矿山救援智能机器人及其关键技术

Overview of Coal Mine Rescue Intelligent Robots and their key technologies

  • 摘要: 矿山智能化推动煤矿绿色安全开采、保护煤矿工作者生命安全。由于矿山事故具有突发性、复杂性与严重性,导致灾后救援具有时效性、危险性及协同性,因此中国对矿山救援智能机器人的需求愈加迫切。矿山救援智能机器人(Coal mine rescue intelligent robot,CMRIR)是一种辅助或替代矿山救护队员进行灾区环境探测和搜救工作的应急救援装备。按照矿山救援智能机器人发展时间进程,本文综述国外、中国矿业大学及国内其他机构的矿山救援智能机器人最新研究进展,系统梳理矿山救援智能机器人的关键技术:(1)井下机器人防爆设计,保障矿山救援智能机器人井下灾后稳定工作;(2)多源信息融合定位建图技术,探测灾后井下复杂地形特征;(3)复杂灾后地形路径规划,寻找矿山救援智能机器人最优救援路径;(4)高可靠抗干扰通信技术,构建矿山救援智能机器人灾后井下通讯网络;(5)灾情智能感知模型,分析井下环境信息及灾害类型。提出未来矿山救援智能机器人研发的新方向:研究轻量化本质安全型防爆设计,探索新型矿山救援智能机器人防爆电气设计;创新井下环境变胞构型设计,增强矿山智能救援机器人井下非结构化地形通过性;发展多机器人协同救援技术,提升矿山智能救援机器人救援效率和协作水平。展望矿山救援智能机器人发展趋势,推进矿山救援智能机器人产业化和列装救护大队,为矿山安全生产筑起坚实的科技防线,推动矿山行业向智能化、安全化高质量发展转型。

     

    Abstract: Mine intelligence facilitates green and safe coal mining while protecting the safety of coal mine workers. Mine accidents are characterized by suddenness, complexity, and severity, and post-disaster rescue operations require timeliness, involve high risks, and demand strong coordination. Consequently, there is a pressing need in China for intelligent mine rescue robots. The Coal Mine Rescue Intelligent Robot (CMRIR) is a type of emergency rescue equipment designed to assist or replace mine rescue personnel in conducting environmental detection and search-and-rescue operations in disaster-stricken areas. Following the developmental timeline of CMRIR, this paper reviews the latest research advances from international institutions, China University of Mining and Technology, and other domestic organizations. It systematically outlines the key technologies of CMRIR: (1) lightweight and explosion-proof structural design, ensuring stable operation of CMRIR in post-disaster underground environments; (2) multi-source information fusion-based localization and mapping technology, enabling the detection of complex terrain features in post-disaster mines; (3) path planning in complex post-disaster terrains, identifying optimal rescue routes for CMRIR; (4) highly reliable and anti-interference communication technology, establishing post-disaster underground communication networks for CMRIR; and (5) intelligent disaster perception models, analyzing underground environmental information and disaster types. New directions for future CMRIR development are proposed: developing lightweight intrinsically safe explosion-proof designs and exploring novel theories for explosion-proof electrical design in CMRIR; innovating underground environment-adaptive metamorphic mechanism designs to enhance the mobility of intelligent mine rescue robots in unstructured terrains; and advancing multi-robot collaborative rescue technologies to improve the efficiency and coordination of intelligent mine rescue operations. Looking ahead, the development trend of CMRIR will focus on promoting their industrialization and deployment in rescue brigades, thereby building a robust technological defense for mine safety and driving the transformation of the mining industry toward intelligent, safe, and high-quality development.

     

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