摘要
针对当前煤矿井下瓦斯巡检作业依赖人员操作和固定探头感知存在的自动化程度低和灵活机动性差等问题,设计了一种煤矿井下瓦斯智能巡检机器人系统(以下简称机器人系统),介绍了机器人系统的总体设计,并对机器人系统的本体机构设计、控制系统设计以及信息与通信系统设计进行了详细的介绍。测试结果表明,该机器人系统能够满足复杂巡检工况地形的越障要求,能够完成煤矿井下环境中瓦斯的实时精准监测。
Aiming at the problems that underground mine gas monitoring work mainly depended on manual operation and fixed probe perception's automatic degree and mobility were poor,a kind of intelligent patrol robotic system for gas of underground mine was designed. The overall design of the robotic system was introduced and the designs of mechanical structure,control system,information and communication system were introduced in detail. The test results showed that the robotic system could meet the obstacle crossing demands of complex terrain in gas patrol working condition and achieve real-time precise gas monitoring in underground mine environment.
作者
张海波
茹瑞鹏
张静
Zhang Haibo;Ru Ruipeng;Zhang Jing(Construction Management Department of Licun Coal Mine,Lu'an Group,Changzhi,Shanxi 046000,China;School of Information Engineering,Southwest University of Science and Technology,Mianyang,Sichuan 621010,China)
出处
《中国煤炭》
2019年第4期77-81,共5页
China Coal
关键词
瓦斯监测
巡检机器人
智能巡检
远程控制
gas monitoring
patrol robot
intelligent patrol
remote control
