半自主式煤矿救灾机器人的设计  

Design of semi-autonomous colliery rescue robot

作　　者：姬程鹏[1] 张晓光[1] 毕伟[1] 卓蒙蒙[1] 

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221008

出　　处：《矿山机械》2010年第16期25-28,共4页Mining & Processing Equipment

摘　　要：煤矿发生灾难时,为了获得矿井环境信息并搜寻幸存者,设计了一种半自主式煤矿救灾机器人。它以ATmega128单片机为控制核心,利用放置无线中继模块的方法增大通信距离,采用多传感器信息融合技术及人工势场法实现精确导航和避障功能。在模拟试验中,机器人能按预定路线运动并传回传感器数据。In order to gain the information about colliery environments and search for survivors while disaster occurs in collieries,a semi-autonomous colliery rescue robot was designed.Among which,the ATmega128 singlechip computer serving as the control core,the communication distance increased with the placement of wireless relay modules,the precise navigation and obstacle avoidance were realized by the multi-sensor information fusion technology and the method of artificial potential field.During the laboratorial test,the robot moved along the scheduled routes and transmitted back the sensors data.

关 键 词：煤矿救灾机器人 避障 人工势场 

分 类 号：TD774[矿业工程—矿井通风与安全] TP242[自动化与计算机技术—检测技术与自动化装置]