能源化工集团有限公司,陕西榆林7190000

出　　处：《计算机仿真》2025年第2期477-481,共5页Computer Simulation

基　　金：中煤集团重大科技专项(2022110017000089)。

摘　　要：煤矿井筒环境复杂多变,地形起伏、障碍物分布以及光照条件等因素都可能对机器人的感知和导航造成干扰,增加了环境建模和路径规划的难度,针对上述问题,提出一种不确定环境煤矿井筒巡检机器人自主移动控制方法。对激光点云数据进行特征点匹配,基于特征点匹配结果,提取机器人位姿,并将位姿作为约束因子,辅助实现不确定环境下煤矿井筒巡检环境地图构建。采用改进遗传算法展开不确定环境下煤矿井筒巡检机器人路径规划,完成全局路径规划后,通过神经网络设计CVRL导航控制器,将机器人位姿作为控制器输入向量,更新单元动作网络权值,输出机器人行迹,实现机器人的自主移动控制。实验结果表明,在存在多种障碍物的环境下,利用该方法开展机器人自主移动控制时,控制精度高、效果好。The environment of coal mine shafts is complex and varied,and factors such as terrain undulations,obstacle distribution,and lighting conditions may interfere with the perception and navigation of robots,increasing the difficulty of environmental modeling and path planning.To address these issues,a method for autonomous movement control of uncertain environment coal mine shaft inspection robots is proposed.The laser point cloud data is matched with feature points,and based on the matching results of feature points,the pose of the robot is extracted,and the pose is used as a constraint factor to assist the construction of the environmental map of coal mine shaft inspection in uncertain environment.The improved genetic algorithm is used to develop the path planning of the coal mine shaft inspection robot in uncertain environment.After the global path planning is completed,the CVRL navigation controller is designed through neural network,and the robot posture is used as the input vector of the controller,and the weights of the unit action network are updated to output the robot tracks,thus realizing the autonomous movement control of the robot.The experimental results show that this method has high control accuracy and good effect when it is used to control the robot's autonomous movement in the environment with various obstacles.

关 键 词：不确定环境 煤矿井筒 巡检机器人 自主移动控制 控制器设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]