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This paper introduces the application and research status of the intelligent gangue sorting robot. This paper points out that the intelligent gangue sorting robot is mainly based on the principle of X-ray and image identification. And the high-pressure pneumatic sorting and truss robot grasping sorting are used to separate coal and gangue. The sorting actuators are mainly truss type, parallel type and series type of intelligent gangue sorting robot. The sorting actuators have fast response speed and often separate the gangue in the form of 'pulling' and 'grasping'. In the process of belt transportation, the compatibility of different gangue sizes and the optimization of movement path need to be considered in the 'pulling' of the intelligent gangue sorting robot. And the working space of the manipulator and the bearing capacity of the robot need to be considered in the 'grasping'. This paper analyzes the key technologies such as deep learning-based coal and gangue identification, unstructured multi-constraint environment-oriented motion planning of gangue sorting manipulator, force feedback-based active compliance control of manipulator and multi-arm cooperative sorting task allocation strategy and control. These technologies are used for intelligent gangue sorting robot to effectively realize gangue sorting in complex on-site environment. This paper points out that coal and gangue identification technology based on deep learning is one of the key technologies of gangue sorting robot. It still needs further research on the efficient construction method of coal gangue data set, improving the generalization of coal gangue identification algorithm, and the real-time optimization of coal gangue identification algorithm. Combined with the demand of field application and intelligent robot development, the future research directions of intelligent gangue sorting robot are pointed out. In the complex environment on site, it is suggested to improve the robustness and adaptability of the coal gangue identification algorithm. It is suggested to develop intelligent sensing and control technology for complex environment and high-precision three-dimensional pose estimation technology for gangue. It is suggested to develop intelligent gangue picking technology of gangue picking robot based on force position hybrid control. It is suggested to research intelligent gangue sorting robot underground gangue sorting technology.

The research status of mine-used intelligent inspection robot was introduced. In view of characteristics of mine-used intelligent inspection robot, the key technologies of mine-used intelligent inspection robot were analyzed in detail from mobile platforms, positioning and navigation, image recognition, autonomous charging, background management and diagnosis. Mobile platform is an important component of mine-used intelligent inspection robot, different mobile platforms work in different ways, wheel, crawler or track type mobile platform should be selected according to environmental characteristics of inspection site, and explosion-proof, moisture-proof, anti-vibration, dust and other issues should be considered in platform design. Positioning and navigation technology is key technology of mine-used intelligent inspection robot to realize intelligent and completely autonomous movement, from current underground application, laser radar+SLAM technology can be used for positioning and navigation of wheel type and crawler type mine-used intelligent inspection robot, due to fixed inspection line, RFID technology is suitable for positioning and navigation of track type mine-used intelligent inspection robot. Image recognition technology is an important technology widely used in mine-used intelligent inspection robot, which can determine running state of equipment by taking device images, moreover, according to difference of structure and networking mode of mine-used intelligent inspection robot, the image processing methods can be divided into background processing and local processing. Autonomous charging technology is an important means for mine-used intelligent inspection robot to supply electric energy for long-term autonomous work, the design of the battery should consider not only increasing battery capacity, but also having autonomous charging ability, so as to achieve unattended intelligent inspection; Intrinsically safe battery with small size, light weight and large reserves is the research difficulty. Mine-used intelligent inspection robot will collect a large amount of data in the process of inspection, so it must have background management and data analysis diagnosis function, but the current mine-used inspection robot ca't process or upload collected real-time data due to the influence of power supply and network transmission technology, therefore, a more efficient background management and on-line fault diagnosis system needs to be developed. At last, it is pointed out that intelligent data analysis, light weight mobile platform, modularized function and accurate inspection positioning are the development trends of mine-used intelligent inspection robot, which provides reference for further research on the key technologies of mine-used intelligent inspection robot.