Research on key technologies of mine-used intelligent inspection robot
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摘要: 介绍了矿用智能巡检机器人研究现状,针对目前矿用智能巡检机器人的特点,从移动平台、定位与导航、图像识别、自主充电、后台管理及诊断等方面详细分析了矿用智能巡检机器人的关键技术:移动平台是矿用智能巡检机器人的重要组成部分,不同的移动平台工作方式不同,应根据巡检场所的环境特点选择轮式、履带式或者轨道式移动平台,平台设计时还需考虑防爆、防潮、防振、防尘等问题;定位与导航技术是矿用智能巡检机器人实现智能化和完全自主移动最关键的技术,从目前井下使用情况来看,轮式和履带式矿用智能巡检机器人定位与导航可采用激光雷达+SLAM技术,轨道式矿用智能巡检机器人由于巡检线路固定,定位与导航适合采用RFID技术;图像识别技术是矿用智能巡检机器人使用比较普遍的一项重要技术,通过拍摄设备图像,判别设备运行状况,根据矿用智能巡检机器人结构及组网方式不同,图像识别的数据处理分为后台处理和就地处理;自主充电技术是矿用智能巡检机器人长期自主工作后补充电能的重要手段,在电池设计时不仅要考虑增大电池容量,还要考虑电池的自主充电能力,才能实现机器人无人值守智能化巡检,体积小、质量轻、储量大的电池本安化是目前研究的难点;矿用智能巡检机器人在巡检过程中会采集到大量数据,其必须具备后台管理和数据分析诊断功能,但目前矿用智能巡检机器人受供电、网络传输技术等因素的影响,无法对采集的数据进行实时处理或上传,需要进一步研制出更加高效的后台管理及在线故障诊断系统。指出了数据分析智能化、移动平台轻量化、功能模块化、巡检定位精确化是矿用智能巡检机器人的发展趋势,为矿用智能巡检机器人关键技术的进一步研究提供参考。Abstract: The research status of mine-used intelligent inspection robot was introduced. In view of characteristics of mine-used intelligent inspection robot, the key technologies of mine-used intelligent inspection robot were analyzed in detail from mobile platforms, positioning and navigation, image recognition, autonomous charging, background management and diagnosis. Mobile platform is an important component of mine-used intelligent inspection robot, different mobile platforms work in different ways, wheel, crawler or track type mobile platform should be selected according to environmental characteristics of inspection site, and explosion-proof, moisture-proof, anti-vibration, dust and other issues should be considered in platform design. Positioning and navigation technology is key technology of mine-used intelligent inspection robot to realize intelligent and completely autonomous movement, from current underground application, laser radar+SLAM technology can be used for positioning and navigation of wheel type and crawler type mine-used intelligent inspection robot, due to fixed inspection line, RFID technology is suitable for positioning and navigation of track type mine-used intelligent inspection robot. Image recognition technology is an important technology widely used in mine-used intelligent inspection robot, which can determine running state of equipment by taking device images, moreover, according to difference of structure and networking mode of mine-used intelligent inspection robot, the image processing methods can be divided into background processing and local processing. Autonomous charging technology is an important means for mine-used intelligent inspection robot to supply electric energy for long-term autonomous work, the design of the battery should consider not only increasing battery capacity, but also having autonomous charging ability, so as to achieve unattended intelligent inspection; Intrinsically safe battery with small size, light weight and large reserves is the research difficulty. Mine-used intelligent inspection robot will collect a large amount of data in the process of inspection, so it must have background management and data analysis diagnosis function, but the current mine-used inspection robot ca't process or upload collected real-time data due to the influence of power supply and network transmission technology, therefore, a more efficient background management and on-line fault diagnosis system needs to be developed. At last, it is pointed out that intelligent data analysis, light weight mobile platform, modularized function and accurate inspection positioning are the development trends of mine-used intelligent inspection robot, which provides reference for further research on the key technologies of mine-used intelligent inspection robot.
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