摘要
煤矿事故发生后井下环境异常复杂危险,勘测救援机器人能够在事故发生后迅速派到井下展开勘测和救援工作。多源信息融合技术应用于勘测救援机器人信息预处理中,能够提高机器人在未知复杂环境下工作的精准信息处理能力。提出了采用分散型多源信息融合方法,结合分布式控制系统结构,提高机器人信息处理,道路避障及智能控制能力,设计了系统的硬件结构,给出了机器人井下路径规划方法。现场作业表明,煤矿井下勘测救援机器人能够安全避障行驶,最终可靠灵活地完成预设的现场勘测救援任务,并向远程监控中心传回现场各种实时信息。
Working conditions under the mine is very special and danger when an accident happens. Detection and rescue robot for coal mine accident is necessary to be planed under the mine to begin rescue work immediately. Multi-source information fusion technology can be used for detection and rescue robot to rise up the ability to process information in complex and dynamic working environment. Through integrated usage of multiple-source information, data fusion can get more objective and intrinsic knowledge of certain object or target. This paper presents the way of using dispersing type multi-source information fusion to design the control system for detection and rescue robot with the structure of distributed control system. This article gives the hardware structure for the control system and path planning algorithm of the detection and rescue robot. The experiment results show that the detection and rescue robot for coal mine can work safely and return all the teal time information as well as complete survey rescue mission.
出处
《煤矿机械》
北大核心
2014年第2期166-167,共2页
Coal Mine Machinery
基金
河北科技厅科技支撑计划项目(12213504D)
关键词
煤矿
救援机器人
多源信息融合
避障
coal mine
rescue robot
multi-source information fusion
obstacle avoidance
