针对煤矿环境提出一种新的煤矿灾害处置系统,即基于模块化异构多机器人(MHMRS)的煤矿灾害处置系统。该系统是以功能已知的基本单元,采用模块化组合构成不同结构的成员机器人、多个成员机器人形成的多机器人系统。系统具有构建简单、模块体积小、模块结构多样等特点,适合煤矿井下灾害处置需要。给出了试验研究平台的结构,研究了该系统在煤矿灾害处置中的应用特点和方式,提出采用应急临时网络降低人工救援的风险,提高救援系统应对灾害的能力。

According to the mine environment, a new mine disaster control system was provided and a mine disaster control system is based on the module Hetero merous multi robot.The system would be based on the basic element with the well known function to apply the module combinations to form different structural member robot, multi member robot formed multi robot system.The system would have the features of the easy building, small module volume, multi module structures and others and would be suitable to meet the requirements of the underground mine disaster control.The structure of the rest and research platform was proposed.The paper had a study on the application features and method of the system to the mine disaster control.The application of an emergency network was proposed to reduce the risk of the present personnel rescue and to improve the capacity of the rescue system to the mine disaster.

国家985优势学科创新平台建设资助项目(0705-1)；