智能防突防冲钻孔机器人研究与应用  

Research and application of intelligent anti-outburst and anti-impact drilling robot

作　　者：张宏财 任永力 李俊庆 韩金永 ZHANG Hongcai;REN Yongli;LI Junqing;HAN Jinyong(Jikai Equipment Manufacturing Co.,Ltd,Shijiazhuang,Hebei 050035,China)

机构地区：[1]冀凯河北机电科技有限公司,河北省石家庄市050035

出　　处：《中国煤炭》2025年第4期106-111,共6页China Coal

摘　　要：为了解决现有煤矿井下钻探作业效率低、劳动强度大、安全隐患多等问题,结合井下钻探实际工艺工况,研究了一种智能防突防冲钻孔机器人。介绍了该机器人结构设计,详细阐述了其关键技术。该机器人运用AI视觉算法实现人员行为实时监测与危险区域智能预警;搭载激光雷达构建三维环境感知系统,实现自主避障与巷道定位;基于C++开发远程操控平台,通过井下网络实现钻机远程控制与数据管理;采用CAN总线+PLC智能控制架构优化系统集成度,结合PID闭环检测提升运行稳定性。通过工程实际应用验证表明,该机器人能够降低电控故障率,提升施工效率,减少现场人员配置,同时实现毫米级避障精度和全流程施工数字化管控,显著提升了井下钻探作业的安全性与智能化水平。To address the issues of low efficiency,high labor intensity,and numerous safety hazards in conventional coal mine underground drilling operations,an intelligent anti-outburst and anti-impact drilling robot has been developed,tailored to the actual working conditions of underground drilling.This paper presents the structural design of the robot and elaborates on its key technologies in detail.The robot utilizes AI vision algorithms for real-time monitoring of personnel behavior and intelligent warning of hazardous areas,equips with a LiDAR system to construct a three-dimensional environment perception system,enabling autonomous obstacle avoidance and tunnel positioning.A remote control platform developed in C++facilitates remote operation of drilling rigs and data management via underground networks.Adopting CAN bus+PLC intelligent control architecture,the system integration is optimized,and combined with PID closed-loop detection,operational stability is improved.Through engineering verification,the system has reduced the electrical control failure rate,improved construction efficiency,reduced on-site personnel configuration,and achieved millimeter level obstacle avoidance accuracy and full process digital construction control,significantly enhancing the safety and intelligence level of underground drilling operations.

关 键 词：智能防突防冲钻孔机器人 AI视觉算法 远程操控平台 PLC智能控制 数字化管控 

分 类 号：TD76[矿业工程—矿井通风与安全]