摘要
当前煤矿安全生产正面临着重大技术挑战,井下作业技术的智能化、无人化迫在眉睫,机器人化替代已成为重要解决途径。煤矿智能化是煤炭工业高质量发展的核心技术支撑,从煤矿井下智能化、无人化作业需求出发,综述了目前掘进、采煤、运输、安控、救援五大类煤矿机器人国内外的应用现状。在此基础上,就国内外仿生机器人技术在煤矿作业中的应用现状做了概述,指出了煤矿仿生机器人技术与装备发展思路和研究方向。综述了仿生机构、仿生感知、仿生控制、仿生驱动和仿生材料等关键技术的研究现状,并阐述了仿生技术较现有设备的优势及可应用场景。结合目前仿生技术与人工智能技术的发展水平,科学分析了仿生机器人的发展趋势,包括:从传统驱动器向生物肌肉驱动器的发展,从刚性结构向软体和刚柔混合结构发展,由传统材料到新型生物材料发展,从单一运动模式向高机动多栖机器人发展,从传统控制方法向生物智能控制发展,从机电系统机器人向生物系统机器人发展,从单一机器人向集群机器人发展。结合仿生机器人技术的发展趋势,展望了仿生机器人技术在煤矿无人化作业中的应用前景:新型功能材料的应用,高效行走方式的应用,智能环境感知的应用,智能化自主作业的应用,为煤矿仿生机器人的开发利用提供参考。
At present,the safe production in coal mines faces great technical challenges,and the technology of intelligent and unattended operation is imminent.Robotization has become an effective solution for this crucial issue.Intelligent coal mine is the core technical support for the high quality development of the coal mine operation.Beginning with the demand of intelligent and unmanned operation in coal mine,the current application status of coal mine robots for excavation,coal mining,transportation,safety control and rescue is summarized.On this basis,an overview of the current states of the application of bionic robot technology in coal mining operations is summarized and the development ideas and research directions of coal mine bionic robot technology and equipment are proposed.Then,the research status of key technologies of bionic mechanism,bionic perception,bionic control,bionic actuation and bionic material are introduced,and the advantages and applicable scenarios of bionic technology are compared with existing equipment.Combining with the current development level of bionic technology and artificial intelligence technology,the development trends of bionic robot are scientifically analyzed including from traditional actuator to bionic muscle actuator,from rigid mechanism to soft and rigid-flexible mechanism,from traditional material to novel biomaterial,from single movement pattern to high maneuver multi-habitat robot,from traditional control method to bionic intelligent control,from electromechanical system robot to bionic system robot,and from single robot to swarm robot.Finally,integrating the development trend of bionic robots,the application prospect of bionic robot unattended operation in coal mine is depicted,i.e.,the application of new functional materials,the application of efficient walking mode,the application of intelligent environment perception,and the ap-plication of intelligent autonomous operation,which provides references for the development and utilization of coal mine bionic robots.
作者
宋锐
郑玉坤
刘义祥
马昕
李贻斌
SONG Rui;ZHENG Yukun;LIU Yixiang;MA Xin;LI Yibin(School of Control Science and Engineering,Shandong University,Jinan 250061,China;Engineering Research Center of Intelligent Unmanned System,Ministry of Education,Jinan 250061,China)
出处
《煤炭学报》
EI
CAS
CSCD
北大核心
2020年第6期2155-2169,共15页
Journal of China Coal Society
基金
国家重点研发计划资助项目(2019YFB1312103)
山东省重点研发计划资助项目(2019JZZY010430)。
