Beijing Tiandi-Marco Electro-Hydraulic Control System Co., Ltd., Beijing , China

At present, many domestic coal mines use visual remote intervention type intelligent unmanned fully-mechanized coal mining, but a worker is still needed to conduct inspection operations in fully-mechanized working face.In order to realize that there is no one needed in the support area of fully-mechanized coal mining face, it is necessary to study a patrol robot for fully-mechanized mining face, and to replace the patrol inspector in fully-mechanized mining face, which is the development direction of intelligent fully-mechanized mining.Based on the analysis of the status of research on patrol robots in fully-mechanized mining face, it is proposed that the research on patrol robots is currently in its initial stage, and it points out five technical difficulties that the research on patrol robots needs to overcome:the robustness of control platform,the reliability of walking drive,the stability of mobile communication,the coordination of group control and the rationality of supporting.Five key technologies required for the development of patrol robots are given and specifically analyzed: flexible track technology, precise positioning and navigation technology, highly reliable control technology, dynamic image acquisition technology, and three-dimensional stope model construction technology.A patrol robot for fully-mechanized mining face was developed.The walking mechanism was driven by battery power to realize rapid movement along the track outside the cable groove of the scraper conveyor.Spring connections with a certain bearing capacity were used to achieve flexible connection between the tracks.The working face patrol robots was equipped with inertial navigation system, three-dimensional laser scanning device, infrared thermal imaging camera, visible light camera, wireless mobile terminal and other equipment can be used to complete the straightness and horizontality detection of the fully-mechanized mining face, precise positioning of the face, point cloud scanning of working face, inspection of coal mining machine running status and rapid inspection of working face, etc., and realized accurate and fast transmission of sensor data to the centralized control center of roadway through wireless communication network.Through the application in No.43101 fully-mechanized coal mining face of Shendong Yujialiang Coal Mine, the maximum inspection speed of 60 m/min was achieved; the measurement accuracy of the three-dimensional point cloud model of the working face was 0.2 m; the straight line of 360 m fully-mechanized mining face equipped with inertial navigation system was realized.The degree can be controlled within ±500 mm; the patrol robots for fully-mechanized mining face still needs further research and optimization in terms of weight and battery life to meet the actual production needs.The research results can provide a useful reference for the development of patrol robot technology in fully-mechanized mining face.