| 基于WSN的矿井事故搜索探测多机器人系统 |
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| 引用本文： | 赵杰,刘刚峰,朱磊,臧希喆. 基于WSN的矿井事故搜索探测多机器人系统[J]. 煤炭学报, 2009, 34(7): 997-1002 |
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| 作者姓名： | 赵杰 刘刚峰 朱磊 臧希喆 |
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| 作者单位： | 哈尔滨工业大学 机器人技术与系统国家重点实验室，黑龙江 哈尔滨,150001 |
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| 基金项目： | 国家高技术发展研究计划重点资助项目(2007AA041501) |
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| 摘 要： | 为解决煤矿井下事故中环境探测、人员搜索定位、远程通信等问题，建立了一种基于无线传感器网络的子母式多机器人系统，设计了子、母2种机器人构型并具体分析了其越障性能，提出了以子机器人为节点的链状冗余传感器网络结构，建立了一种基于FPGA软核的多传感器接口模块.初步实验证实，这种以移动机器人为节点，采用无线传感器网络技术将多机器人协调控制而实现的矿井搜索探测多机器人系统，能够在井下复杂地形中运动并配置多机器人节点，搭建无线多跳通讯网络，实现井下信息获取和多机器人控制.
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| 关 键 词： | 井下事故；搜索探测；多机器人系统；无线传感器网络 |
| 收稿时间： | 2008-07-30 |
Multi-robot system for search and exploration in the underground mine disasters based on WSN |
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| ZHAO Jie,LIU Gang-feng,ZHU Lei,ZANG Xi-zhe. Multi-robot system for search and exploration in the underground mine disasters based on WSN[J]. Journal of China Coal Society, 2009, 34(7): 997-1002 |
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| Authors: | ZHAO Jie LIU Gang-feng ZHU Lei ZANG Xi-zhe |
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| Affiliation: | State Key Laboratory of Robotic Technology and System;Harbin Institute of Technology;Harbin 150001;China |
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| Abstract: | For the environmental exploration,survivors searching and long distance communication in the underground mine disasters,a home-secondary multi-robot system was built based on the wireless sensor network(WSN).Two kinds of robots were proposed and analyzed for the obstacle surmounting capability.A wireless sensor network was built with a chaining redundant structure using the robot as sensor node.And a sensor interface module based on the Field Programmable Gate Array(FPGA) was used.The preliminary experiment... |
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| Keywords: | underground mine disasters search and exploration multi-robot system wireless sensor network |
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