基于救生舱的监测机器人数据传输与控制理论研究

项目名称： 基于救生舱的监测机器人数据传输与控制理论研究

项目编号： No.U1261115

项目类型： 联合基金项目

立项/批准年度： 2013

项目学科： 冶金与矿业学科

项目作者： 王裕清

作者单位： 河南理工大学

项目金额： 60万元

中文摘要： 煤矿灾害发生后，监测机器人必须具备自主信息探测能力才能在现场完成信息探测任务，同时若井下有线通讯设备被破坏，所有探测数据需通过无线通讯传输到地面控制中心。故智能化控制策略和无线数据传输在监测机器人的煤矿灾后现场信息探测中起关键作用。但是基于灾害特征和人类感知协调模型的监测机器人智能化控制策略至今尚未被提出，此外煤矿井下受限阻隔空间中的无线通信网络物理层模型与网络路由协议亦未知。因此本项目拟结合灾害特征和人类感知灾害现场信息的眼—脑—手协调方式，提出一种新的智能化运动控制策略，使监测机器人能够依据灾害现场实况自主完成信息探测任务；拟用随机偏微分方程理论建模和模拟仿真试验交叉验证的方法研究井下受限阻隔空间中无线信号衰减的非线性特征，探索受限阻隔空间中的无线通信网络物理层模型和网络路由协议。该研究对及时准确地获取灾害现场的全方位地理与环境信息具有重要意义，亦将为特殊环境中的无线通信系统奠定基础。

中文关键词： 监测机器人；无线传输；地图构建；路径规划；信息探测

英文摘要： After coal mining disasters occur, the monitor robot, which must have the capability of information self-detection, can complete the task about information detection at the disaster scene. If the underground wired communication equipments breakdown, all the detecting data can only be transmitted to the ground command center through wireless communication equipment. Therefore, the intelligent control strategy and wireless data transmission play a key role in information detection of monitor robot after disaster occurs at the coal mining scene. However, not much is known about the intelligent control strategy of monitor robot based on disaster characteristic and the physical layer model and network routing protocol of wireless communication network in the limited barrier space of coal mine. Thus, a new intelligent control strategy, which makes monitor robot complete the task about information self-detection according to the actual environment of disaster scene, will be proposed based on the disaster characteristic and the coordination mode among hand, brain and eye during the process of human sense the disaster scene information. After the nonlinear characteristics of wireless signal attenuation in the limited barrier space of coal mine are obtained by the cross-validation method between theoretical modeling by st

英文关键词： Detection robot；wireless transmission；map building；path planning；information detection