Research on key technology of patrol robot in fully-mechanized mining face

A large number of fixed sensors are installed on the intelligent fully-mechanized mining face, but there are still disadvantages of monitoring blind spots and monitoring lag. The introduction of inspection robot technology to conduct full-coverage real-time monitoring of the fully-mechanized mining face is a necessary technical means for intelligent mining. At the two levels of national macro policy and intelligent mining technology, the urgent need for intelligent mining for inspection robots for fully-mechanized mining is analyzed. According to the development status of inspection robots for fully-mechanized working face, the technical problems such as flexible track, mobile communication seamless roaming, remote control and autonomous operation that need to be solved by robots in fully-mechanized mining face are summarized. Through the research of seven key technologies such as straddle flexible track, walking control, mobile communication, precise positioning of movement, inertial navigation, dynamic image acquisition and height adjustment of coal shearer of fully mining inspection robots, the following five key research directions are put forward: establishing the perception theory and technical equipment system of inspection robots; studying the power supply technology of underground robots; establishing a high-performance seamless roaming mobile communication system; developing ultra-high-definition thermal imaging and millimeter wave for comprehensive mining production 3D real-time presentation technology and development of an advanced detection airborne device that integrates visual radar and coal seam detection. Industrial tests were carried out on fully-mechanized coal mining faces of thin coal seam and the inspection robot equipped with 3D LiDAR and inertial navigation system has reached the maximum inspection speed of 60 m/min along the track laid on the cable channel of shearer, and realized the seamless roaming high-speed communication with dual-frequency WiFi with zero switching. Based on the boarded LiDAR scanning and inertial navigation system, a 3D cutting geological model of fully-mechanized mining face was established, and an intelligent coal cutting process test in the inspection mode was carried out. The straightness detection and alignment deviation of working face did not exceed 150mm, which verified that the inspection robot could provide a safe and efficient technical means for intelligent mining.