Research and application of autonomous inspection robots in underground coal mines
To address the issues of low inspection efficiency and safety risks associated with manual inspections in underground coal mines,an autonomous inspection robot suitable for the complex environment of underground coal mines was designed.The overall design of the autonomous inspection robot was introduced,the system design and software and hardware design of the autonomous inspection robot were expounded in detail,and environment mapping,autonomous navigation and other key technologies were introduced.The hardware part of the inspection robot was equipped with multiple sensors to sense the harsh underground environment;the software part used an improved ORB-SLAM3 algorithm to improve the positioning accuracy under low light conditions,used the A*algorithm for global path planning,and achieved local obstacle avoidance through the DWA algorithm.The industrial test conducted in China Coal Xinjikou Zidong Mining Co.,Ltd.showed that the robot had significant advantages in improving patrol efficiency,reducing labor costs and ensuring operation safety.
万方数据
维普
