Design and Development of a Quadruped Robot Inspection System for Coal Mines
Abstract：To address the challenges posed by complex environments in coal mine inspection tasks, this paper proposes a design scheme for a quadruped robot inspection system. The system integrates multi-sensor fusion technology, including laser radar, inertial measurement units, and leg joint encoders, combined with autonomous navigation algorithms and wireless charging technology. It develops a quadruped robot inspection system capable of autonomous mapping, path planning, dynamic obstacle avoidance, and self-charging. After testing in actual working scenarios at a coal mine ground substation, it can achieve smooth autonomous movement, complete environmental data acquisition and real-time monitoring, with a maximum inspection speed of 0.6 m/s and wireless charging positioning accuracy of less than 5 cm, demonstrating high inspection efficiency and safety.
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Publication Date：2025-11-30
Online Publishing Date：2025-12-10(First online date of this platform, not the publication date of the document)
Pages：5( 71-75 )