摘要
针对灾变后矿井下的非结构化环境,以提高机器人的救援能力以及对矿井内部适应能力为目标,提出了基于AVR单片机矿井救援机器人控制系统的设计。首先,控制系统通过各种传感器实时检测矿井内部环境参数,随后以有线和无线通信的方式实现操作人员和机器人之间信息的双向传输;其次,增加语音对讲模块,可以实时与被控人员进行交流,及时指导被控人员展开自救;最后,行走机构采用履带装置,可以很好地适应矿井内部复杂的环境。研究表明,该设计可以实时检测矿井内部环境参数并实现与客户端信息交互,机器人有较强的环境适应能力,为矿井救援机器人的进一步研究提供了理论依据。
Aiming at the unstructured environment in the mine after disaster,a control system of mine rescue robot based on AVR single-chip microcomputer is proposed to improve the rescue ability of the robot and its adaptability to the mine interior in this paper.Firstly,real time acquisition of mine internal environment parameters by various sensors,and then the information interaction between client and robot is implemented by wired and wireless communication.Secondly,by increasing the voice intercom module can communicate with the accused in real time and conduct the accused to rescue themselves in time.Finally,the caterpillar walking mechanism can adapt to the complex environment inside the mine well.The research shows that the design can realize real-time direction of mine internal environment parameters and transfer to the client.The robot has strong environment adaptability,which shows the effectiveness and feasibility of the system and provides a theoretical basis for the further study of mine rescue robot.
出处
《工业控制计算机》
2021年第5期121-123,共3页
Industrial Control Computer
基金
陇原青年创新创业团队项目(省级2020RCXM125)
甘肃省高等学校产业支撑引导项目(2019C-20)。
