CN
PROJECT PROFILE

With China as a major coal producer, the annual output ranks first in the world. Coal has always dominated China's primary energy production and consumption structure. It is predicted that by 2020, coal will account for 60% of China's primary energy production and consumption structure. Around, even by 2050 will still account for more than 50%. However, due to the complexity of natural conditions, the geological conditions and operating environment of coal mining in China are relatively harsh, which makes the mining personnel in a difficult environment. As the mining depth increases, the coal output increases sharply, and the safety investment and safety are safe. The technical, safety equipment and safety management are not in place, and the safety production situation of China's coal mines is very serious.


It is estimated that the economic losses caused by coal mine accidents each year will reach more than 5 billion yuan. In addition, indirect economic losses such as personnel disability, occupational diseases and suspension of work due to coal mine accidents are even more difficult to estimate. From Table 1-1, it can be seen that there are no more than 100 coal mine accidents per year, resulting in more casualties and hundreds of millions of property losses. Since 2013, the death rate per million tons has been 0.293, and it has dropped to 0.3 for the first time in history. Below, although the death rate per million tons in 2017 was 0.106, it is about several times that of advanced countries compared with advanced coal-producing countries.

It is obvious in Table 1-1 that gas accidents (including gas ventricle, gas combustion, gas explosion, gas outburst) in these accidents have always occupied a large proportion, and the mortality caused is extremely high. Coal mine gas has a great impact on the safety of production. The threat is also the main cause of disasters in coal mining enterprises, and it is the most prominent problem in coal mine safety production. Coal dust and toxic and harmful gases in the underground gas environment are the accomplices of gas accidents. Therefore, studying the underground gas environment detection and safety assessment is of great significance to the safe production of coal mines.


APPLICATION BACKGROUND
The project comes from the “Ninety-eight categories of the five major categories” of the National Coal Mine Safety Supervision Bureau, promoting the high-quality development of the coal industry and promoting the safe development of coal mines. The mission of the project is to focus on the development needs of the coal mine industry production application and emergency rescue equipment, combined with the latest international coal mine robot frontier technology, focusing on the robot's high-impact performance walking technology, explosion-proof technology, underground complex environment communication technology, Core technologies such as autonomous motion and collaborative control technology, and underground dedicated environment detection technology.



1.Mining conditions are diverse and complex

The propulsion path of coal mining and excavation equipment must rely on precise positioning and navigation. However, underground coal mines are closed spaces and complex electromagnetic environments, making it difficult to locate and navigate.


2.There are many problems with energy power

There are three kinds of energy supply for coal mine robots. The power supply is limited by small power, but it is easy to be interfered by underground power grid equipment, and the working distance is limited. High power is used for underground power supply, but the power supply quality and stability are insufficient. The remaining battery supply also exists. Endurance and working time limits.

3.Insufficient stability and reliability

Due to the complexity and unpredictability of downhole operations, once the robot fails, it will not only cause huge losses, but also cause accidents. Therefore, the stability and reliability of the robot are very important.


4.Autonomous obstacle avoidance

Obstacle avoidance or collision avoidance is one of the basic links of robotic autonomous movement. The study of obstacle avoidance or collision avoidance is not only an important research direction of robots, but also a core issue in the field of robot research.

SOLUTION ARCHITECTURE
FUNCTION IS INTRODUCED

1.Car standard standardized chassis

Wire-controlled steering system
Wire-controlled brake system
Remotely controlled power system
Device is can bus management
Experienced 2 years of harsh environmental testing, simulated operation, reaching 100% vehicle level


2.Standardized multi-function expansion module

With the CAN bus, you can mount various types of module devices for fast loading. Standardization and expansion

3.Standardized navigation module access

The underlying driver of the SLAM algorithm based on lidar and differential GPS provides quick access to the navigation module.
Autonomous tracking function planning based on multi-sensor fusion technology enables insertion and linkage and rapid multi-sensor fusion.
The sensor feedback based on multi-sensor fusion technology realizes the avoidance function and the modular design of the walking function.


4.High precision vehicle control

The self-driving infrastructure built on BAU and IOM enables multiple driving modes and control methods such as “autopilot” and “remote driving”.

5.Chassis electronic control system

The electronic control system of the chassis drive train can be networked with the power system, brake system, steering system, etc., and resources are shared to achieve overall control, further simplifying the control structure.



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