Research on key technologies of coal mine roadway dust cleaning robot

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.