Research On The Environment Detecting And Processing System Of Coal Mine Rescue Robot

The detection on environmental information of coal mine accident scene is very important to navigation and control of coal mine rescue robot and rescue decision-making. Referring to the coal-related industry standards, and combining with the requirements of environmental information determined by the coal mine rescue robot, the environment detecing and processing system of coal mine rescue robot is developed, which could detect environmental temperature and consistency of CH4, carbon monoxide and oxygen at the same time.In the hardware, the low-power and high-performance single-chip microcomputer ATmega48v is taken as the control core, the signal acquisition and amplification circuit of the CH4 sensor MC114 based on catalytic combustion are designed, the signal conversion circuit are designed based on the electrochemical oxygen sensor module and carbon monoxide sensor module, the power circuit and RS232 communication interface circuit are designed. By choosing the inherent safety or industrial components, and inhibiting the energy storage of capacitor and inductance components, and adding explosion-proof measures, the system reliability is improved.In the software, the AVR single-chip ATmega48v is developed by the specialized compiler of ICCAVR which uses language C, the noise in the sampling process could be reduced by using average filter method, the gas sensor's non-linear feature could be corrected by using form method, the zero drift of gas sensor could be compensated by using zero compensation algorithm. To achieve automated and intelligent in the process of sensors'testing and calibration and improve the accuracy and reliability, the PC-monitoring software is developed by the Labwindows / CVI software platform. To ensure the independence of system, reduce the requirements for memory space and increase the testing system speed of rescue robot. The PC handling procedures is programmed by VC++, and the program is integrated into the main program of robot with the form of DLL(dynamic-link library).The experimental results show that this system has good accuracy and stability to meet the rescue robots and related standards.