Design Of Underground Gas Concentration Detection Robot

In recent years, China’s coal mine safety accidents happen frequently, especially some severeinjuries have caused heavy casualties and huge economic losses. Among the accidents, the gasexplosion has accounted for the vast majority. Traditional coal mine safety monitoring systems alladopt the method of cable network, but the cable network has been greatly constrained in the aspect offlexibility of time and space.The paper first analyzed the coal mine monitoring system the current situation at home and abroadand the background and significance of the research, then expounded the wireless sensor technology,ZigBee technology and the principle of gas concentration detection, which has provided the theorysupport for the ZigBee wireless sensor network node hardware and software design. According to theexisting environment of coal mine and the user requirements, the demand analysis on the coal minemonitoring system was completed, and chose the right components combining the characteristics ofZigBee wireless sensor network node, described in detail the system hardware and software design anddata transmission mode of the coal mine gas concentration ZigBee wireless collection and transmission.Finally, the gas testing and system integration testing of the wireless sensor node module was completed.Based on tracked mobile robot as the research object, its function of remote control and autonomousobstacle avoidance was completed, and a new filtering algorithm was put forward. The main task ofrobot remote control is monitoring of the state of robot and the surrounding environment in real timethrough the upper machine, and controlling the robot’s movement wirelessly. The control subsystem canbe divided into five main parts: the microcontroller, motor control module, communication module,sensor module and human-computer interaction module. The system chose C8051F020as the maincontrol chip. According to the modular thought, the design of hardware circuit and software programwas completed, and the remote control of the robot was realized.The main task robot autonomous obstacle avoidance is to make the robot be able to detect theposition of the obstacles in the case of no-man control, and avoid obstacles. Obstacle avoidancesubsystem can be divided into three main steps: the obstacle avoidance obstacles information collection,information processing and obstacle avoidance decision-making. In the system the ultrasonic moduleHC-SR04as distance sensor was chosen, the fuzzy logic approach is chosen as the obstacle avoidancealgorithm, which realized the autonomous obstacle avoidance of the robot.