Research on key technologies of multi-agent control system for trackless transportation robot in coal mines

In order to solve the problems of low efficiency of trackless auxiliary transportation in coal mine, high pollution of diesel exhaust, low intelligence and low information level, a design scheme of trackless transportation robot in coal mine with lithium ion battery as power source was put forward. The trackless transport robot has zero emission, environment perception, multi-information fusion, autonomous path planning, self-navigation, autonomous walking and other functions, as well as the autonomous transfer of materials in specific areas of the coal mine. The technical framework of the trackless transportation robot is given. The chassis structure, chassis electrical system design, logic control process and wireless communication and autonomous positioning design scheme of the trackless transport robot are introduced in detail. The scheme design of environment awareness and path planning is introduced.