Research and design of control system for a tracked SAR robot under coal mine

A search and rescue (SAR) robot, named LUKER-I, is introduced to replace people to access to the accident scene when the underground gas and dust explosion happen under coal mine. The body of robot LUKER-I adopts tracked differential driven means, and has a fin arm tracked institutions. Robot can cross the barriers such as stairs, ditches, steep slopes and convex units based on different swing angle assistant. The control system uses two layers architecture, namely the bottom control network and IPC. IPC is mainly in charge of data acquisition, compression, and transmission of the voice and images of the scene. While the bottom layer uses CAN bus network to achieve the maintainability, expanded performance, and real-time control based on modular and distributed control. The working principle and design means of the robot are described detail in the paper. A modular method is used to carry out a detailed design.