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煤矿井下综采工作面巡查机器人磁迹导航的研究
引用本文:朱红秀,石红伟,姜川,贾瑞清,郭文骏,费雷,解轲,李玲辉.煤矿井下综采工作面巡查机器人磁迹导航的研究[J].工矿自动化,2011(6):29-32.
作者姓名:朱红秀  石红伟  姜川  贾瑞清  郭文骏  费雷  解轲  李玲辉
作者单位:1. 中国矿业大学(北京)机电与信息工程学院,北京,100083
2. 北京中煤矿山工程有限公司,北京,100013
基金项目:中央高校基本科研业务费专项资金资助项目(2009QJ07)
摘    要:提出了一种煤矿井下综采工作面自主移动巡查机器人磁迹导航方案;通过实验确定了该机器人的磁轨材料和磁传感器分别为条状强磁磁铁和MS-324型干簧管,以轮式机器人采集煤矿井下图像信息为例,确定了干簧管在机器人上的安装位置及工作过程。实验结果表明,该机器人在中间2个干簧管之间的距离为40 mm时能稳定行走。

关 键 词:矿井  综采工作面  巡查机器人  磁迹导航  磁轨材料  磁传感器  强磁磁铁  干簧管

Research of Magnetic Tracking Navigation of Patrolling Robot on Fully Mechanized Coal Face of Coal Mine Underground
ZHU Hong-xiu,SHI Hong-wei,JIANG Chuan,JIA Rui-qing,GUO Wen-jun,FEI Lei,XIE Ke,LI Ling-hui.Research of Magnetic Tracking Navigation of Patrolling Robot on Fully Mechanized Coal Face of Coal Mine Underground[J].Industry and Automation,2011(6):29-32.
Authors:ZHU Hong-xiu  SHI Hong-wei  JIANG Chuan  JIA Rui-qing  GUO Wen-jun  FEI Lei  XIE Ke  LI Ling-hui
Affiliation:ZHU Hong-xiu1,SHI Hong-wei2,JIANG Chuan1,JIA Rui-qing1,GUO Wen-jun1,FEI Lei1,XIE Ke1,LI Ling-hui1(1.School of Mechanical Electronic and Information Engineering of CUMT.(Beijing),Beijing 100083,China.2.China Coal Mine Engineering Co.,Ltd.,Beijing 100013,China)
Abstract:The paper proposed a scheme of magnetic tracking navigation of autonomous mobile patrolling robot on fully mechanized coal face of coal mine underground.The scheme defines magnetic tracking material and magnetic sensor of the robot as stripy magnet with high intensity magnetic and model MS-324 tongue tube through experiment,it defines installing position and working process of the tongue tube of the robot with example of collecting underground image information by wheeled robot.The experiment result showed ...
Keywords:mine  fully mechanized coal face  patrolling robot  magnetic tracking navigation  magnetic tracking material  magnetic sensor  magnet with high intensity magnetic  tongue tube  
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