A robot control system for mining environment detection

Abstract

The invention relates to a mining environment detection robot control system, the optical fiber port of the Ethernet network server is connected with the relay module, the antenna interface of the Ethernet network server is connected with the forward antenna; the three ports of the Ethernet network server The PoE ports are respectively connected to the front IP camera, the rear forward IP camera and the rear rear IP camera, and the three RJ45 ports of the Ethernet network server are respectively connected to the motion control board, data acquisition board and audio intercom module; The above-mentioned audio intercom module is connected with the intrinsically safe intercom system. The control system has strong integration ability and good scalability, which is conducive to the realization of mechatronics, reduces the loading space, and is also conducive to the transplantation of the system, shortens the development cycle, and reduces the development cost; it can quickly respond to dynamic changes in the environment, so as to adapt to non-standard Structured environment, and can meet the cooperation of multi-robot system.

Description

technical field [0001] The invention relates to a robot control system, in particular to a mining environment detection robot control system for controlling a robot to enter a mine gas explosion disaster site for environmental detection. Background technique [0002] The mining environment detection robot is the equipment that replaces the rescue team to detect the underground environment of the coal mine after the disaster. The mining environment detection robot is a kind of dangerous operation robot. In order to adapt to the unstructured environment, the dangerous operation robot should be an intelligent mobile robot with the ability of environmental cognition, behavior decision-making, and motion control. The robot control system is a device that controls the robot to complete the above functions according to instructions and sensor information, and is a key component of the robot. [0003] Mine environmental detection robots are generally transported to the disaster sit...

AI Technical Summary

Problems solved by technology

[0010] In order to solve the problems of high power consumption, large size, large explosion-proof structure load and high development cost of the existing mine environment detection robot control system, the present invention provides a mine environment detection robot control system, which adopts an Ethernet-based The distributed structure has strong integration ability and good scalability, which is conducive to the realization of mechatronics, reduces the loading space, and is also conducive to the transplantation of the system, shortens the development cycle and reduces the development cost; it adopts a high-performance 32-bit micro-controller The embedded system of the controller is used as a controller and data collector, with low power consumption, small size and light weight, which reduces the load of the explosion-proof structure, thereby reducing the load of the robot and improving endurance; using a real-time multi-tasking system, it can respond quickly The environment changes dynamically, so as to adapt to the unstructured environment, and the multi-task processing method can make full use of computing power; the network communication function based on Ethernet and wireless WLAN network meets the cooperation of multi-robot systems

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