井下失踪矿工搜寻机器人构想  

Conceiving the Robot for Searching the Disappeared Miner in Shaft

作　　者：王廷军[1] 贾瑞清[1] 孙谨[1] 曹艳丽[1] 张寒松[1] 

机构地区：[1]中国矿业大学(北京校区)机电与信息工程学院

出　　处：《矿山机械》2006年第6期40-42,共3页Mining & Processing Equipment

摘　　要：提出并设计了一种代替救护队员进行井下失踪矿工搜寻定位作业的四履带机器人(MMSR)的移动机构、控制系统和视觉系统。MMSR具有四个独立的履带驱动单元,构成履-腿式复合功能机构;以DSP芯片为核心,通过CAN总线和上位机通讯;使用CCD传感器和图像采集卡采集井下图像信息。The paper designs the mobile mechanism, control system and video system of a kind of four-pedrail robot (MMSR) that could replace the ambulanceman to orientate for searching the disappeared miner in shaft. MMSR has four independent pedrail driving units that structure the pedrail-leg compound function mechanism, DSP chip serves as the core and communicates through CAN bus line and upper-location processor, and shaft image info is collected by CCD sensor and image collection card

关 键 词：煤矿井下 矿工 机器人 搜救工作 搜寻 失踪 救护队员 事故频发 灾害性 事故危害 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]