Design A Control System Of A Mine Robot And Analyse Its Motion Performance

It is common that the gas in the mine can be easily ignited. After exploding the mine becomes an extremely dangerous place for the workers. So, developing a detective mine robot make sense for saving lives.This study comes from a coal mine robot project of Harbin Institute of Robotics and Tang Shan Kai Cheng Electronic corp. It is shown, as follow, what has finished in this paper:First of all we design a control system of a mine robot. The robot has three part of tracks as driving track, front fim and back fim. The control system contents two separated parts, the mine robot control system and the remote control system. The robot system can keep moving, gathering the video and audio signals, collecting environmental signals, using cable wire in communication with the control box. The OCU control box system command the robot with two joysticks and several buttons.Secondly, we have finished theory in the obstacle-crossing and turning.A kinematics model of the robot as crossing a obstacle has been establish. Then we program there kind crossing obstacle action: upstairing, downstaring crossing valley and climbing upstairs automatic. We also analyze the maximal high, the maximal width and the most stabilization as climbing up upstairs.A kinematics model and a dynamics model while the tracked robot is turning around. Basing on the models, we discuss the source of the driving force and the turning resistance. Differences of turning trajectory and turning velocities according to different longitude slippage and vertical slippage have been discussed, also the different turning trajectory and turning acceleration according to different longitude friction coefficient and vertical friction coefficient. This theory will provide bases for the obstacle-crossing and turning motion in practice.At last we have finished some experiment basing on the theory above.