Research on Electromagnetic Adsorption Technology Based on Composite Shaft Lining Structure

Abstract

The working conditions and environment of coal mine shafts are intricate and special. Currently, manual inspections or fixed-point monitoring is generally applied for daily safety monitoring, and intelligent and automated inspection equipment and its supporting technologies are not available. Starting from the technical requirements of the electromagnetic adsorption device of the wall-climbing robot for safety monitoring of the coal mine shaft, based on the structural characteristics and chemical composition of the composite shaft lining of the coal mine, the fundamental structure of the electromagnetic array and the electromagnetic unit are clarified, and a multi-layer matrix simulation point overlap mapping analysis method is proposed. Based on the system modeling and simulation calculations in MATLAB software, the number and distribution law of effective mapping points between the endpoints of the electromagnetic array and the reinforced frame in the shaft lining are inferred, which leads to the establishment of a calculation model of the equivalent adsorption area. The NSGA-II algorithm, a non-dominant elite strategy based on a genetic algorithm, is used to calculate the optimum combination scheme of various genetic parameters of individual electromagnetic units. Through the statistical analysis of the optimal individual data of each generation in the iterative process, the accuracy of the algorithm process and constraints, as well as the fitness function, are verified. Based on the research results of this paper, the electromagnetic adsorption issue of the mine shaft wall-climbing robot on the composite shaft lining structure has been effectively solved, which has theoretical significance and practical value for improving the autonomous ability and monitoring level of coal mine shaft safety monitoring.