Research On Precise Positioning And Cooperative Operation Of Underground Robot In Coal Mine

As we all know,the geological environment of coal mining is special and the internal environment of underground roadway of coal mine is complex.Once a mining accident occurs underground,countless losses of personnel and goods will be caused by communication interruption.Therefore,designing an underground intelligent safety inspection robot to conductsafety inspection in the underground roadway can effectively reduce the accident rate and personnel mortality in the mineral industry,it is of great significance for underground safety inspection.According to the real-time and high-precision positioning requirements of underground safety inspection robot,the working principles of underground integrated navigation system were described in this paper.After analyzing the cumulative errors caused by time and distance of the strapdown inertial navigation system(SINS)and the working principle of the RFID radio frequency tag,a real-time high-precision positioning system for underground combined navigation based on SINS system and supplemented by RFID system is designed for coal mine,which uses the preset real geographical location information in RFID electronic RF tag and combined with extended Kalman filter algorithm(EKF)to correct the cumulative error of SINS system,so the positioning accuracy of underground safety inspection robot is improved.The multi-function of safety inspection robot makes its weight and volume gradually increase,which is difficult to adapt to the narrow environment inside the coal mine roadway,so the multi robot cooperative operation came into being.According to the characteristics of narrow internal space in coal mine,a pilot follow multi mobile robot formation algorithm model combining graph theory and first-order consistency algorithm is designed in this paper.The model introduces the concept of graph theory into the pilot follow formation model.At the same time,two simulation environments including ideal and obstacle points are designed for the model.The real-time high-precision integrated navigation and positioning system algorithm and multi mobile robot formation algorithm are simulated on the Matlab software simulation platform.The experimental results verify the feasibility and reliability of the two algorithms.In this paper,the robot hardware platform is built.The IMU module selects the domestic CH100DK module,and the M 10-HA e-reader reads the real geographic location information preset inside the ISO 14443A near coupled IC card.In the coal mine tunnel laboratory,the integrated navigation real-time high-precision positioning system is tested on the platform of the robot.The test results show that the positioning error is controlled at the centimeter level,which has certain practical value for safety inspection in coal mine.