Research On Detection System For Coal Mine Detection Robot Based On Technology Of Information Fusion

Multi-sensor information fusion technology is an emerging technology, which appeared not long ago but got a rapid development and has been widely used in recent years. It involved in control theory, signal processing, fuzzy logic, neural network, artificial intelligence and many other subjects. It provides a good solution for the robot working in a complex and unknown environment. The topics "research on technology and system for coal mine rescue detection robot" is a scientific and technological project in Shanxi Province, which requires the robot has the ability to perceive mine environment and work independently. The information collection was researched and the robot navigation in complex and unknown mine environment was researched in this paper. Focusing on the autonomous obstacle avoidance of robot, the information fusion technology of fuzzy neural network based on Takagi-Sugeno model was used to solve the obstacle avoidance problem of detection robot.Multi-sensor information fusion technology was made a key research, and its application in navigation of coal mine detection robot was explored in theory and practice. The main research works are as follows: 1,The development process, current situation and research trends on mine detection robot and information fusion technology at home and abroad were elaborated. Information fusion technology was introduced systematically and its important issues such as basic principle, topology, and the level were analyzed. In addition, the choice of number and kind for robot sensor was explored. The basic principles and performance characteristics of various sensors equipped by robot were analyzed and the sensor models were chosen.2,The basic principles and several common binding mode of fuzzy logic and neural network were analyzed. The application of fuzzy neural networks in information fusion technology was researched and the information fusion method of fuzzy neural network based on T-S model was used in autonomous obstacle avoidance for coal mine detection robot.3,According to the particularity and requirements of coal mine detecting robot , the structure and hardware configuration were made a overall design. Several control systems of robot were analyzed and the mixed control system applied by coal mine detection robot was presented.4,The detection system of coal mine detection robot was researched, and its conduct of the hardware and software was designed. The path planning method and motion control of coal mine detection robot was analyzed briefly.5,The robot navigation was analyzed, and the information fusion technology of fuzzy neural network based on T-S model was applied to autonomous obstacle avoidance for coal mine detection robot. The information fusion system based on ultrasonic and infrared sensors was established, obstacle avoidance pattern and physical model of robot were designed. The obstacle avoidance of robot was simulated by computer to verify the feasibility of the method used.