Research On The Robot Controller For Inspection Of Underground Working Face

With coal mine intelligent gradually,all kinds of dangerous work gradually under the mine by robot to replace the manual operation,which the traditional hydraulic support straightness measurement accuracy is not standard,easily affected by dust,team has come up with a robot in hydraulic support people walking andante method to measure the straightness.In this paper,aiming at the problem that the robot with hydraulic support can't complete the measurement when it meets obstacles in the measurement of straightness when walking on the andante,a control system of inspection robot is designed,which is composed of acquisition layer,control layer,network communication layer and decision layer composed of upper computer and smart phone.Collecting layer is mainly responsible for the underlying information collection,including ranging module,local environmental monitoring module,ranging module which is used to measure the distance and obstacles information feedback to the CPU to control the robot obstacle avoidance,local environmental monitoring module is responsible for collecting robot environment image information,the concentration of harmful gases,as well as the temperature and humidity information;STM32ZET6 is used as the CPU of the robot controller in the control layer,which is mainly responsible for processing the information collected by the acquisition layer and issuing commands.Network communication layer includes WIFI,bluetooth,Ethernet and other communication methods,mainly responsible for data transmission;The decision-makers include the upper computer and smart phone,which are mainly responsible for information display and man-machine interaction.In terms of hardware,important circuits include: embedded minimum system,power supply circuit,switching and analog acquisition circuit,motor drive circuit and communication circuit.In terms of software,?C/OS-II embedded operating system was transplanted.Based on the operating system,straightness measurement program,obstacle avoidance program,communication program,data acquisition program and application programming(IAP)were designed.The improved A* algorithm is used to optimize the robot's walking path,which reduces the robot's time in the walking process and improves the robot's efficiency in finding the optimal path.High stability of the robot control system is designed in this paper,with the function of the remote download upgrade program,under the condition of laboratory test,the robot walking process mainly by the autonomous obstacle avoidance as the core,with the remote control and remote monitoring is complementary,can achieve the goal of avoiding obstacles,and the A * algorithm for optimized software simulation analysis,the results show that the robot at the same time of complete obstacle avoidance,the efficiency of searching for the optimal path by about 2 times.The robot controller designed in this paper can meet the requirements of robot walking on the andante of hydraulic support to measure straightness and avoid obstacles.