【Abstract】The research status of mine-used intelligent inspection robot was introduced. In view of characteristics of mine-used intelligent inspection robot, the key technologies of mine-used intelligent inspection robot were analyzed in detail from mobile platforms, positioning and navigation, image recognition, autonomous charging, background management and diagnosis. Mobile platform is an important component of mine-used intelligent inspection robot, different mobile platforms work in different ways, wheel, crawler or track type mobile platform should be selected according to environmental characteristics of inspection site, and explosion-proof, moisture-proof, anti-vibration, dust and other issues should be considered in platform design. Positioning and navigation technology is key technology of mine-used intelligent inspection robot to realize intelligent and completely autonomous movement, from current underground application, laser radar+SLAM technology can be used for positioning and navigation of wheel type and crawler type mine-used intelligent inspection robot, due to fixed inspection line, RFID technology is suitable for positioning and navigation of track type mine-used intelligent inspection robot. Image recognition technology is an important technology widely used in mine-used intelligent inspection robot, which can determine running state of equipment by taking device images, moreover, according to difference of structure and networking mode of mine-used intelligent inspection robot, the image processing methods can be divided into background processing and local processing. Autonomous charging technology is an important means for mine-used intelligent inspection robot to supply electric energy for long-term autonomous work, the design of the battery should consider not only increasing battery capacity, but also having autonomous charging ability, so as to achieve unattended intelligent inspection; Intrinsically safe battery with small size, light weight and large reserves is the research difficulty. Mine-used intelligent inspection robot will collect a large amount of data in the process of inspection, so it must have background management and data analysis diagnosis function, but the current mine-used inspection robot can't process or upload collected real-time data due to the influence of power supply and network transmission technology, therefore, a more efficient background management and on-line fault diagnosis system needs to be developed. At last, it is pointed out that intelligent data analysis, light weight mobile platform, modularized function and accurate inspection positioning are the development trends of mine-used intelligent inspection robot, which provides reference for further research on the key technologies of mine-used intelligent inspection robot.
【关键词】 矿用智能巡检机器人；移动平台；定位导航；自主充电；图像识别
【Keywords】mine-used intelligent inspection robot; mobile platform; positioning and navigation; autonomous charging; image recognition
【基金项目】天地（常州）自动化股份有限公司研发项目（2018MS031）
信息提供：张强 图文编辑：张聚
审 核：王晖
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