为实现煤矿井下物料标准化装载、智能化配送、自动化转运和无人化运输的连续型辅助运输工艺，解决当前煤矿无轨辅助运输存在的系统能耗高、尾气污染严重、自动化和信息化水平落后，难以满足标准化、智能化的现代物流要求等问题，提出了一种矿井轮式物料运输机器人的设计方案，其具备清洁动力、环境感知、定位导航和自动驾驶等功能，可作为煤矿智能辅助运输系统的运载平台。该方案采用模块化设计将运输机器人的行走、装载等基本功能划分为独立的单元模块，根据不同需求进行组合，完成多种作业任务，达到减少车型种类，增加部件通用性的目的，为实现矿井物料运输的标准化和无人化提供装备基础。① 针对煤矿巷道的特殊工况和物料运输需求，提出了该型机器人的技术指标和总体架构，明确了各系统的层级关系和单元组成。② 介绍了作为机器人主要功能载体的行走底盘的结构形式和技术特点，进行了动力系统的匹配设计，并通过建立底盘运动学模型和相应的微分方程，提出了预测机器人行驶状态的描述参数和控制变量。③ 介绍了机器人环境感知、无线通讯和自主定位等系统的设计方案：环境感知系统综合采用RGB-D深度相机和平面激光雷达等多种传感设备，实现机器人在巷道运行时的实时数据采集；无线通讯系统通过在巷道内部署低延迟的WiFi+LoRa+UWB防爆基站，实现机器人运行范围内无线通信网络的全覆盖；自主定位系统综合利用了无线通信定位功能和环境感知定位技术，以实现机器人运行时的精确定位与导航。

In order to realize the continuous auxiliary transportation technology of standardized loading，intelligent distribution，automatic transfer and unmanned transportation of underground materials in coal mines，and solve the problems of high energy consumption，serious gas pollution，and backward automation and informatization in the current trackless auxiliary transportation in coal mines，it is difficult to meet the requirements of standardized and intelligent modern logistics. A design scheme of a mine wheeled material transportation robot was proposed. It has the functions of clean power，environment perception，positioning and navigation and automatic driving，which can be used as the transportation platform of the intelligent auxiliary transportation system of coal mine. The scheme used a modular design to divide the basic functions of the transportation robot，such as walking and loading into relatively independent unit modules，which can be combined according to different needs to complete a variety of tasks，reduce vehicle types，increase the universality of components and realize the standardization of mine material transportation. Firstly，according to the special working conditions and material transportation requirements of coal mine，the technical index and overall structure of the robot were proposed，and the hierarchical relationship and unit composition of each system were clarified. Then，the structural form and technical characteristics of the walking chassis as the main functional carrier of the robot were introduced，and the matching design of the chassis power system was carried out. Through the establishment of the chassis kinematics model，the description parameters and control variables for predicting the driving state of the robot were proposed. Finally，the design of robot’s environmental perception，wireless communication and autonomous positioning were introduced separately. For the environment perception system，a group of RGB-D cameras and LIDAR were applied to realize real-time environment data collection. Meanwhile，the wireless communication system realized communication network coverage underground coal mine by deploying low delay WiFi+LoRa+UWB flame-proof communication base station in the roadway. The autonomous positioning system comprehensively utilized the wireless communication positioning function and environment-aware positioning technology to achieve precise positioning and navigation while the robot was running.