A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working ...A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working prin- ciple is discussed. The four tracked-units are controlled independently and driven cooperatively. By means of two DC motors being controlled respectively, one tracked-unit can accomplish two types of driving mode: tracked travel and in- tegral unit legged rotation (IULR), forming a track-legged compound function mechanism. Its capabilities of surmount- ing obstacles and its toppling stability in underground mines have also been analyzed. The results show that the mobile mechanism can directly surmount an obstacle of the height less than the length of one tracked-unit and get across a raceway with a span less than the length of one tracked-unit by using tracked travel and IULR. Its unstable slope angle is 51.3°. Toppling stability is determined by its structural size, moving direction and slope angle. IULR of four tracked-units can adjust the robot’s posture and then enhance toppling stability or assist in surmounting obstacles. Its track-legged compound function mechanism makes it suitable for working in underground mines.展开更多
To reasearch on the infrared target perception by pyroelectric infrared (PIR) sensor in network domain measurement,a closed sensing network domain composed of eight-PIR-sensor array is proposed for the minimum sensing...To reasearch on the infrared target perception by pyroelectric infrared (PIR) sensor in network domain measurement,a closed sensing network domain composed of eight-PIR-sensor array is proposed for the minimum sensing cell measurement in network domain and to realize the moving target perception and trajectory prediction. Moreover,the feasibility and accuracy of the proposed method are verified through experiments. The experimental results demonstrate that the maximum error between the real trajectory and the predicted trajectory of the minimum sensing cell measurement method is 0.64 m,which can achieve infrared target perception and moving trajectory prediction.展开更多
文摘A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working prin- ciple is discussed. The four tracked-units are controlled independently and driven cooperatively. By means of two DC motors being controlled respectively, one tracked-unit can accomplish two types of driving mode: tracked travel and in- tegral unit legged rotation (IULR), forming a track-legged compound function mechanism. Its capabilities of surmount- ing obstacles and its toppling stability in underground mines have also been analyzed. The results show that the mobile mechanism can directly surmount an obstacle of the height less than the length of one tracked-unit and get across a raceway with a span less than the length of one tracked-unit by using tracked travel and IULR. Its unstable slope angle is 51.3°. Toppling stability is determined by its structural size, moving direction and slope angle. IULR of four tracked-units can adjust the robot’s posture and then enhance toppling stability or assist in surmounting obstacles. Its track-legged compound function mechanism makes it suitable for working in underground mines.
文摘To reasearch on the infrared target perception by pyroelectric infrared (PIR) sensor in network domain measurement,a closed sensing network domain composed of eight-PIR-sensor array is proposed for the minimum sensing cell measurement in network domain and to realize the moving target perception and trajectory prediction. Moreover,the feasibility and accuracy of the proposed method are verified through experiments. The experimental results demonstrate that the maximum error between the real trajectory and the predicted trajectory of the minimum sensing cell measurement method is 0.64 m,which can achieve infrared target perception and moving trajectory prediction.
