煤矿巡检机器人智能控制系统研究

Research on Intelligent Control System of Coal Mine Inspection Robot

针对煤矿复杂环境下日常巡检及参数测定等工作,提出一种煤矿智能巡检机器人智能控制系统,以实现煤矿工作面日常巡检及参数测定的智能控制。该控制系统由运动控制模块、智能控制模块和参数测定模块组成。选用1524B009SR直流微电机作为巡检机器人的动力部件,选用GWSD100/100矿用本安型温湿度传感器、GJC4(C)矿用甲烷浓度传感器与GYH25矿用氧气浓度传感器,最后通过现场工程试验,使得巡检机器人在智能控制系统的操控下通过对应测点并测取现场相关参数。经验证该系统能够实现煤矿机器人智能巡检及参数测定工作,值得进一步优化研究。

Aiming at the daily inspection and parameter measurement in the complex environment of coal mine,proposes an intelligent control system for the intelligent inspection robot of coal mine to realize the intelligent control of the daily inspection and parameter measurement of coal mine working face.The control system consists of motion control module,intelligent control module and parameter measurement module.The 1524B009SR DC micro-motor is selected as the power component of the inspection robot.The GWSD100/100 intrinsically safe temperature and humidity sensor for mining,GJC(C)methane concentration sensor for mining and GYH25 oxygen concentration sensor for mining are selected.Finally,the on-site engineering test enables the inspection robot to pass through the corresponding measuring points and measure the relevant parameters on the site under the control of the intelligent control system.It is verified that the system can realize the intelligent inspection and parameter measurement of coal mine robot,which is worthy of further optimization and research.