摘要
为解决生产系统核心设备依靠人工巡视和检查的问题,上湾选煤厂在智能化建设过程中研发了具备自主行走、自主定位、自主导航、故障诊断等功能的四足仿生巡检机器人,通过对该机器人的多层次巡检场景下路径规划、步态生成与步态转换等技术的研究,使其具备在选煤厂非结构化环境内精确定位和稳定行走的能力,且通过搭载多种传感器实现了对选煤厂生产现场有害气体、温度、湿度等环境因素的实时监测。实际应用结果表明,该机器人能够替代人工完成巡检任务,并具有环境检测、状态判断、异常分析及故障预警等功能。
In order to solve the problem of relying on manual inspection and inspection of the core equipment of the production system,during the intelligent construction of Shangwan coal preparation plant,a four-legged bionic inspection robot with the functions of autonomous walking,autonomous positioning,autonomous navigation and fault diagnosis has been developed.Based on the detailed research on the path planning,gait generation and gait conversion of the robot in the multi-level inspection scene,the robot has the ability of precise positioning and stable walking in the complex and unstructured environment of coal preparation plant,the real-time monitoring of harmful gas,temperature and humidity in coal preparation plant was realized by carrying various sensors.The practical application results show that the robot can replace manual patrol tasks,and has the functions of environment detection,state judgment,exception analysis and equipment failure early warning.
作者
赵星檑
张新元
ZHAO Xinglei;ZHANG Xinyuan(Shangwan Coal Preparation Plant,CHN Energy Shengdong Coal Preparation Center,Ordos 017209,China)
出处
《洁净煤技术》
CAS
CSCD
北大核心
2023年第S01期185-188,共4页
Clean Coal Technology
关键词
选煤厂
智能化
四足仿生巡检机器人
自主巡检
coal preparation plant
intelligentization
four-legged bionic inspection robot
self-inspection
