Remote Monitoring And Control Of Coal Mine Detection Robot

With the rapid development of robotics, robots will play a significant role in coal mine accidents rescue. Coal mine detection robot is a kind of robot which is used to explore the mine site and collect data after the coal mine accident, and its development is very important for future disaster relief, particularly for protecting the safety of aid workers. To ensure the completion of underground exploration tasks by implementing robot's remote monitoring and control is the main content of this paper.Coal mine detection robot is taken as the research object in this paper, for which remote monitoring and control system is researched and designed by combining the remote control technology on robot and video monitoring technology based on the analysis of system tasks and functions required. Supervision mode is adopted in the system that consists of three subsystems: the local control subsystem of the robot, communication subsystem in the middle layer and remote client control subsystem.On the basis of analyzing the characteristics of C/S and B/S structure model, the former is used as the system software's architecture. Client and server software are designed according to the functional requirements of them by using multithread programming techniques based on MFC, and their main interface of human-computer interaction are also designed according to the design requirements of user's software interface.Client and robot are connected by communication subsystem, which plays a decisive role for the realization of remote video surveillance. In this paper, the coal mine detection robot's communication mode is studied and a communication network scheme relying on wireless relaying in the underground is proposed after comparing and analyzing multiple communication methods. Different transport protocols are chose for the transmission of information according to the characteristics of reliability and real-time, specifically, TCP protocol is chose for data transmission and UDP protocol is chose for video transmission. Futhermore, transmission of the sensors'state data, the client's control commands and live videos are implemented by employing Socket programming.As the robot's eyes, vision system shoulders the task of live video capture. Video capture devices including the light source, camera and video capture card are selected in this paper. After comparing and analyzing, H.264 video compression standard is determined as the coding method because of its high compression ratio and good compression quality, at the same time, the open-source software codec T264 is chose to work for encoding and decoding. The whole process including video capture, compression, decompression and display is finished by VFW programming. Finally, video image enhancement processing is performed with the gray scale transformation method and histogram equalization method to make the video images clearer and easier to understand, ensure the effectiveness of video images, and provide a reliable basis for further decisions.