煤矿自动巡检机器人控制系统研究

Research on Control System of Automatic Inspection Robot in Coal Mine

对煤矿自动巡检机器人功能进行分解,根据设计原则完成巡检机器人总体设计。分别对上位机和嵌入式2部分的硬件和软件进行设计,上位机采用工控机,嵌入式采用DSP与CPLD结合的方式进行搭建,使其具有驱动控制、无线通信等功能;对煤矿自动巡检机器人的性能进行测试,测试结果显示速度误差最大为3.9%,可满足自动巡检机器人的需求,证明了巡检机器人控制系统的稳定性与可行性。

The function of the automatic inspection robot for coal mines is decomposed, and the overall design of the inspection robot is completed according to the design principles. The hardware and software of the upper computer and the embedded part are designed respectively. The upper computer adopts the industrial computer, and the embedded adopts the combination of DSP and CPLD to build it,so that it has the functions of drive control and wireless communication;automatic inspection of coal mines. The performance of the robot is tested, and the test results show that the maximum speed error is 3.9%, which can meet the needs of automatic inspection robots and prove the stability and feasibility of the inspection robot control system.