The invention belongs to the field of underground coal mine transportation, and discloses a coal mine trackless auxiliary transportation robot which comprises an explosion-proof wheel type power chassis, a multi-source detection sensing system, a ground remote monitoring platform, a perception fusion decision system and a master-slave distributed explosion-proof drive-by-wire system. The explosion-proof wheel type power chassis is used for bearing; the multi-source detection sensing system is used for realizing parameter and state monitoring of each execution part of the robot, and is used foracquiring environment point cloud information, depth image information and obstacle information in the advancing process of the robot; the perception fusion decision system is used for planning a reliable driving path and issuing an action instruction; the master-slave distributed explosion-proof drive-by-wire system comprises a complete machine master controller and a complete machine slave controller and is used for enabling the complete machine to stop and brake and sending fault information by the other party under the condition that one party breaks down; and the ground remote monitoringplatform is used for realizing remote control. Reliable control over the robot is achieved, and the robot can be widely applied to the field of coal mines.
本发明属于煤矿井下运输领域,公开了一种煤矿无轨辅助运输机器人,包括防爆轮式动力底盘、多源探测传感系统、地面远程监控平台、感知融合决策系统和主从分布式防爆线控系统;防爆轮式动力底盘用于承载;多源探测传感系统用于实现机器人各执行部件的参数和状态监测,以及用于获取机器人行进过程中的环境点云信息、深度图像信息和障碍物信息;感知融合决策系统用于规划处可靠的行驶路径,发布动作指令;主从分布式防爆线控系统包括整机主控制器和整机从控制器,用于在一方故障的情况下,另一方控制整机停车制动并发送故障信息;地面远程监控平台用于实现远程操控。本发明实现了机器人的可靠操控,可以广泛应用于煤矿领域。
Underground coal mine trackless auxiliary transportation robot
一种煤矿井下无轨辅助运输机器人
2021-02-05
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / E21F Sicherheitsvorrichtungen, Förderung, Auffüllen oder Bergversatz, Rettungswesen, Bewetterung oder Entwässerung in oder von Gruben oder Tunnels , SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINAGE IN OR OF MINES OR TUNNELS |
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