Design And Implementation Of Perception System For Underground Rescue Robot In Coal Mine

Coal mine accidents occur frequently in our country and rescuing work is essential.With the release of "Key Research Catalogue of Coal Mine Robots" in 2019,large amounts of robots will be used in coal mine accident rescuing work to improve rescue efficiency.In accident rescue,the normal operation of the robot closed-loop motion control system and the safe and rapid deployment of the rescuing work are inseparable from the support of the environmental information of the disaster area.So it is practically significant to design a set of environmental perception system of disaster area for rescuing robot.This thesis designs a perception system carried on robot based on the ZRK robot in the horizontal subject to realize the video sound of underground disaster area and collection,contraction,storage and display.of environmental parameters.The system adopts the overall solution of ARM+Linux.It uses modular thought to divide the system into processing unit,audio and video unit,environmental parameter unit,communication interface unit and so on for the hardware.The processing unit adopts S5PV210 processor with balanced performance and power consumption as the control core;the video unit adopts the solution of "BH1750 photosensitive+850nm LED fill light+camera" to achieve low-illuminance video image acquisition;the environmental parameter unit adopts sensors to complete the collection of CH4,CO,O2 and temperature,which is sent to the processing unit for processing after amplification by the conditioning circuit;the communication interface unit designs various types of interfaces such as USB,RJ45 and UART in order to provide data transmission,system debugging and upgrading expansion.The system design refers to the GB3836.4 explosion-proof standard which meets the safety requirements of mining electrical equipment.On the other hand,for the software,it adopts Linux operating system of open source as the software operating environment.It conducts the cutting and transplantation of main operating system,the design of gas sensor and other hardware device driver.It also conducts the design of video acquisition program,environmental parameter acquisition program,data display and data transmission program based on V4L2(Video For Linux Two),ALSA(Advanced Linux Sound Architecture),Framebuffer and other frameworks of the application layer to complete the overall development of the system.After testing,the system has a maximum visible distance of 15m in an all-black environment,an image resolution of 640 X 480,clear voice recording and playback,and an overall power consumption of less than 10W.It realizes the collection,processing,storage and display of underground audio,video and environmental parameters to meet the design goals of rescuing robot perception system and have certain practical value for the rapid deployment of rescuing tasks and the protection of rescuing safety.