The Hardware Design of Control System of Coal Mine Detection Robot AC Servo Drive

Abstract

Currently, more than 100 million anti- personnel mines are under the ground all over the world. These mines not only disturb the economic development of mine- buried nations, but also injure or kill more than 2000 people a month. As a result, the removal of landmines has become a global emergency. China as one of the largest coal production and consumption country around the world, it is also of the accident occurred frequently country such as fire damp explosion, water burst, catch on fire during the exploitation of coal mine. The research of detecting by coal mine shaft underground explorative robot make the coal mine rescue works implements smoothly, to reduce casualties caused by mine disaster, it will be substituted for or partial substituted for emergency workers to enter the coal mine rescue. Main effect of coal mine detection robot is taking place of human to go into the post- disaster coal mine for detecting information of the environment and sending the information to the command center. Therefore, it is of great significance to research on coal mine detection robot for reducing casualties and unfolding of the saving work smoothly. Researches on the hardware design of control system of servo drive are not only the key technology of the issue, but also the guarantee on completing the detection task of coal mine detection robot. Main work of path planning for coal detection robot are not only to find a safe and collision- free path from the starting point to end point in the environment of post- disaster coal mine with the uncertain obstacles in it but also to make the path shorter and energy consumed less. The implementation of control system of coal mine detection robot AC servo drive can achieve many tasks, such as motion control, environmental information acquisition, communication with the remote control system and executing complex control algorithms.