Design of a miniaturized verification platform for underground coal mine drilling robots

To address the dual challenges of large equipment size and harsh underground testing conditions,which hinder rapid iteration and increase verification costs for existing coal mine drilling robots,this study develops a compact verification platform for such robots. The platform adopts a modular layered architecture:the hardware layer integrates a differential tracked chassis and a drilling manipulator,with motion control implemented via an STM32 microcontroller and dedicated motion control boards. The navigation / planning layer is built upon the ROS 2 framework,incorporating Cartographer-based SLAM and NAV2 path planning. An acceleration-continuous planning method with bounded jerk constraints is proposed, complemented by an improved personnel detection method based on the YOLO architecture and manipulator trajectory planning using MoveIt. The interaction layer is developed using a real-time 3D engine,enabling asynchronous communication with the navigation / planning layer via JSON files. Experimental results demonstrate that the platform enables autonomous SLAM,path planning,and real-time control,achieving a displacement error of within 2 cm for 1. 5 m relocation tasks and triggering a three-level safety response upon human intrusion. The platform significantly reduces experimental iteration costs and establishes a closed-loop workflow covering mapping,planning,control,and interaction,providing an efficient test bed for rapid verification and industrialization of key technologies in underground coal mine drilling robotics.