Design and verification of a multifunctional coal mine quadruped robot system based on digital twin

XIE Jiacheng; ZHANG Jiapeng; LIU Shuguang; WANG Xuewen; HUANG Zhuo; QIN Lang; XIAO Zhijie

Abstract：In recent years,due to the special working environment in coal mine,coal mine underground robot has become the focus of R&D personnel all over the world.As a kind of robot,quadruped robot has attracted a lot of attention at home and abroad because of its simple structure and high adaptability.In order to assist people to work underground and com-plete dangerous tasks,a quadruped robot system for complex tasks such as underground inspection and handling in coal mine is designed.Firstly,complete the relevant basic theoretical analysis,including quadruped robot body design,quad-ruped robot kinematics modeling and quadruped robot static gait planning;Secondly,the key technologies related to autonomous perception,autonomous decision-making and autonomous control of multi-functional special quadruped ro-bot in coal mine are studied;Finally,the virtual simulation planning system of quadruped robot,the virtual monitoring sys-tem of quadruped robot and the physical system of quadruped robot are constructed.The solid prototype of quadruped ro-bot is made,and the system integration test is completed.The results show that the quadruped robot has reasonable struc-ture and perfect function,has good adaptability to complex geological conditions underground,can complete environment-al perception and adaptive obstacle avoidance walking in unknown underground environment,and can complete complex work.The virtual simulation planning system provides information and reference for the autonomous execution of the ro-bot,and the virtual monitoring system provides three-dimensional running state monitoring and remote visual human-com-puter interaction interface for the robot.The design of virtual dimension provides digital twin platform support and solu-tion for underground complex operation,and plays a positive role in intelligent and unmanned mining of coal mine.