摘要
提出并设计了一种代替救护队员进行井下失踪矿工搜寻定位作业的四履带机器人(MMSR)的移动机构、控制系统和视觉系统。MMSR具有四个独立的履带驱动单元,构成履-腿式复合功能机构;以DSP芯片为核心,通过CAN总线和上位机通讯;使用CCD传感器和图像采集卡采集井下图像信息。
The paper designs the mobile mechanism, control system and video system of a kind of four-pedrail robot (MMSR) that could replace the ambulanceman to orientate for searching the disappeared miner in shaft. MMSR has four independent pedrail driving units that structure the pedrail-leg compound function mechanism, DSP chip serves as the core and communicates through CAN bus line and upper-location processor, and shaft image info is collected by CCD sensor and image collection card
出处
《矿山机械》
北大核心
2006年第6期40-42,共3页
Mining & Processing Equipment
