摘要
针对煤矿井下矿难发生后的复杂环境,设计了一种新型的煤矿井下搜救探测机器人运动装置及其控制系统。文章对此系统的运动功能、硬件配置和软件设计进行了讨论。此装置机构设计合理,具有较强的通过性和自主环境适应能力,控制系统采用分层结构,环境感知能力强,实时性好,控制精度高,可以实现对机器人精确、灵活的控制,具有广阔的应用前景。
Considering the complicated environments after mine disasters, this paper designs a new mobile device of the coalmine rescuing and detecting robot and its control system, and discusses its moving function, hardware configuration and software design. This device has the rational structural design, the better passing ability and the adaptive capacity to environment; the control system adopts the hierarchy, has the better perception for environments, the good real-time and the high control precision, and so it can realize the accuracy and flexible control for the robot. Generally, the robot has a wide application prospect.
出处
《矿山机械》
北大核心
2009年第19期7-10,共4页
Mining & Processing Equipment
关键词
煤矿
搜救探测机器人
控制系统
coal mine
rescuing and detecting robot
control system
