Research of energy consumption model of robot in coal mine post-disaster environment

For status that there was no research about energy consumption model of disaster rescuing robot in coal mine as well as influence factors on energy consumption efficiency, walking resistance of robot in coal mine post-disaster environment was analyzed and an energy consumption model of the robot was established, which was verified by a disaster rescuing robot prototype. Relationship among factors, such as endurance of the robot, road conditions, current and so on, was analyzed and solved. It was found that the robot would consume more energy while accelerating and turning, and energy consumed while walking on coal road was almost 2 times more than the one consumed while walking on concrete road.