Design of Crawling-type Inspection Robot System for Underground Roadway in Coal Mine
In order to solve the problems of roadway inspection in coal mine,such as high labor intensity,low inspection efficiency,missing inspection and false inspection,a crawling-type inspection robot system with optimal path planning and autonomous walking was designed.The hardware and software design of the system were described in detail.STM32 circuit control board,laser radar and Jetson Xavier NX(module system)were used to construct the hardware system of the inspection robot,robot operating system(ROS)was used to construct the software system of the inspection robot,and the improved A*algorithm was used for path planning and autonomous walking control.Finally,simulation and testing were carried out.The results show that the inspection robot system can realize optimal path planning and autonomous walking,and replace manual inspection,reduce the labor intensity of inspection personnel,improve inspection efficiency,and effectively avoid missing and false inspection.
roadway inspection robotSTM32 circuit control boardpath planningimproved A*algorithm
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