Underground Search & Rescue Robot Based On Multi-Sensor Information Fusion

Rescuers cannot know the situation underground clear as soon as the mining accident happened, and they cannot do anything to save the trapped miners, which will cause huge losses. Sending out a search & rescue robot to the accident spot to get the information before rescuers is one of the effective methods to improve the salvage efficiency, which can reduce the salvage time and save the trapped miners as soon as possible.In this dissert, on the analysis of the application environment and technical requests, a prototype of underground search and rescue robot is designed, both hardware and software. There are several kinds of sensors installed on the robot, it makes the robot to be able to get the environment information of the accident spot and build a virtual 3D model on PC to res-cuers.First, a hardware platform of search and rescue robot is built with two control chips, ARM and FPGA. And some research are also done on the principle and application of sensors, like temperature and humidity sensor, air condition sensor, infrared human sensor, speedome-ter and inclinometer.Second, based on the study of the underground wireless communication, a dynamic mul-ti-hop wireless communication method for underground search & rescue robot is proposed. And an experiment is given with several prototype machines to confirm the method.Third, a control platform is built with LabVIEW. And some researches on related tech-niques are also done, like robot tracing, 2D map drawing and 3D virtual model building.At last ,a limit scratch on the surface of the teleoperator technology and the half-autonomous control technology is given.Above all, this underground search & rescue robot is designed based on the multi-sensor intelligence fusion technology, wireless communication technology and 3D virtual model building technology, which can provide a fast and effective assistant to the salvage of the mining accident.