| This paper mainly focused on the designing and control mode of the wheeled mobile robot in coal mine. On the basis of in-depth study of the coal mine equipment explosion-proof requirements and related standards, the reference index of the coal mine explosion-proof performance of the mobile robot was initially identified. Concentrated on the research and design of the robot such as walking mechanism, driving mechanism, and flameproof enclosure, the MMR-1(mining mobile robot) Robot prototype was eventually developed. With MMR-1Robot as the research platform, the overall control of the hardware system is designed based on the overall demand of its control system. Taking nested controller as the research method of the robot control mode, the structure can be well planned for the sequence of robot behavior. This paper proposed a new module diagram representation of robot behavior sequence which can be a very good analysis of robot specific rules of conduct and is helpful to program the decision procedure for the preparation of control. Based on the study in the laser scanner measurement methods and means of communication, this paper proposed a method based on laser scanner in the underground roadways "D-K landmark navigation method", and use the methods for identification. The experiment shows that the effectiveness and the feasibility of this method. |
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