The invention relates to the technical field of transportation robots, in particular to an underground coal mine transportation robot and a control system.The underground coal mine transportation robot comprises a transportation trolley and a carriage, the carriage is fixed to the upper surface of the transportation trolley through bolts, a base is installed on the side, located on the carriage, of the transportation trolley, and an obstacle removing assembly is arranged on the base; the base is used for removing obstacles on a coal mine well road, a support is further installed on the base, and a depth camera, an image analysis module and a controller are installed on the support. According to the coal mine underground transportation robot and the control system, the obstacle clearing assembly and the depth camera are arranged in a matched mode, images of obstacles on the transportation path can be collected, the state coefficient of the obstacles is obtained based on image analysis, then whether the obstacles can be cleared by the obstacle clearing assembly or not is judged, and when the obstacles can be cleared, the obstacle clearing assembly is started. And when the obstacle cannot be removed, an alarm instruction is generated to give an alarm, so that the transportation stability and the transportation efficiency of the transportation robot are improved.

    本发明涉及运输机器人技术领域,特别涉及煤矿井下运输机器人及控制系统,包括运输小车和车厢,所述车厢螺栓固定在运输小车的上表面,所述运输小车上位于车厢的一侧安装有基座,所述基座上设置有清障组件,其用于清除煤矿井路上的障碍,所述基座上还安装有支架,所述支架上安装有深度摄像机、图像分析模块和控制器。本发明提供的煤矿井下运输机器人及控制系统,配合设置有清障组件和深度摄像机,能够采集运输路径上障碍物的图像,并基于图像分析获取障碍物的状态系数,然后判断障碍物是否可以被清障组件清理,当可以清理时,直接通过清障组件清理,不可清理时,生成报警指令发出报警,提高了运输机器人运输的稳定性和运输效率。


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    Title :

    Underground coal mine transportation robot and control system


    Additional title:

    煤矿井下运输机器人及控制系统


    Contributors:
    SUN LEI (author) / JEONG HUN (author) / HU YILU (author)

    Publication date :

    2025-01-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / B62D MOTOR VEHICLES , Motorfahrzeuge / 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 / G06V



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