Research on key technologies of coal mine auxiliary transportation robot

In view of special working conditions of coal mine auxiliary transportation robot such as fast moving speed, variable driving routes and complex driving road conditions, structural form and technical architecture of coal mine auxiliary transportation robot are given:the cabless structure design is adopted, automatic driving system is taken as control center, wheeled explosion-proof wire-controlled power chassis is used as mobile platform, and unmanned transportation of different materials underground is realized through a variety of replaceable upper loading tools. In view of three functions of environment perception, positioning navigation and path planning of coal mine auxiliary transportation robot, corresponding solutions are respectively proposed: ① Machine vision enhancement and perception fusion technology in mine low illumination environment: environment perception function of robot is realized by combining depth camera infrared imaging technology and planar lidar detection technology; ② Wireless communication and positioning technology in confined space of underground coal mine: combination of IoT wireless communication positioning and simultaneous localization and mapping(SLAM) technology is used to achieve active and precise positioning of robot during transportation operation; ③ Path planning and obstacle avoidance mechanism under complex geological conditions of coal mine: the shortest path search algorithm and dynamic window algorithm are used to realize functions of global path planning and local path planning of the robot respectively.