煤矿巡检机器人智能传感与控制系统设计研究

煤矿带式输送机运输系统人工巡检工作强度大，特别是大坡度带式输送机巡检易受落煤、飞石等影响，具有一定的危险性。因此，设计了煤矿悬挂式巡检机器人智能传感与控制系统，研究了系统整体架构和各类传感器布置方式，重点探讨了巡检机器人图像采集、语音识别、环境感知和无线通讯模块的功能设计和参数优化。开展了煤矿现场工业性试验，验证了机器人智能传感与控制系统性能，结果表明：该系统能够实现仪表数据识别、旋钮状态识别、胶带跑偏识别、火焰识别、声音检测、异常报警等功能，具备煤矿运输系统状态的地上、智能手机端的全面感知和实时监控能力。采用巡检机器人替人，可实现低温、粉尘、低照度等恶劣环境下的连续巡检作业，有效避免漏检、错检等问题。

Design of intelligent sensing and control system of coal mine inspection robot

The manual inspection of the coal mine belt transportation system is labor-intensive,especially in the inspection of the belt conveyor with a large inclination,which is also dangerous under the threat of falling coal and rocks.Aiming at that problem,an intelligent sensing and control system is designed for in coal mines with an inspection robot suspending over the belt.The overall architecture of the system and the layout of various sensors are studied,and the functional design and parameter optimization are introduced including the inspection robot’s image acquisition,voice recognition,environment perception and wireless communication modules.Field industrial tests are carried out in coal mines,and the performance of the system is verified,the system can recognize gauge data,knob status,belt deviation,flame,detect sound,and alarm in abnormalities,and the status of coal mine transportation can be comprehensive displayed and monitored in real-time with smart phone on the ground.Replacing human labor with inspection robots can realize continuous inspection operations in harsh environments of low temperature,dust,and low illumination,while avoiding problems such as missed inspections and false inspections.