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凿岩机器人是有效解决井下人工凿岩带来的安全、效率和钻爆精度等诸多问题的重要装备,凿岩智能化也是实现“少、无人矿山”和“数字化矿山”的重要研究方向。井下复杂环境的矿道断面感知、凿岩运动规划和钻孔精确自定位、智能钻孔控制和基于钻孔参数信息提取的凿岩岩层识别是凿岩机器人实现自主操作的4个关键技术。分析与总结了国内外井下凿岩机器人自主操作方法的研究现状与进展,并对相关研究做出展望。
Rock drilling robot is an important equipment that can effectively solve many problems such as safety, efficiency and drilling and blasting accuracy caused by underground rock drilling. Intelligent rock drilling is also realized “less, no man’s mine” and “digital mine” Important research directions. Minehole complex environment perception of mine section, drilling motion planning and drilling precise self-positioning, intelligent drilling control and drilling parameters based on the extraction of drilling rock identification is the drilling robot to achieve autonomous operation of the four key technologies. This paper analyzes and summarizes the current research status and progress of the autonomous drilling operation of underground rock drilling robots at home and abroad, and makes a prospect for the related research.