Design of mine wheeled material transport robot

In order to realize the continuous auxiliary transportation technology of standardized loading，intelligent distribution，automatic transfer and unmanned transportation of underground materials in coal mines，and solve the problems of high energy consumption，serious gas pollution，and backward automation and informatization in the current trackless auxiliary transportation in coal mines，it is difficult to meet the requirements of standardized and intelligent modern logistics. A design scheme of a mine wheeled material transportation robot was proposed. It has the functions of clean power，environment perception，positioning and navigation and automatic driving，which can be used as the transportation platform of the intelligent auxiliary transportation system of coal mine. The scheme used a modular design to divide the basic functions of the transportation robot，such as walking and loading into relatively independent unit modules，which can be combined according to different needs to complete a variety of tasks，reduce vehicle types，increase the universality of components and realize the standardization of mine material transportation. Firstly，according to the special working conditions and material transportation requirements of coal mine，the technical index and overall structure of the robot were proposed，and the hierarchical relationship and unit composition of each system were clarified. Then，the structural form and technical characteristics of the walking chassis as the main functional carrier of the robot were introduced，and the matching design of the chassis power system was carried out. Through the establishment of the chassis kinematics model，the description parameters and control variables for predicting the driving state of the robot were proposed. Finally，the design of robot’s environmental perception，wireless communication and autonomous positioning were introduced separately. For the environment perception system，a group of RGB-D cameras and LIDAR were applied to realize real-time environment data collection. Meanwhile，the wireless communication system realized communication network coverage underground coal mine by deploying low delay WiFi+LoRa+UWB flame-proof communication base station in the roadway. The autonomous positioning system comprehensively utilized the wireless communication positioning function and environment-aware positioning technology to achieve precise positioning and navigation while the robot was running.