论文部分内容阅读
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。
Underground mine environment after the accident is extremely complex and dangerous, survey and rescue robots can quickly sent to the underground after the accident investigation and rescue work. The multi-source information fusion technology is applied to the information pre-processing of reconnaissance and rescue robots, which can improve the precise information processing ability of robots working under the unknown complex environment. The distributed multi-source information fusion method is proposed, and the structure of distributed control system is combined with the ability of robot information processing, obstacle avoidance and intelligent control. The hardware structure of the system is designed and the path planning method of robot is given. The on-site operation shows that the underground mine rescue and rescue robot can safely avoid the obstacle and finally realize the preset task of site investigation and rescue reliably and flexibly, and transmit various real-time information of the scene to the remote monitoring center.