| Citation: |
GUAN Shiyuan. Design and engineering practice of explosion proof inspection robot of fully mechanized mining face[J]. Coal Science and Technology，2025，53（2）：363−373. DOI: 10.12438/cst.2024-0287
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Aiming at severe working conditions of fully mechanized mining face, poor passage, weak protective ability, and limited means of perception technology exists for intrinsic safety inspection robot and cann't be normally operated. The explosion proof inspection robot scheme is proposed for severe working conditions. And three characteristic working conditions: climbing the hill, shear, torsion are analysized for railed inspection robot of mechanized mining face. Based on three kinds of harsh working conditions, a kind of multiple degrees of freedom explosion-proof inspection robot is designed. Besides the video perception method, the lidar slam mapping ability is added, then, the precise 3D perception capability is provided. And the perception is not affected by lighting conditions, so it is can run in lightless conditions. For climbing the hill working condition, tracked walking mechanism is adopted. For shear working condition, a kind of walking mechanism which has front and rear differential drives are designed and can steer on its own. For torsion working condition, longitudinal rotated axis is added. In order to control this inspection robot effectively and ensure steady running in working face, the kinematics model is analysized and gotten aiming at railed mechanized mining face inspection robot, and is subjected to trajectory and chassis constraints. The control method of the inspection is introduced. The reference trajectory is extracted from the point cloud which is obtained from slam. The velocity of every tracked active wheel is calculated according to the reference trajectory. A kind of MPC control method is proposed based on the kinematics model, and the MPC is implemented only for front differential drive, the control setpoint of rear drive is calculated by the speed reference of front differential drive and the constraint between them. This method balances between the computational complexity and real time performance. And the algorithm is realized based on ROS. Lastly, through enough underground industrial tests, this method is effective for climbing the hill, shear, torsion working condition and inspection tasks can be executed by normalization.
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