Research On Environmental Detection And Motion Control Of Coal Mine Rescue Robots

After coal mine disaster, the mine is a complex unstructured environment; the accident scene may appear collapsed roadway, methane gas and other harmful gases that brought the potential danger to the safety of rescue workers. Mine rescue robot can enter the disaster site first instead of rescuers to get the disaster environmental information which helping rescue workers to complete the follow-up rescue mission. In this paper, for applying to mine rescue, we take motion control to be the core of the mine rescue robot, and main research the environment detection, motion control, intelligent control and multi-robot cooperative control four parts.Researched and designed mine rescue robot environment detection, after analyzing the function of coal mine rescue robots environment detection system. The coal mine rescue robot detection system is made up of methane sensor, multi-parameter measuring instrument, infrared cameras, and mine intrinsically safe microphones and sound. On this basis, we design environment exploration data acquisition card hardware circuit and environmental data collection procedures, and design a simple coal mine methane sensors which suitable for rescue robot. At last, tested the robot detection performance.Researched and design mine rescue robot motion control system. We design motion control systems and motion controllers based on infrared distance sensors, tilt sensors, inertial measurement unit, brush less DC motors and drives by analyzing the required motion control functionality. In the motion control program we pass into the PID closed-loop control to make the robot speed more stable and test the performance of the robot motion control through a series of experiments.Based on the behavior of the coal mine rescue robot, researched and design the mine rescue robot’s self-avoidance, dip adaptive control, locate and track record, self-protection. By using a combination of two different measuring infrared distance sensors, we can real-time monitor the coal mine rescue robot’s front and left sides of the obstacle information, and select avoidance behavior based on knowledge. Through the tilt sensor, we can also real-time monitor the attitude angle of the robot and take compare of knowledge inclination adaptive control content to adjust robot speed and mode. By combining information on motor speed and heading angle, the mine rescue robot positioning is realized by using dead reckoning algorithm and the trajectory of the robot is record. Make robot to protect itself in dangerous situations by avoidance protection, inclination protection and lost contact protection.Researched the Coal mine rescue multi-robot cooperative control technology including multi-robot cooperative communication, architecture, tracking three aspects. It achieves a temporary formation of underground communication system relaying on three robots’ communication collaboration. To achieve a coordinated control of three robots, the behind robot is tracking segment the front robot trajectory by autonomous robot localization track record information.