Design of coal mine detection robot with automatic returning

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.