轨道式煤矿巡检机器人系统的设计与应用  

Design and Application of Orbital Coal Mine Inspection Robot System

作　　者：杨杰 YANG Jie(Luyukou Coal Mine,Taiyuan Coal Gasification Co.,Ltd.,Taiyuan,Shanxi 030204,China)

机构地区：[1]太原煤气化股份有限公司炉峪口煤矿,山西太原030204

出　　处：《自动化应用》2025年第7期24-27,共4页Automation Application

摘　　要：以煤矿综采工作面轨道式巡检机器人为研究对象,对其控制系统进行设计与研究,以实现工作面的自动找直与无人化巡检。采用PID控制理论,设计了基于STM32微控制器的硬件控制系统,并通过增量式编码器、无刷直流电机及高精度传感器实现对机器人运动状态的精确控制。通过现场测试验证,系统在不同坡度和复杂转弯环境下表现稳定,并成功应用于实际煤矿综采工作面,提高了巡检效率和安全性。This paper takes the track-type inspection robot of coal mine working face as the research object,and designs and researches its control system in order to realize the automatic straightening and unmanned inspection of working face.The hardware control system based on STM32 microcontroller is designed by adopting PID control theory,and the precise control of robot motion state is realized by incremental encoder,brushless DC motor and high-precision sensor.Through the field test verification,the system performs stably in different slopes and complex turning environments,and is successfully applied to the actual coal mine comprehensive mining face,which improves the inspection efficiency and safety.

关 键 词：煤矿 巡检机器人 系统控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]