Research And Development Of Measurement And Control System Of Coal Mine Quadrotor Flying Robot

Due to the characteristics of low illumination,complicated tunnel structure and no precise navigation and positioning system(such as Beidou,GPS)in the coal mine,the measurement and control system of the quadrotor flying robot commonly used for operations above the ground is far from satisfying the requirements of flight control and inspection operation underground the coal mine.In view of the above problems,combined with the inspection requirements of coal mine environmental parameters,equipment status and personnel conditions,this paper designed a measurement and control system for coal mine quadrotor flying robot.Through carrying out experimental tests,the feasibility of the design scheme of the measurement and control system is confirmed.The main work of the thesis includes the following aspects:(1)By analyzing the design requirements of the measurement and control system of the coal mine quadrotor flying robot,the overall scheme of the robot measurement and control system is proposed,and the overall design scheme of the hardware system and the software system is formulated respectively.And from the functional category,the whole measurement and control system is divided into two parts:flight control system and inspection information return system.(2)According to the design requirements of the measurement and control system in terms of performance and function,the basic components of the measurement and control system hardware are determined,and the modular design is used for the underground positioning module,control module,autonomous obstacle avoidance module,inspection operation module and power management to build the hardware platform and select the relevant sensors.At the same time,the circuit schematics of the inspection operation module and the power management module are designed.(3)In order to solve the problems of remote control of underground robots,such as difficulty and poor autonomy,the MAVROS software package was used for the secondary development of the Pixhawk flight controller,and the application program of the robot underground flight control was designed.By using the principle of optical flow positioning and the method based on monocular camera calibration,the downhole attitude stability and space position solution of the robot are realized.By using the multi-directional ultrasonic ranging method,the robot’s autonomous obstacle avoidance strategy is designed to ensure the safety of underground flight.(4)Based on the cloud platform,the database and streaming media server of the underground inspection system are built,and the connection between the sensor and the cloud database is established through the acquisition program and programming interface,and the relevant data detected by the robot is uploaded to the cloud database inreal time to realize the return of the underground inspection data.By calling library functions such as ffmpeg and librtmp,the video information is pushed to the cloud platform streaming media server in real time to realize the return of the inspection video.(5)In accordance with the measurement and control system plan of the quadrotor coal mine flying robot developed in the coal mine,a corresponding test environment was built,and the flight control function and patrol return function sub-modules were tested.The test results show that the design scheme can basically meet the functional requirements of the measurement and control system of the coal mine quadrotor flying robot.