Research On Key Technology Of Mapping And Navigation Of Inspection Robot For Coal Mine Pump House

In recent years,the state has vigorously rectified and standardized the intrinsic safety management of coal mines,and at the same time promoted the development of coal mine enterprises in the direction of "digitalization and unmanned operation." In the electric power and petrochemical industries,there have been many application cases of various wheeled,crawler or track inspection robots.However,the main drainage system equipment in coal mines is still manually inspected,and there are problems such as workers’ slack in inspections,untimely inspections,and inconsistent inspection results.Coal mine disasters frequently occur,and there is a greater risk in underground water pump room inspections.The development of robots used in coal mine water pump room drainage equipment inspections to help workers complete inspections more safely and reliably is of great significance to the safe production of coal mine enterprises.This paper firstly establishes the mathematical model of the motion system and the mathematical model of the control system according to the size parameters and driving mode of the inspection robot,and simulates the fixed-point control and tracking control of the robot;then preprocesses sensor data such as lidar and odometer to remove Environmental interference,through the optimized SLAM(Robot Simultaneous Location and Mapping)algorithm combined with sensor data to achieve accurate positioning of the robot in the pump room environment while establishing a grid map of the environment;then determine the inspection points according to the distribution location of the pump room equipment Coordinates,through the path planning algorithm combined with the inspection point coordinates to obtain a global path through all equipment,through path tracking and obstacle avoidance algorithm to achieve the inspection robot autonomously navigate along the global path,so as to complete the inspection work of the equipment in the pump room.Finally,according to the functional requirements of the patrol robot for the coal mine pump house,an experimental prototype of the patrol robot is developed,and an experimental simulation environment for the pump house is established in the laboratory.The video camera,lidar ranging,and sensor of the patrol robot’s experimental prototype are established.Basic functions such as data acquisition,straight walking and turning are tested,and the data is processed through the odometer calibration experiment,the lidar motion distortion removal experiment,the environmental mapping of the pump room,and the autonomous inspection simulation experiment on the inspection robot experimental prototype.The error of the odometer and laser ranging data is significantly reduced.The processed odometer and laser data are used to map the environment of the pump house,and the size error of the environmental grid map of the pump house is established by the optimized algorithm.The size error is about5 cm.In the built environment grid map of the pump house,the robot performs autonomous inspections,and the motion trajectory basically coincides with the planned path.The position error of the robot at the designated inspection point is within 10 cm,and the attitude error is within 0.1rad.