中国科技核心期刊
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矿山搜救机器人研究现状及关键技术分析
- 作者：
林雪静，赵建博，王志义，赵华明，周锦江，杨俊彦*
- 作者单位：
- （枣庄学院机电工程学院）
基金项目：
- 2024 年山东省大学生创新创业训练计划项目（S202410904008）
详细信息：
- 作者简介：
- 林雪静（2003—），女，大学本科，研究方向为智能机器人；E‑mail：1711032039@qq. com
- 通讯作者：
- 杨俊彦（1986—），男，讲师，博士，从事矿山机械设备及工艺研究工作；E‑mail：yang8865139@163. com
- PDF下载
Research status and key technologies of mine rescue robots
- English Author：
Lin Xuejing, Zhao Jianbo, Wang Zhiyi, Zhao Huaming, Zhou Jinjiang, Yang Junyan
- Unit：
- (School of Mechanical and Electrical Engineering, Zaozhuang University)
- 摘要
- 在线预览
- 参考文献
摘要:
矿山搜救机器人主要应用于井下灾害发生后的搜救反馈工作，对提升救援效率、保障矿山安全生产具有重要意义。从机械结构设计、通信系统发展、定位技术优化、防爆装置4个方面进行综述。机械结构方面，分析了履带式、智能仿生式及改进轮式设计的优缺点，并提出六轮机器人在矿山搜救中的应用构想；通信系统方面，介绍了Mesh技术、WiFi技术、ZigBee技术、新兴5G技术及其他无线通信技术的适用性，提出关于通信系统不同功能侧重点的改进；定位技术方面，探讨了环境感知、救援路径规划、惯性测量单元定位及同步定位与建图技术四大主流技术应用及融合；防爆装置方面，阐述了防爆电动机、防爆外壳、电源动力及防爆材料选取策略，为机器人轻量化设计提供依据。展望了矿山搜救机器人发展趋势，为矿山搜救机器人研发与应用提供参考，从而推动行业技术升级。
关键词:
矿山搜救机器人；机械结构；通信系统；井下搜救定位；防爆设计；智能化
Abstract:
Mine rescue robots are primarily used for search-and-rescue feedback operations following under-ground disasters and play a significant role in improving rescue efficiency and ensuring mine safety. This paper reviewsthe research progress from 4 perspectives: mechanical structure design, communication systems, positioning technologies, and explosion-proof mechanisms. In terms of mechanical structure, the advantages and disadvantages of tracked, intelligent bionic, and modified wheeled designs are analyzed, and a concept for the application of six-wheeled robots in mine rescue is proposed. In the communication system section, the applicability of Mesh, WiFi, ZigBee, 5G, and other wireless technologies is introduced, along with suggestions for improving system functions based on different usage priorities. Regarding positioning technology, the paper discusses the applications and integration of 4 mainstream techniques: environmental sensing, rescue path planning, IMU-based positioning, and SLAM. For explosion-proof systems, explosion-proof motors, protective enclosures, power supply, and explosion-proof material selection strategies are addressed to support lightweight robot design. Finally, the development trends of mine rescue robots are forecasted. offering a reference for future research and application, and contributing to the technological advancement of the industry.
Keywords:
mine rescue robot; mechanical structure; communication system; underground rescue positioning; explosion-proof design; intelligentization
