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矿山应急救援外骨骼机器人的关键技术及展望

Key technologies and prospects of exoskeleton robots for mine emergency rescue

  • 摘要: 随着煤炭开发战略向西部转移及中东部矿山向深地资源拓展,灾害复合叠加场景下的“事中高效处置”与“营救作业技术优化”成为保障矿工与救援队员生命安全的核心诉求。矿山应急救援动力外骨骼机器人作为“事中高效处置”与“营救作业技术优化”人机协同处置的核心装备,其技术突破具有迫切现实意义。紧扣保障矿工与救援队员生命安全核心目标,针对煤矿井下高瓦斯、高温、高湿、高粉尘、高冲击等特殊工况,防爆、轻量化、智能化、长续航等成为矿山应急救援外骨骼机器人的核心需求。这里系统综述矿山应急救援外骨骼机器人的关键技术进展,聚焦其防爆构成与轻量化设计难点,分析现有防爆结构设计思路和不同矿山环境下轻量化设计难易程度,给出设计建议;重点分析人工智能(AI)背景下,面向救援任务的人机交互、适应井下地形的运动规划、面向动态环境的控制优化等前沿方向;扩展分析能源续航与低碳节能技术,分别从储能密度、系统功耗和能量回收3方面展开分析。然后,深入剖析矿山应急救援外骨骼防爆设计轻量化、人机协同智能化、能量利用高效化等技术瓶颈。最后,提出“外骨骼−生命探测−应急通信−指挥系统”深度融合的生态协同构建发展路径。旨在为推动矿山应急救援外骨骼机器人技术从“概念验证”走向实际应用,从实验室走向规模化应用提供理论支撑和方向指引。

     

    Abstract: With the shift of coal development strategy to the western regions and the expansion of deep-earth resources in the central and eastern mines, achieving “efficient in-event response” and “optimized rescue operation technology” in scenarios of compound and overlapping disasters has become a core demand for ensuring the safety of miners and rescue personnel. The powered exoskeleton robot for mine emergency rescue, serving as a core piece of equipment for human-robot collaborative response in both “efficient in-event response” and “optimized rescue operation technology”, holds urgent practical significance for its technological breakthroughs. Centering on the core objective of safeguarding miners and rescue personnel, this paper addresses the special working conditions in coal mines such as high gas concentrations, high temperature, high humidity, high dust, and high impact. Consequently, explosion-proof capability, lightweight design, intelligence, and long endurance emerge as the core requirements for mine emergency rescue exoskeleton robots. Here, a systematic review of the key technological progress of exoskeleton robots for mine emergency rescue is conducted. It focuses on the challenges of explosion-proof construction and lightweight design, analyzes existing design approaches for explosion-proof structures and the varying degrees of difficulty in lightweight design across different mining environments, and provides design recommendations. The key technological analysis highlights cutting-edge directions under the backdrop of “Artificial Intelligence (AI)”, including human-robot interaction tailored for rescue tasks, motion planning adapted to underground terrain, and control optimization for dynamic environments. It further extends the analysis to energy endurance and low-carbon energy-saving technologies, examining aspects such as energy storage density, system power consumption, and energy recovery. Subsequently, the paper delves into technical bottlenecks including the lightweighting of explosion-proof designs, the intelligentization of human-robot collaboration, and the efficient utilization of energy. Finally, it proposes a developmental path centered on the deep integration and ecological synergy of an “exoskeleton-life detection-emergency communication-command system”. This aims to provide theoretical support and directional guidance for advancing mine emergency rescue exoskeleton robot technology from “proof-of-concept” towards practical application and scaling from laboratory research to widespread deployment.

     

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