Human-Machine Interaction Control System For Coal Mine Exploration Robot

China is a mine accident-prone country, and the environment after coal mine accident is with the characteristics of complex, unknown and potential secondary damage. In the rescue process, the ambulance crew will face many risks and challenges that threat to their own security. Therefore, Search and rescue robot used in mine rescue will have great significance. In this study, we developed a coal mine exploration robot system that can replace the ambulance crew, by human machine control, timely and quickly go into hazard environment to fulfill search and rescue task.Firstly, this article establishes an architecture model for HMI control, which combines hierarchical control system and behavior-based control system. At the same time, the determine ability of people is integrated into the whole exploration robot system. So that, the robot system react speed, initiative, flexibility and the ability to process information in parallel is improved and enhanced. In this article, we also studied the remote human machine interaction mode, which improves the robot capability and efficiency to perform search and exploration mission.Secondly, Based on open and modular design concept, the exploration robot system control structure is studied, and one distributed control network of HMI system is designed. It is the key of stable and reliable robot operation. Based on the distributed architecture, the software and hardware design ideas and implementation methods of each function module and the human machine interface are described in detail. In addition, the communication protocol and scheduling mechanism of robot are analyzed and designed as well. It lays the groundwork for intelligent control of robot.Finally, under the HMI control architecture, the typical obstacle navigation action is designed, and the mass center as well as the critical case of having been overturned are analyzed and discussed. Based on the results, the robot obstacle behavior control strategy is researched and designed. At the end of this paper, through a series of coal mine tunnel experiments, the robot control system performance, environmental adaptability, the feasibility of interactive control programs are tested and validated. The results show that, using human machine interaction control method, under the premise of safe, stable and reliable operation, robot can accomplish a variety of actions effectively, and also be able to meet a variety of dangerous situations and make timely emergency response. It greatly increased the ability of robot to carry out tasks under complex environment.This paper studies some key technologies for the development of the coal mine exploration robot with the trend of SAR robot intelligent control. This research can significantly advance the practical use and industrialization of exploration robot platform.