矿山钻孔救援探测机器人研究进展
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摘要
分析了国内外钻孔救援技术、煤矿救援探测机器人及矿山钻孔救援探测机器人的研究现状,指出将煤矿救援探测机器人和管道机器人的研究成果与矿山钻孔救援的探测需求相结合,可以研制出满足要求的矿山钻孔救援探测机器人,提高井下灾后救援的成功率。从移动机构、导航、定位和路径规划、传感探测、通信和控制方式、能源供给、防爆性能等方面分析了矿山钻孔救援探测机器人的关键技术及其发展趋势,指出应围绕机器人的通过性、可靠性、轻量化、智能化等目标,在移动机构、能源供给和防爆性能等方面进行创新设计,提高传感检测范围和精度,研究未知、非结构化环境中的导航、定位及控制的智能算法,提高机器人的环境适应性。
The paper analyzed research status of rescue drilling technology,coal mine rescue detection robot and mine drilling rescue detection robot at home and abroad.It pointed out that using the research achievements of the coal mine rescue detection robot and pipeline robot combined with detection requirements of mine rescue drilling can develope the mine rescue drilling detection robot which meet the requirements of mine application,and improve rescue success rate of mine disaster.It also analyzed key technologies and development trend of mine rescue drilling detection robot in items of mobile mechanism,navigation,location and path planning,sensor detecting,communication and control mode,energy supply and explosion-proof performance.Meanwhile,it put forward that innovative design should be done on mobile mechanism,energy supply and explosion-proof performance around trafficability characteristic,reliability,lightweight,intelligentization of robot,so as to improve detection range and accuracy of the sensor;and intelligent algorithms of navigation,location and control in unknown and unstructured environment should be researched,so as to improve the environmental adaptability of the robot.
The paper analyzed research status of rescue drilling technology,coal mine rescue detection robot and mine drilling rescue detection robot at home and abroad.It pointed out that using the research achievements of the coal mine rescue detection robot and pipeline robot combined with detection requirements of mine rescue drilling can develope the mine rescue drilling detection robot which meet the requirements of mine application,and improve rescue success rate of mine disaster.It also analyzed key technologies and development trend of mine rescue drilling detection robot in items of mobile mechanism,navigation,location and path planning,sensor detecting,communication and control mode,energy supply and explosion-proof performance.Meanwhile,it put forward that innovative design should be done on mobile mechanism,energy supply and explosion-proof performance around trafficability characteristic,reliability,lightweight,intelligentization of robot,so as to improve detection range and accuracy of the sensor;and intelligent algorithms of navigation,location and control in unknown and unstructured environment should be researched,so as to improve the environmental adaptability of the robot.
引文
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[9]李湖生,刘铁民.从“3·28”王家岭煤矿透水事故抢险救援反思中国事故灾难应急准备体系[J].中国安全生产科学技术,2010,6(3):5-12.LI Husheng,LIU Tiemin.Reflection of the Chinese disaster emergency preparedness system based on the analysis of the"3.28"Wangjialing Coal Mine flooding accident rescue[J].Journal of Safety Science and Technology,2010,6(3):5-12.
[10]李亮.平邑石膏矿坍塌事故救援成功后的几点思考[J].探矿工程(岩土钻掘工程),2016,43(10):281-286.LI Liang.Discussion of Pingyi Gypsum Mine collapse accident rescue[J].Exploration Engineering(Rock and Soil Drilling and Tunneling),2016,43(10):281-286.
[11]赵普生,胡俊粉.井下被困人员救援技术及装备现状分析[J].煤炭科学技术,2009,37(8):38-41.ZHAO Pusheng, HU Junfen.Status analysis on rescue technology and equipment for personnel in difficult in underground mine[J].Coal Science and Technology,2009,37(8):38-41.
[12] BAKER C,MORRIS A,FERGUSON D,et al.A campaign in autonomous mine mapping[C]//IEEE InternationalConferenceonRoboticsand Automation,2004:2004-2009.
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[14] SHIGEO H, EDWARDO F F.Development of mobile robots for rescue operations[J].Advanced Robotics,2002,16(6):509-512.
[15]柳玉龙.煤矿搜救机器人的研究现状及关键技术分析[J].矿山机械,2013(3):7-12.LIU Yulong.Analysis on current research status and key technologies of mine search and rescue robots[J].Mining&Processing Equipment,2013(3):7-12.
[16]田海波,马宏伟,魏娟.矿井搜救机器人移动系统的研究与发展[J].机床与液压,2012,40(20):147-151.TIAN Haibo,MA Hongwei,WEI Juan.Research and development of search and rescue robot's locomotion system for mine disaster[J].Machine Tool&Hydraulics,2012,40(20):147-151.
[17]胡晗.煤矿井下探测机器人机构与特性分析[D].太原:太原理工大学,2014.
[18] WANG Chuanwei,MA Hongwei.Lightweight design for coal mine rescue robot's swing arm brackets[J].Applied Mechanics and Materials,2014,496-500:657-661.
[19] ROBIN R M, JEFERY K,KEN P J,et al.Preliminary report:rescue robot at crandall canyon,utah, minedisaster[C]//IEEEInternational Conference on Robotics and Automation,2008:2205-2206.
[20] Science Media Center.Experts on effectiveness of robots in mine rescue operations[EB/OL].(2016-10-02)[2018-01-05].http://www.infonews.co.nz/default.cfm.
[21]张树生,陆文涛,裴文良,等.钻孔探测机器人的设计与实现[J].煤矿机械,2016,37(3):25-26.ZHANG Shusheng, LU Wentao,PEI Wenliang,et al.Design and realization of detecting robot through drilling[J].Coal Mine Machinery,2016,37(3):25-26.
[22]郭连江.西科大生命探测系统为平邑石膏矿难救援提供信息保障[EB/OL].(2016-02-01)[2018-01-05].http://sn.people.com.cn/n2/2016/0201/c340863-27665106.html.
[23]李鹏,马书根,李斌,等.具有自适应能力管道机器人的设计与运动分析[J].机械工程学报,2009,45(1):154-161.LI Peng,MA Shugen,LI Bin,et al.Design and motion analysis of an in-pipe robot with adaptability to pipe diameters[J].Journal of Mechanical Engineering,2009,45(1):154-161.
[24]陈为,李元宗.煤矿救援探测机器人通信系统的综合研究[J].机械工程与自动化,2009(4):75-77.CHEN Wei,LI Yuanzong.Communication system of searching and rescuing robot[J]. Mechanical Engineering and Automation,2009(4):75-77.
[25]刘建,葛世荣,朱华,等.基于多目标优化的矿用救援机器人动力匹配[J].机械工程学报,2015,51(3):18-28.LIU Jian,GE Shirong,ZHU Hua,et al.Mine rescue robot power matching based on multi-objective particle swarm optimization[J].Journal of Mechanical Engineering,2015,51(3):18-28.
[2]刘金国,王越超,李斌,等.灾难救援机器人研究现状、关键性能及展望[J].机械工程学报,2006,42(12):1-12.LIU Jinguo,WANG Yuechao,LI Bin,et al.Current research,key performance and future development of search and rescue robot[J].Chinese Journal of Mechanical Engineering,2006,42(12):1-12.
[3]李允旺,葛世荣,朱华.煤矿救灾机器人应用探讨[J].煤矿机械,2009,30(1):164-167.LI Yunwang,GE Shirong,ZHU Hua.Research on application of coal mine rescue robots[J].Coal Mine Machinery,2009,30(1):164-167.
[4]祁海莹,唐述明.国内外矿山救援装备现状及发展趋势探讨[J].矿业安全与环保,2011,38(4):89-92.QI Haiying,TANG Shuming.Research status and development of mine rescue equipment at domestic and overseas[J].Mining Safety and Environment Protection,2011,38(4):89-92.
[5] DAVISON C,MASSAGUER D,PARADIS L,et al.Practical experiences in enabling and ensuring quality sensing in emergency response applications[C]//IEEEInternationalConferenceonPervasive Computing and Communications Workshops,2010:388-393.
[6]刘腾飞,汪芸.钻探技术在煤矿事故救援中的应用分析[J].矿业安全与环保,2010,37(4):86-88.LIU Tengfei,WANG Yun.Application of exploration boring technology in rescue of mine accident[J].Mining Safety and Environment Protection,2010,37(4):86-88.
[7] BROOKES K.Buried alive,but carbide drills at core of Chile miners'rescue[J].Metal Powder Report,2010,65(7):7-10.
[8]宋元明,刘志军,王万生.快速钻孔技术在煤矿应急救援中的实践[J].中国安全科学学报,2004,14(6):63-65.SONG Yuanming,LIU Zhijun,WANG Wansheng.Practice of quick drill in coal mine emergency rescue[J].China Safety Science Journal,2004,14(6):63-65.
[9]李湖生,刘铁民.从“3·28”王家岭煤矿透水事故抢险救援反思中国事故灾难应急准备体系[J].中国安全生产科学技术,2010,6(3):5-12.LI Husheng,LIU Tiemin.Reflection of the Chinese disaster emergency preparedness system based on the analysis of the"3.28"Wangjialing Coal Mine flooding accident rescue[J].Journal of Safety Science and Technology,2010,6(3):5-12.
[10]李亮.平邑石膏矿坍塌事故救援成功后的几点思考[J].探矿工程(岩土钻掘工程),2016,43(10):281-286.LI Liang.Discussion of Pingyi Gypsum Mine collapse accident rescue[J].Exploration Engineering(Rock and Soil Drilling and Tunneling),2016,43(10):281-286.
[11]赵普生,胡俊粉.井下被困人员救援技术及装备现状分析[J].煤炭科学技术,2009,37(8):38-41.ZHAO Pusheng, HU Junfen.Status analysis on rescue technology and equipment for personnel in difficult in underground mine[J].Coal Science and Technology,2009,37(8):38-41.
[12] BAKER C,MORRIS A,FERGUSON D,et al.A campaign in autonomous mine mapping[C]//IEEE InternationalConferenceonRoboticsand Automation,2004:2004-2009.
[13] MURPHY R R,KRAVITZ J,STOVER S,et al.Mobile robots in mine rescue and recovery[J].IEEE Robotics&Automation Magazine,2009,16(2):91-103.
[14] SHIGEO H, EDWARDO F F.Development of mobile robots for rescue operations[J].Advanced Robotics,2002,16(6):509-512.
[15]柳玉龙.煤矿搜救机器人的研究现状及关键技术分析[J].矿山机械,2013(3):7-12.LIU Yulong.Analysis on current research status and key technologies of mine search and rescue robots[J].Mining&Processing Equipment,2013(3):7-12.
[16]田海波,马宏伟,魏娟.矿井搜救机器人移动系统的研究与发展[J].机床与液压,2012,40(20):147-151.TIAN Haibo,MA Hongwei,WEI Juan.Research and development of search and rescue robot's locomotion system for mine disaster[J].Machine Tool&Hydraulics,2012,40(20):147-151.
[17]胡晗.煤矿井下探测机器人机构与特性分析[D].太原:太原理工大学,2014.
[18] WANG Chuanwei,MA Hongwei.Lightweight design for coal mine rescue robot's swing arm brackets[J].Applied Mechanics and Materials,2014,496-500:657-661.
[19] ROBIN R M, JEFERY K,KEN P J,et al.Preliminary report:rescue robot at crandall canyon,utah, minedisaster[C]//IEEEInternational Conference on Robotics and Automation,2008:2205-2206.
[20] Science Media Center.Experts on effectiveness of robots in mine rescue operations[EB/OL].(2016-10-02)[2018-01-05].http://www.infonews.co.nz/default.cfm.
[21]张树生,陆文涛,裴文良,等.钻孔探测机器人的设计与实现[J].煤矿机械,2016,37(3):25-26.ZHANG Shusheng, LU Wentao,PEI Wenliang,et al.Design and realization of detecting robot through drilling[J].Coal Mine Machinery,2016,37(3):25-26.
[22]郭连江.西科大生命探测系统为平邑石膏矿难救援提供信息保障[EB/OL].(2016-02-01)[2018-01-05].http://sn.people.com.cn/n2/2016/0201/c340863-27665106.html.
[23]李鹏,马书根,李斌,等.具有自适应能力管道机器人的设计与运动分析[J].机械工程学报,2009,45(1):154-161.LI Peng,MA Shugen,LI Bin,et al.Design and motion analysis of an in-pipe robot with adaptability to pipe diameters[J].Journal of Mechanical Engineering,2009,45(1):154-161.
[24]陈为,李元宗.煤矿救援探测机器人通信系统的综合研究[J].机械工程与自动化,2009(4):75-77.CHEN Wei,LI Yuanzong.Communication system of searching and rescuing robot[J]. Mechanical Engineering and Automation,2009(4):75-77.
[25]刘建,葛世荣,朱华,等.基于多目标优化的矿用救援机器人动力匹配[J].机械工程学报,2015,51(3):18-28.LIU Jian,GE Shirong,ZHU Hua,et al.Mine rescue robot power matching based on multi-objective particle swarm optimization[J].Journal of Mechanical Engineering,2015,51(3):18-28.