工矿自动化2026，Vol.52Issue(7)：1-8,128,9.DOI:10.13272/j.issn.1671-251x.2026060069
煤矿巷道清理机器人自主导航与协同控制
Autonomous navigation and collaborative control of coal mine roadway cleaning robot
摘要
Abstract
To address localization degradation of coal mine roadway cleaning robots in long,straight roadways where satellite signals are unavailable,difficulties in multi-process coordination,and reliance on manual intervention for attachment replacement,a comprehensive control method integrating autonomous navigation,multi-tool collaborative control,and automatic attachment replacement of fixture is proposed.For autonomous navigation,a fusion localization method combining angle-clustering-based ground segmentation with the Unscented Kalman Filter(UKF)was employed to suppress axial drift,and an improved pose-aware A* global planning algorithm was designed to eliminate the need for final pose adjustment.For collaborative control,a layered architecture based on a hierarchical finite-state machine was constructed to enable autonomous scheduling of multiple processes.For attachment replacement,a distance-triggered heterogeneous perception fusion strategy with coarse-to-fine staging was proposed;joint-state feedback and visual localization information were continuously weighted and fused to complete the entire attachment replacement process autonomously.An underground industrial test involving a cumulative operating time of 160 h and an advance of 60 m was conducted.Results showed that the coal mine roadway cleaning robot had a mean trajectory error of 0.01 m,a final heading deviation of 3.8°,and a dynamic obstacle avoidance success rate of 92％.The full-process success rate was 80％,and the manipulator end-effector tracking error was 0.12 m.The success rate of automatic attachment replacement was 93.3％,and the mean duration per replacement was 4.8 min.The number of operators per shift was reduced from 5 to 2,a reduction of 60％,while per-capita efficiency increased from 1.8 m3/shift to 2.6 m3/shift.关键词
巷道清理机器人/自主导航/UKF/分层协同控制/属具自动更换Key words
roadway cleaning robot/autonomous navigation/UKF/hierarchical collaborative control/automatic attachment replacement分类
矿业与冶金引用本文复制引用
李旺年,张幼振,路前海,张宁,邵俊杰,李旭涛,石璐,贾茜..煤矿巷道清理机器人自主导航与协同控制[J].工矿自动化,2026,52(7):1-8,128,9.基金项目
国家重点研发计划项目(2022YFB4703600). （2022YFB4703600）
