Design of a Dust Removal Robot System for Mine Tunnels Based on Electric Drive Servo Manipulator
Abstract：To address the issues of high labor intensity and health risks associated with manual dust removal in coal mine underground environments, as well as the poor maneuverability and low automation level of existing wheeled dust removal vehicles, this paper designs a dust removal robot system for mine tunnels based on an electric drive servo manipulator. The system integrates six subsystems: execution and drive, perception, control and decision-making, positioning, power supply and power management, and human-machine communication, establishing a closed-loop architecture of perception-decision-execution. Key technologies such as precise control of a six-degree-of-freedom servo manipulator, multi-sensor environmental perception, laser SLAM, and visual-assisted positioning are studied. The system can achieve autonomous movement, precise dust removal, and dynamic adjustment in underground tunnels, effectively improving the coverage and efficiency of dust removal, reducing health risks for personnel, and meeting the requirements for efficient, safe, and intelligent dust control in mines.
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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：6( 86-91 )