To address the problems of poor operating quality,weak protection capabilities,insufficient power,short range,limited perception of surrounding environment,and inability to achieve normal operation of current intrinsically safe inspection robots in fully mechanized mining face,an explosion-proof inspection robot for fully mechanized mining face had been designed.The inspection robot adopted a modular design,equipped with multiple sensors,had sufficient power and effective protection capabilities,and provided 3D perception capabilities.The specific form of the actual deformation track of the fully mechanized mining face was analyzed and summarized,and a mechanical structure that can effectively cope with track deformation was designed based on its actual track form to solve the passability problem.Through practical application in coal mines,it had been shown that the inspection robot had 3D real-time mapping function,which could provide guidance for real-time coal cutting of shearer and achieve normal operation.
关键词
综放工作面/巡检机器人/三维实时建图/激光点云/模型预测控制
Key words
fully mechanized mining face/inspection robot/3D real-time mapping/laser point cloud/model predictive control
维普
万方数据