Design And Research Of Mine Track Type Automatic Wind Measuring Robot

In order to guarantee the safe and stable operation of the mine ventilation system,the operator needs to carry various sensors to detect various ventilation basic parameters,including wind speed,air volume,oxygen concentration,gas concentration,air temperature,and humidity in the roadway.However,with the excavation and mining of mines,the mine ventilation systems have become more and more complicated,which makes the wind measurement become extremely enormous and cumbersome so that it is difficult to obtain accurate values of various ventilation basic parameters in real time.Moreover,it prevents managers from making reasonable ventilation strategies in time,thus reducing the safety of the mine ventilation system and increasing the probability of safety accidents.Through the analysis on the coal mine's underground roadway environment as well as the common wind measurement methods in combination with the existing structure and control system of the mine inspection robot,this thesis develops a mine track-type automatic wind measurement robot system based on ant colony algorithm,nine-point wind measurement method and the intelligent control technology,realizing the multi-point automatic collection,processing,and transmission of the roadway ventilation basic parameter data.At first,this thesis conducts the theoretical analysis on the common wind measurement method and the gas diffusion of roadway in coal mine,and establishes the functional requirements and the overall design scheme of the tracktype automatic wind measuring robot system.Specifically,on the basis of the Ibeam track,the mechanical structure from each part of the wind measuring robot is designed and introduced,and the installation scheme of the wind measuring robot in the roadway are formulated and planned.Subsequently,Then the motion path planning,nine-point wind measurement process design and kinematics simulation of the wind measuring robot are carried out.Based on the analysis of the principle of ant colony algorithm,the path planning of the wind measuring robot is analyzed based on the ant week model.The path of the wind measuring robot is planned and simulated in the MATLAB software environment.The algorithm can obtain the optimal path of the nine-point wind measurement,and at the same time design and explain the realization process of the nine-point wind measurement.The 3D model established by Solid Works software was simplified and imported into ADAMS software for kinematics simulation analysis to verify the reliability and stability of the designed wind measuring robot for nine-point wind measurement on the I-beam track.Finally,the control system of the orbital automatic wind measuring robot and the upper computer monitoring system are designed,and the motion control theory of the wind measuring robot is researched.A hardware system with S7-200 SMART CPU ST60,communication signal board,CD7 gas detector and V90 servo drive system as the main body was built,and the wiring design was carried out.Use STEP 7-Micro WIN SMART programming software to carry on the software design,compile the main program of the control system,the nine-point motion position control program and the nine-point data acquisition and processing program.The host computer monitoring system of the orbital automatic wind measuring robot is built,and each monitoring window is designed using MCGS software,so that the wind tester can conveniently and quickly monitor the running status of the wind measuring machine and monitor the ventilation parameter data.