System and method for controlling underground coal mine rescue robot

Abstract

The invention discloses a system and a method for controlling an underground coal mine rescue robot, and relates to the technical field of robot control. The system comprises a communication module, an environment perception module, a self perception module, a barrier avoidance module, a motor drive module, an autonomous navigation module, a data acquisition control module, a visual perception module, a remote monitoring module and an automatic cooling module. The system is provided with a remote monitoring mode and an autonomous navigation mode. The distributed control of a dual-layer network framework is adopted, so that the system is flexible in structure; the number of rescue robots is conveniently adjusted due to the flexibility of combination of optical fiber communication with wireless communication, so that the rescue task can be performed by one or more robots; the running safety of the robot is improved and the intelligent level of the robot is increased due to the remote monitoring and autonomous navigation functions; and the robot control system is guaranteed to run reliably due to the automatic cooling system.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a control system and control method for a coal mine underground rescue robot. Background technique [0002] my country's mines have the characteristics of poor geology and high gas, and there are reports of mine accidents every year, causing negative impacts on society. When an accident occurs, it is urgent to know the underground environment, such as gas concentration, CO concentration, smoke size and underground visibility, and whether there are explosions or other dangers, etc. Rescue poses serious challenges. However, in this kind of accident scene with dense smoke, toxic gas and high temperature, the robot is an ideal detection and rescue device. [0003] The research of coal mine underground rescue robot involves information communication, positioning and attitude control, environment perception, autonomous navigation, etc. Coal mine underground communication, espe...

AI Technical Summary

Problems solved by technology

Coal mine underground communication, especially image and video communication, is a difficult problem. Wireless communication has low bandwidth and long delay, and is easy to scatter and absorb, while wired communication line construction is difficult to solve; coal mine underground rescue robots have complex requirements for environmental information, and must be equipped with various types of sensors for detection The underground environment and its own information are the basis for the coal mine rescue robot to control and perceive the on-site environmental data. Real-time and reliable transmission is also a major challenge for the coal mine rescue robot. In particular, the reliable transmission of multi-channel video and geographic scanning information determines whether the robot can The level of reliable operation and intelligent level; the complex, dangerous and uncertain underground environment requires coal mine underground rescue robots to have autonomous navigation capabilities and the robot's own temperature control function; these problems hinder the development of coal mine underground rescue robots

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