Research on key technologies of coal mine roadway dust cleaning robot
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摘要: 巷道冲尘机器人可有效解决煤矿巷道积尘问题，但目前尚未有相对成熟的产品能够实现“积尘自动监测−自主/半自主移动−自适应冲尘作业”。分析了国内外研发的轮轨式巷道冲尘装置、防爆洒水车、整车底盘外加液压机械臂的隧道冲尘车3种冲尘装备的研究现状，指出轮轨式巷道冲尘装置不含动力系统，巷壁积尘的冲尘效果受到限制；防爆洒水车自带动力，能够实现无轨长巷道全断面粉尘降尘，但喷水面较广，无法处理巷壁及管线等局部积尘严重区域；隧道冲尘车可解决长距离隧道积尘问题，但仍需人工驾驶及操作，且无法实现隧道积尘监测及自适应冲尘。通过上述分析，指出巷道冲尘机器人为了实现“积尘自动监测−自主/半自主移动−自适应冲尘作业”，需要从积尘监测、冲尘装置结构设计与控制、冲尘模式优化策略等方面进行研究。并指出上述研究面临的主要技术难题不仅包括防爆安全设计、井下精确定位、长距离无线通信等煤矿机器人共性难题，还包含积尘监测、自适应冲尘、车臂协同作业等巷道冲尘机器人特性难题。针对巷道冲尘机器人特性难题，提出了相应的关键技术：① 研发基于称重法、激光法、图像法相结合的多传感器融合的巷道积尘监测技术，实现煤矿巷道积尘长期监测及冲尘效果动态评估。② 开发基于防爆机械臂和“风−水−刷”联动冲尘装置的冲尘结构，实现自适应冲尘。③ 建立车辆底盘和机械臂的统一工作空间，研发基于力矩控制的巷道冲尘机器人小偏差自动补偿和柔性避障技术，实现动态场景下的巷道冲尘机器人的车臂协同。Abstract: Roadway dust cleaning robot can effectively solve the problem of coal mine roadway dust accumulation. However, there is no relatively mature product to achieve "automatic dust accumulation monitoring-autonomous/semi-autonomous movement-adaptive dust cleaning operation". This paper analyzes the research status of three kinds of dust cleaning equipment developed at home and abroad, which are wheel-rail type roadway dust cleaning device, explosion-proof sprinkler and tunnel dust cleaning vehicle with chassis and hydraulic mechanical arm. It is pointed out that the wheel-rail type roadway dust cleaning device does not contain power system. The dust-cleaning effect of roadway wall dust is limited. The explosion-proof sprinkler has its own power, which can realize full section dust reduction of the trackless long roadway. However, the jet water surface is wide, and it is unable to deal with local areas with serious dust accumulation such as roadway walls and pipelines. Tunnel dust cleaning vehicle can solve the problem of dust accumulation in long-distance tunnels. However, manual driving and operation are still required, and it is impossible to realize tunnel dust accumulation monitoring and adaptive dust cleaning. Based on the above analysis, it is pointed out that in order to realize "automatic dust accumulation monitoring-autonomous/semi-autonomous movement-adaptive dust cleaning operation", the research should be carried out from the aspects of dust accumulation monitoring, structure design and control of dust cleaning device, and optimization strategy of dust cleaning mode. It is pointed out that the main technical problems faced by the above research include the common problems of coal mine robots such as explosion-proof safety design, underground precise positioning, and long-distance wireless communication. The problems also include the characteristic problems of roadway dust cleaning robot such as dust monitoring, adaptive dust cleaning, and vehicle arm coordinative operation. In view of the characteristic problem of the roadway dust cleaning robot, this paper puts forward the corresponding key technologies. ① It is suggested to research and develop a multi-sensor fusion monitoring technology based on the weighing method, laser method and image method to realize long-term monitoring of dust cleaning in coal mine roadway and dynamic evaluation of dust cleaning effect. ② It is suggested to develop dust cleaning structure based on explosion-proof mechanical arm and "wind-water-brush" linkage dust cleaning device to realize adaptive dust cleaning. ③ It is suggested to establish a unified workspace for vehicle chassis and mechanical arm. It is suggested to develop small deviation automatic compensation and flexible obstacle avoidance technology for roadway dust cleaning robot based on torque control. The vehicle arm coordination of the roadway dust cleaning robot in the dynamic scene is realized.
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图 5 基于图像法的煤矿积尘监测技术
Figure 5. Monitoring technology of coal mine dust based on image method
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