煤矿井下综采工作面巡查机器人磁迹导航的研究

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.%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 that the robot can moves stably when distances between two tongue tubes are 40 mm.