Design of coal mine detection robot with automatic returning
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摘要: 为了解决煤矿井下探测机器人工作行程受限的难题，设计了一种可自主延长通信距离和自动回撤的煤矿探测机器人。当无线控制信号减弱时,机器人通过中继器弹射系统延长其无线通信距离；当无线控制信号突然中断时，机器人启动自动回撤功能，根据探测过程中已经记录的传感器数据按原路径回撤，自动回撤到安全位置。机器人自动回撤功能采用编码器与激光传感器数据集成的方法,并使用ICP算法进行双重数据匹配，以逐步调整机器人的位置和方向角，实现较高的回撤精度。测试结果表明，该机器人具有工作行程距离长的特点和自动回撤功能，可以在未知的煤矿灾难现场稳定、安全地工作，可替代煤矿救援人员深入煤矿井下完成初期危险的探测工作，为进一步的救援提供重要的现场数据信息。Abstract: In order to solve problem of limited working travel of coal mine detection robot, a coal mine detection robot was designed, which can independently increase its communication distance and automatically return. When wireless control signal is weakened, the robot will use repeater catapulting system to increase wireless communication distance. When wireless signal is suddenly interrupted, the robot will initiate automatic returning function, and return to a safe place automatically according to sensor data memorized in the scouting process. Automatic returning function of robot adopts integration data method between encoders and laser sensor, uses ICP algorithm to do double data matching and adjust position and orientation gradually of the robot, so as to realize high accuracy in the process of automatic returning. Testing results show that the robot has a long working travel distance and automatic returning function, can work stably and safely at the scene of unknown coal mine disaster, and can replace rescue workers to complete early dangerous detection work in coal mine, provide a significant on-site data information for coal mine rescue.
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