Research On The Key Technologies Of Coal Mine Rescue Robot

Coal mine rescue robot is emergency rescue equipment which can assist orreplace of the brigadesman to detect and search in disaster area, in order to speed upsearch and rescue word effectively, find the miners who were trapped under ground intime, locate the victims quickly, and reduce casualty of personnel. Coal mine rescuerobot is a type of intelligent robot which has the abilities of environment cognition,behavior decision and motion control to ensure that the robot can work normally inhazard environment. There are mainly three key technologies of coal mine rescuerobot which are the locomotion platform which adapts off-road terrain, the intelligentcontrol system and3D environment modeling and identity. This dissertationprincipally discussed around three aspects above.The design principles of tracked robot locomotion platform are summarizedbased on ground pressure, driving dynamics, steering dynamics and performance ofovercoming obstacles. It is designed that the locomotion platform with automatictransmission which can satisfy the requirement of the maximum speed on plat groundand the maximum output torque on climbing. The driver system with automatictransmission based on planetary gear set and modularized track unite are illustrated indetail. And all the parts are assembled with virtual assembly technology and thereasonability of this design is checked with interfere check.The motion simulation of coal mine rescue robot is researched based on virtualprototyping. In RecurDyn environment, the virtual prototyping and multi-body modelof coal mine rescue robot are build used HM_track module. The motion simulationexperiments on the plat ground, on the slope and overcoming obstacles are processed.To enhance the stability and cross-country ability of coal mine rescue robot, two typesof coal mine rescue robot suspensions which combines spatial balance linkagemechanism with tracks based on two types of spatial balance linkage mechanismwhich is the connecting rod is arranged as the diagonal symmetry mode and another isthe connecting rod is arranged as the center line symmetry mode are designedrespectively. Two types of balance mechanism are compared based on multi rigidbody dynamics and simulation in RecurDyn. It is studied that movement trace methodbased on SINS and UKF, and the effectiveness of this method is certified bymovement trace experiment.The power matching design method based on multi-objective particle swarmoptimization is proposed to solve the two problems that the coal mine rescue robot is without the power supply in the hazard and complex coal mine and theexplosive-proof batteries unit influences dynamic performance very seriously. Theoptimization goal and constraint condition for power matching are confirmed by theanalysis of the robot dynamic performance requirement. And the model of the robotpower matching is established and the decision variables of multi-objectiveoptimization are ensured, which are based on the tracked vehicle dynamic and theinfluence for the dynamic performance by explosive-proof batteries unit. Finally, it iscalculated which the reasonable value range of the parameters of power matching. Itis supported the multi-objective particle swarm optimization could effectively andrapidly solve the power matching of the coal mine rescue robot by calculationExample.The environment information acquirement methods based on3D machine visionare summarized. Based on PCL, boundary extraction method and NARF key pointsextraction based on range map is studied. The best parameters of NARF key pointsextraction is determined by experiments. The environment modeling method whichused initial registration based on FPFH descriptors of NARF key points and closeregister with ICP algorithm is studied, and this method is satisfy the undergroundenvironment without light.Finally, the coal mine rescue robot’s control system based on Ethernet isdesigned. The feasibility of wire and wireless hybrid communication system based onfiber cable and WIFI is researched. The calculation method of fiber roller parametersis researched and a relay releaser is designed. The robot posture real time displayprogram is compiled based on OpenGL. A portable explosion-proof remote controlterminal is designed and made, and the control software is programed based on C/Sframework. Differential motion model and sliding motion model of tracked robot aremodeled.