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煤矸石智能分拣机器人研究进展与关键技术

张烨 马宏伟 王鹏 曹现刚 魏小荣 周文剑

张烨,马宏伟,王鹏,等. 煤矸石智能分拣机器人研究进展与关键技术[J]. 工矿自动化,2022,48(12):42-48, 56.  doi: 10.13272/j.issn.1671-251x.2022100048
引用本文: 张烨,马宏伟,王鹏,等. 煤矸石智能分拣机器人研究进展与关键技术[J]. 工矿自动化,2022,48(12):42-48, 56.  doi: 10.13272/j.issn.1671-251x.2022100048
ZHANG Ye, MA Hongwei, WANG Peng, et al. Research progress and key technologies of intelligent coal-gangue sorting robot[J]. Journal of Mine Automation,2022,48(12):42-48, 56.  doi: 10.13272/j.issn.1671-251x.2022100048
Citation: ZHANG Ye, MA Hongwei, WANG Peng, et al. Research progress and key technologies of intelligent coal-gangue sorting robot[J]. Journal of Mine Automation,2022,48(12):42-48, 56.  doi: 10.13272/j.issn.1671-251x.2022100048

煤矸石智能分拣机器人研究进展与关键技术

doi: 10.13272/j.issn.1671-251x.2022100048
基金项目: 国家自然科学基金面上项目(51975468)
详细信息
    作者简介:

    张烨(1990—),女,陕西兴平人,工程师,博士研究生,主要从事机器视觉及机器人智能控制方面的研究工作,E-mail:xust-zy@xust.edu.cn

  • 中图分类号: TD67

Research progress and key technologies of intelligent coal-gangue sorting robot

  • 摘要: 煤矿井下矸石被煤泥包裹,煤矸石识别难、分拣难;井下工作空间狭小,设备布局难、煤矸石分流难,因此,需要研发高性能、高可靠的煤矸石智能分拣机器人。分析了煤矸石智能分拣机器人中煤矸石识别、机器人轨迹规划、多动态目标多机器人协同控制技术的研究现状。指出煤矸石分拣工作环境复杂,其质量和形状不规则且呈随机分布,因此,复杂环境下煤矸石识别与抓取特征提取、非结构环境下煤矸石稳定可靠抓取、多目标任务多机器人智能协同分拣是煤矸石分拣智能机器人的3大关键技术,提出要实现机器人智能分拣煤矸石,还应在适应于井下的煤矸石识别与抓取特征提取、动态目标精确定位和同步跟踪、机械臂在线轨迹规划和多机械臂智能协同控制等方法上进行深入研究。通过对上述3大关键技术的梳理,总结得出:煤矸石数据集构建与扩增、煤矸石识别与抓取特征提取是实现煤矸石高效识别的关键技术;动态煤矸石精准跟踪、机械臂同步跟踪动态目标轨迹规划和快速大质量目标稳定抓取是实现机械臂稳定抓取煤矸石的关键技术;多任务高效分配、防碰撞路径规划和智能协同控制是实现多机械臂高效智能协同分拣的关键技术。针对目前存在的共性问题,提出了解决方案:在识别方面,研究基于多模态深度学习的煤矸石识别与抓取特征提取方法,实现井下煤矸石快速识别;在轨迹规划方面,研究动态煤矸石精准定位和实时跟踪方法,实现机器人对动态煤矸石的自适应稳定抓取;在协同分拣方面,构建多层多机械臂协同控制模型,实现多机械臂复杂环境下高效智能协同分拣。

     

  • 图  1  煤矸石智能分拣机器人

    Figure  1.  Intelligent coal-gangue sorting robot

    图  2  煤矸石识别与抓取特征提取方法

    Figure  2.  Recognition and grasping features extraction of coal-gangue

    图  3  机械臂动态目标精准跟踪与稳定抓取方法

    Figure  3.  Precise dynamic target tracking and stable grasping method of mechanical arm

    图  4  多机械臂复杂环境下高效智能协同分拣方法

    Figure  4.  Efficient and intelligent collaborative sorting method of multi-mechanical arm in complex environment

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  • 收稿日期:  2022-10-18
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