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設(shè)備與工具原文發(fā)表在《工礦自動(dòng)化》2020年第7期，歡迎品讀。
礦井偵測無人機(jī)具有體積較小、造價(jià)低廉、無人員傷亡風(fēng)險(xiǎn)及靈活性強(qiáng)等優(yōu)勢，已在目標(biāo)跟蹤、應(yīng)急通信和環(huán)境監(jiān)測等多種領(lǐng)域得到廣泛應(yīng)用，它可進(jìn)入井下巷道進(jìn)行實(shí)時(shí)偵測，利用傳感器對井下的瓦斯?jié)舛?、氧氣濃度?a href="http://www.hldxsj.cn/sell/search.php?keyword=%E7%8E%AF%E5%A2%83" title="環(huán)境" target="_blank">環(huán)境溫度及傷員位置等信息進(jìn)行采集與處理，并將這些信息通過數(shù)據(jù)及視音頻實(shí)時(shí)傳輸?shù)?a href="http://www.hldxsj.cn/sell/list-133.html" title="救援" target="_blank">救援指揮中心，為救援指揮人員提供決策依據(jù)。
本文通過分析礦井偵測無人機(jī)動(dòng)力系統(tǒng)、定位系統(tǒng)、環(huán)境監(jiān)測系統(tǒng)及通信系統(tǒng)等的國內(nèi)外研究現(xiàn)狀，指出了礦井偵測無人機(jī)存在續(xù)航能力不足、定位精度差、信息感知能力弱、信息數(shù)據(jù)傳輸性能差等問題，針對上述問題，展望了礦井偵測無人機(jī)的發(fā)展趨勢：① 新能源或新型供電技術(shù)的應(yīng)用。對整個(gè)電源管理系統(tǒng)進(jìn)行更加高效合理的優(yōu)化，實(shí)時(shí)偵測用電設(shè)備的耗電情況，提高用電的高效性，延長偵測無人機(jī)的續(xù)航時(shí)間，并滿足防爆性能。② 基于協(xié)同導(dǎo)航搜索的無人機(jī)集群系統(tǒng)開發(fā)。采用混合式無人機(jī)集群控制結(jié)構(gòu)，克服了分布式結(jié)構(gòu)通信可靠性差、搜索效率低的缺點(diǎn)，解決了集中式結(jié)構(gòu)魯棒性及自主性弱的問題；通過數(shù)理優(yōu)化算法進(jìn)行信息推導(dǎo)，并對多無人機(jī)協(xié)同信息進(jìn)行融合，提高定位精度，縮短救援時(shí)間。③ 基于多傳感器融合技術(shù)的無人機(jī)監(jiān)測平臺(tái)設(shè)計(jì)。通過基于BP神經(jīng)網(wǎng)絡(luò)算法的多傳感器信息協(xié)調(diào)及互相融合，提高無人機(jī)對井下環(huán)境的感知能力。④ 多無人機(jī)鏈狀無線Mesh組網(wǎng)模式的應(yīng)用。多無人機(jī)在井下環(huán)境搜索時(shí)，每架無人機(jī)采集的信息都是局部區(qū)域的信息，通過鏈狀無線Mesh組網(wǎng)模式，所有無人機(jī)進(jìn)行信息融合和資源互補(bǔ)，實(shí)時(shí)更新環(huán)境信息狀況，提高偵測的可靠性和救援效率。
引用格式
張鐸（1986-），男，陜西華陰人，講師，碩士研究生導(dǎo)師，博士，主要研究方向?yàn)槊夯馂?zāi)害防治與災(zāi)害應(yīng)急救援，E-mail：zhangd@xust.edu.cn。
作者聯(lián)系方式
張鐸，吳佩利，鄭學(xué)召,等.礦井偵測無人機(jī)研究現(xiàn)狀與發(fā)展趨勢［J］.工礦自動(dòng)化，2020,46（7）：76-81.
ZHANG Duo,WU Peili,ZHENG Xuezhao,et al.Research status and development trend of mine detection unmanned aerial vehicle［J］.Industry and Mine Automation，2020,46（7）：76-81.
責(zé)任編輯聯(lián)系方式
張強(qiáng)，E-mail：zhangqiang@cari.com.cn
礦井偵測無人機(jī)研究現(xiàn)狀與發(fā)展趨勢
Research status and development trend of mine detection unmanned aerial vehicle
【作者】張鐸1,2，吳佩利1，鄭學(xué)召1,2，郭軍1,2【Author】 ZHANG Duo1,2,WU Peili1,ZHENG Xuezhao1,2，GUO Jun1,2【作者機(jī)構(gòu)】1.西安科技大學(xué) 安全科學(xué)與工程學(xué)院， 陜西 西安710054；2.國家礦山救援西安研究中心， 陜西 西安710054【Unit】1.College of Safety Science and Engineering, Xi'an University of Science and Technology, Xi'an 710054, China; 2.Xi'an Research Center of National Mine Rescue, Xi'an 710054, China
【摘要】通過分析礦井偵測無人機(jī)動(dòng)力系統(tǒng)、定位系統(tǒng)、環(huán)境監(jiān)測系統(tǒng)及通信系統(tǒng)等的國內(nèi)外研究現(xiàn)狀，指出了礦井偵測無人機(jī)存在續(xù)航能力不足、定位精度差、信息感知能力弱、信息數(shù)據(jù)傳輸性能差等問題。展望了礦井偵測無人機(jī)的發(fā)展趨勢：① 新能源或新型供電技術(shù)的應(yīng)用。對整個(gè)電源管理系統(tǒng)進(jìn)行更加高效合理的優(yōu)化，實(shí)時(shí)偵測用電設(shè)備的耗電情況，提高用電的高效性，延長偵測無人機(jī)的續(xù)航時(shí)間，并滿足防爆性能。② 基于協(xié)同導(dǎo)航搜索的無人機(jī)集群系統(tǒng)開發(fā)。采用混合式無人機(jī)集群控制結(jié)構(gòu)，克服了分布式結(jié)構(gòu)通信可靠性差、搜索效率低的缺點(diǎn)，解決了集中式結(jié)構(gòu)魯棒性及自主性弱的問題；通過數(shù)理優(yōu)化算法進(jìn)行信息推導(dǎo)，并對多無人機(jī)協(xié)同信息進(jìn)行融合，提高定位精度，縮短救援時(shí)間。③ 基于多傳感器融合技術(shù)的無人機(jī)監(jiān)測平臺(tái)設(shè)計(jì)。通過基于BP神經(jīng)網(wǎng)絡(luò)算法的多傳感器信息協(xié)調(diào)及互相融合，提高無人機(jī)對井下環(huán)境的感知能力。④ 多無人機(jī)鏈狀無線Mesh組網(wǎng)模式的應(yīng)用。多無人機(jī)在井下環(huán)境搜索時(shí)，每架無人機(jī)采集的信息都是局部區(qū)域的信息，通過鏈狀無線Mesh組網(wǎng)模式，所有無人機(jī)進(jìn)行信息融合和資源互補(bǔ)，實(shí)時(shí)更新環(huán)境信息狀況，提高偵測的可靠性和救援效率?！続bstract】By analyzing research status of power system, positioning system, environmental monitoring system and communication system of mine detection unmanned aerial vehicle (UAV) at home and abroad, the problems of mine detection UAV were pointed out, such as insufficient cruising power, poor positioning accuracy, weak information perception ability and poor information data transmission performance. For the above problems, the development trends of mine detection UAV were prospected: ① Application of new energy or new power supply technology, the whole power management system is optimized in a more efficient and reasonable way to detect power consumption of electric equipment in real time, improve power efficiency and enhance endurance time of detection UAV, and meet explosion-proof performance. ② Development of UAV cluster system based on collaborative navigation search, the hybrid UAV cluster control structure overcomes the shortcomings of poor communication reliability and low search efficiency in distributed structure and solves the problems of weak robustness and autonomy in centralized structure; the system can improve the positioning accuracy and shorten the rescue time through mathematical optimization algorithm for information derivation and multi-UAV collaborative information fusion. ③ Design of UAV monitoring platform based on multi-sensor fusion technology, the multi-sensor information coordination and mutual fusion based on BP neural network algorithm can improve the UAV's perception ability to underground environment. ④ Application of multi-UAV chain wireless Mesh networking mode, when multi-UAVs search in underground environment, the information collected by each UAV is local area information， all UAVs conduct information fusion and resource complementarity to update the environmental information status in real time through the chain wireless Mesh networking mode, so as to improve reliability of detection and rescue efficiency.
【關(guān)鍵詞】 礦井應(yīng)急救援；偵測無人機(jī)；無人機(jī)集群；動(dòng)力系統(tǒng)；定位導(dǎo)航；環(huán)境監(jiān)測；無線通信；多傳感器融合【Keywords】mine emergency rescue; detection unmanned aerial vehicle; unmanned aerial vehicle cluster; power system; positioning and navigation; environmental monitoring; wireless communication; multi-sensor fusion
【基金項(xiàng)目】國家重點(diǎn)研發(fā)計(jì)劃重點(diǎn)專項(xiàng)項(xiàng)目（2018YFC0808201）；國家自然科學(xué)基金項(xiàng)目（51904234）；陜西省自然科學(xué)基礎(chǔ)研究計(jì)劃項(xiàng)目（2018JM5009，2018JQ5080）
信息提供：張強(qiáng) 圖文編輯：張聚
審 核：王暉
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