Robot control system for inspection of fully mechanized coal mining face

Abstract

In order to realize the roboticization of fully mechanized coal mining face inspection, the fully mechanized coal mining face inspection robot control system was designed according to the mechanical structure of the hang inspection robot based on the flexible track designed by the team and the inspection requirements of the fully mechanized coal mining face. The mechanical structure of the inspection robot is introduced, the functional requirements of the inspection robot control system are proposed according to the requirements of roboticization of fully mechanized coal mining face inspection, and the control system structure based on hierarchical control is designed, including the overall scheme of the control system, the hardware design of the control system and the software design of the control system. The multi-sensor data acquisition and decoding module is designed, the remote control module based on master-slave replication of MySQL database was established, the robot autonomous charging module based on RFID coarse positioning and visual fine positioning and the robot autonomous running module based on visual auxiliary judgment and cascade PID control algorithm are established. On this basis, experiments are conducted on key parts of the system. The experimental results show that the data acquisition module and the remote control module run well, while the autonomous operation module needs to be further optimized.