摘要
针对煤矿工作面不同巡检需求及日常参数测定工作,提出多传感器融合的巡检机器人工作系统。该系统分为两大单元分别为惯性测量单元与参数测定单元,每个单元由3个不同的传感器组成。在确定传感器型号的基础上,通过现场试验首先对该设备的运动性能进行实测,结果显示:横坐标与纵坐标的最大误差率分别为4%与3.5%,平均误差率为0.5%与1.3%。其次进行参数测定单元的现场实测,最终成功地测出了温度、湿度和瓦斯浓度3组参数,证明该设备中多种传感器兼容性良好,足以完成日常巡检与参数测定工作。
Proposes a multi-sensor fusion inspection robot work system for different inspection needs and daily parameter measurement work in coal mine working faces.The system is divided into two major units,namely,inertial measurement unit and parameter measurement unit.Each unit is composed of three different sensors.On the basis of determining the sensor model,the motion performance of the device was first measured through on-site testing.The results showed that the maximum error rates of the horizontal and vertical coordinates were 4%and 3.5%,respectively,and the average error rates were 0.5%and 1.3%.Secondly,on-site measurement of the parameter measurement unit was carried out,and three sets of parameters,namely temperature,humidity,and gas concentration,were successfully measured.This proved that the compatibility of multiple sensors in the equipment was good enough to complete daily inspection and parameter measurement work.
作者
郭爱军
赵明辉
GUO Aijun;ZHAO Minghui(CHN Energy Shendong Coal Group Co.,Ltd.,Ordos 017200,China;Shendong Coal Branch,China Shenhua Energy Co.,Ltd.,Shenmu 719315,China;School of Electronics and Information Engineering,Tongji University,Shanghai 201804,China;China Coal Technology and Engineering Group Shanghai Co.,Ltd.,Shanghai 200030,China)
出处
《煤炭技术》
CAS
北大核心
2023年第12期233-235,共3页
Coal Technology
基金
中国神华能源股份有限公司神东煤炭分公司科技创新项目(E210100270)。
关键词
智能算法
机器人
煤矿安全
煤矿智能化
intelligent algorithm
robot
coal mine safety
intelligent coal mine
