煤矿带式输送机用无轨巡检机器人应用研究

Research on Application of Trackless Inspection Robot for Belt Conveyor in Coal Mine

为解决带式输送机“人工+监控巡检”模式存在的劳动强度大、巡检结果不确定的问题,研究了基于“主控制器+微控制器”的带式输送机用无轨巡检机器人控制系统。在分析巡检机器人运行环境及要求的基础上,重点研究了控制系统总体方案以及软、硬件设计,由主控制器接收图像采集卡、数据采集卡数据并执行控制算法,由无线通讯模块与远程计算机进行信息交互;微控制器接收传感器数据并通过逻辑处理后,负责控制驱动电机并完成巡检机器人动作指令;最后完成系统试验分析。试验结果验证了系统的正确性和有效性,为带式输送机无人化进程奠定了基础。

In order to solve the problems of high labor intensity and uncertain inspection results in manual+monitoring inspection mode of belt conveyor,a trackless inspection robot control system for belt conveyor based on master controller+microcontroller was studied.Based on the analysis of the operating environment and requirements of the inspection robot,the overall scheme of the control system and the design of software and hardware are studied.The main controller receives the data from the image acquisition card and data acquisition card and executes the control algorithm.After receiving the sensor data and processing it logically,the microcontroller is responsible for controlling the drive motor and completing the action instructions of the inspection robot.Finally complete the system test analysis.The test results verify the correctness and effectiveness of the system,which lays a foundation for the unmanned process of belt conveyor.