煤矿安全2024，Vol.55Issue(7)：213-218,6.DOI:10.13347/j.cnki.mkaq.20231414
煤矿无轨运输机器人多智能体控制系统关键技术研究
Research on key technologies of multi-agent control system for trackless transportation robot in coal mines
摘要
Abstract
In order to solve the problems of low efficiency of trackless auxiliary transportation in coal mine,high pollution of diesel exhaust,low intelligence and low information level,a design scheme of trackless transportation robot in coal mine with lithium ion battery as power source was put forward.The trackless transport robot has zero emission,environment perception,multi-information fusion,autonomous path planning,self-navigation,autonomous walking and other functions,as well as the autonomous transfer of materials in specific areas of the coal mine.The technical framework of the trackless transportation robot is given.The chassis struc-ture,chassis electrical system design,logic control process and wireless communication and autonomous positioning design scheme of the trackless transport robot are introduced in detail.The scheme design of environment awareness and path planning is intro-duced.关键词
无轨运输机器人/线控技术/无线通信/自主定位/路径规划Key words
trackless transportation robot/wire control technology/wireless communication/autonomous positioning/path planning分类
矿业与冶金引用本文复制引用
周德华..煤矿无轨运输机器人多智能体控制系统关键技术研究[J].煤矿安全,2024,55(7):213-218,6.基金项目
天地科技股份有限公司科技创新创业资金专项资助项目(2022-2-TD-ZD012) （2022-2-TD-ZD012）
山西省科技成果引导专项资助项目(202104021301067) （202104021301067）
