矿用救援机器人控制体系结构研究

Research of control architecture of mine-used rescue robot

讨论了矿用救援机器人的工作环境及其控制体系结构的性能要求;介绍了目前已有的矿用救援机器人控制体系结构,包括基于工控机的闭式控制体系结构、基于PLC的分布式控制体系结构、基于工控机的分布式控制体系结构及基于嵌入式系统的分布式控制体系结构,分析了各种体系结构的优缺点;提出了一种基于嵌入式系统和CAN总线的分布式控制体系结构。该控制体系结构比目前已有的控制体系结构能更好地适应煤矿井下复杂的环境,特别适用于煤矿灾后救援。

The paper discussed working environment of mine-used rescue robot and performance requirements of its control architecture, introduced control architectures of existing mine-used rescue robot including closed control architecture based on industrial control computer, distributed control architectures based on PLC, industrial control computer and embedded system, and analyzed their advantages and disadvantages. It proposed a distributed control architecture based on embedded system and CAN bus, which is more adaptive to complicated environment in coal mine underground than the existing architectures and is especially suitable for disaster rescue of coal mine.