煤矿灾害救援双级式信息探测机器人系统研制

Research and development on robot system of mine disaster rescue second grade information detection

针对煤矿灾害救援信息探测机器人难以到达井下灾害现场的现状,研制一种新的基于井下避难硐室的煤矿灾害救援双级式信息探测机器人系统。当发生煤矿灾害时,该系统一级运载机器人从避难硐室附近出发,沿煤矿巷道顶板预设的工字钢轨道行驶,直到无法继续前进时释放二级信息探测机器人进一步对灾害信息进行探测。该系统基于RSSI的改进路径损耗模型设计,解决了受限空间的无线通信不畅和中继设备安放间隔难以确定的问题。煤矿巷道仿真实验室对该系统测试结果表明,双级式煤矿信息探测机器人在井下通信顺畅,图像数据传输清晰连续,系统运行稳定。

According to the rescue information detection robot of the mine disaster hard to reach the disaster site in the underground mine, the paper provided a new second grade disaster rescue information detection robot system of the coal mine based on the underground refuge chamber. When a mine disaster oeeurred,the first grade robot of the system would be departure from a location near the refuge chamber am] would be moved along the H type steel rail pre-set on the roof of the mine roadway. Until the first grade robot hard to move forward, the second grade information detection robot would be released for the disaster further information detection. Based on the design of the RS- SI improved route consumption model,the system solved the poor wireless communication in the limited space and the hard to set the in- stallation space of the relay equipment. With the simulation experiment lab of the mine roadway applied to the test of the system,the results showed that the two grade type information detection robot could have clear underground communication, clean and continuous image data transmission and stable operation of the system.