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智能选矸机器人关键技术研究

张袁浩 潘祥生 陈晓晶 霍振龙 任书文 季亮

张袁浩,潘祥生,陈晓晶,等. 智能选矸机器人关键技术研究[J]. 工矿自动化,2022,48(6):69-76, 111.  doi: 10.13272/j.issn.1671-251x.17931
引用本文: 张袁浩,潘祥生,陈晓晶,等. 智能选矸机器人关键技术研究[J]. 工矿自动化,2022,48(6):69-76, 111.  doi: 10.13272/j.issn.1671-251x.17931
ZHANG Yuanhao, PAN Xiangsheng, CHEN Xiaojing, et al. Research on key technologies of intelligent gangue sorting robot[J]. Journal of Mine Automation,2022,48(6):69-76, 111.  doi: 10.13272/j.issn.1671-251x.17931
Citation: ZHANG Yuanhao, PAN Xiangsheng, CHEN Xiaojing, et al. Research on key technologies of intelligent gangue sorting robot[J]. Journal of Mine Automation,2022,48(6):69-76, 111.  doi: 10.13272/j.issn.1671-251x.17931

智能选矸机器人关键技术研究

doi: 10.13272/j.issn.1671-251x.17931
基金项目: 天地科技股份有限公司科技创新创业资金专项项目(2020-TD-ZD010)。
详细信息
    作者简介:

    张袁浩(1990—),男,陕西宝鸡人,助理研究员,硕士,现主要从事煤矿机器人方面的研究工作,E-mail:313168039@qq.com

  • 中图分类号: TD67/948.9

Research on key technologies of intelligent gangue sorting robot

  • 摘要: 介绍了智能选矸机器人应用与研究现状,指出目前智能选矸机器人主要基于X射线和图像识别原理,利用高压气动分拣和桁架机器人抓取进行煤矸分离;智能选矸机器人分拣执行机构主要有桁架式、并联式、串联式等类型,响应速度快,常常以“拨”和“抓”的形式分离矸石;在胶带运输过程中,智能选矸机器人“拨”需要考虑不同矸石尺寸的兼容性及运动路径的优化,“抓”需考虑机械手的作业空间及机器人的承载能力。分析了智能选矸机器人在现场复杂环境中有效实现矸石分拣的基于深度学习的煤矸识别、面向非结构多约束环境的选矸机械臂运动规划、基于力反馈的机械臂主动柔顺控制、多臂协作分拣任务分配策略及控制等关键技术,并指出基于深度学习的煤矸识别技术作为选矸机器人的关键技术之一,仍需在煤矸数据集高效构建方法、煤矸识别算法的泛化性提升及实时性优化等方面进行进一步研究。结合现场应用和机器人智能化发展需求,指出了智能选矸机器人今后的研究方向:针对现场复杂环境进行技术改进,提高煤矸识别算法的鲁棒性和自适应性;适应复杂环境的智能感知和控制技术及矸石高精度三维位姿估算技术的研究;基于力位混合控制的选矸机器人智能拣矸技术研发;智能选矸机器人井下选矸技术探究。

     

  • 图  1  打板式分拣执行机构和气动喷嘴分拣执行机构

    Figure  1.  Plate and pneumatic nozzle sorting actuator

    图  2  桁架选矸机器人分拣执行机构

    Figure  2.  Sorting actuator of trussed gangue sorting robot

    图  3  并联选矸机器人分拣执行机构

    Figure  3.  Sorting actuator of parallel gangue sorting robot

    表  1  主流选矸机器人系统工作原理

    Table  1.   Working principles of main gangue sorting robot systems

    选矸机器人煤矸识别煤矸分离特点
    TDS智能干选机 X射线识别 高压气动分拣 可适配高速胶带,可分拣50~300 mm的矸石
    GPRT智能煤矸分选机器人 图像识别 桁架机器人拨/抓分拣 可同时进行多臂分拣任务,可分拣50~800 mm的矸石
    RDS智能选矸机器人 图像识别 高压气动分拣 可适配高速胶带,可分拣50~300 mm的矸石
    BIS−R智能机器人拣矸系统 X射线识别 桁架机器人抓取 适配0.5 ~0.8 m/s带速,可分拣50~300 mm的矸石
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  • 收稿日期:  2022-04-12
  • 修回日期:  2022-06-05
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