矿用救援探测机器人系统设计与研究

Research and design of mining rescue and detection robot system

为了提升煤矿救援探测机器人在受限空间救援探测过程中通信稳定性、可靠性,以及煤矿事故现场非结构环境的通过性能,研制出一种具有自动跟随收放通信光缆功能的新型履带式救援探测机器人系统。当救援探测机器人移动时,自动收放光缆装置通过张紧传感器张力的检测,控制光缆卷筒旋转速度与机器人行走速度匹配,保证救援探测机器人收放线时行走通畅、与遥控服务器可靠通信。并对救援探测机器人悬挂履带行走机构进行越障性能分析,测试结果表明,救援探测机器人可顺利通过22 cm高的台阶,线缆卷筒通信光缆收放正常,机器人四路图像数据传输清楚连续,环境检测数据传输正常,系统整体运行稳定。

In order to improve the communication stability and reliability of coal mine rescue and detection robots during operation in confined spaces,and the passing performance in non-structural environment of site of accident in underground coal mine,a new-type tracked rescue and detection robot system was developed with the function of automatic following,retracting,and releasing communication optical cables.When the rescue and detection robot moves,the automatic retracting and releasing optical cable device controls the rotation speed of the optical cable drum to match the walking speed of the robot through the detection of tension sensor tension,ensuring smooth walking and reliable communication with remote control server during cables retract-release.Based on the obstacle crossing performance analysis of the robot Christie's suspension track walking mechanism,experimental testing results show that the robot can smoothly pass steps as high as 22 cm,the cable drum communication optical cable can be retracted and released normally,the robot's four channel image data transmission is clear and continuous,the environmental detection data transmission is normal,and the overall system operation is stable.