Embedded Sensing System for Driving State of Tunneling Robot
Considering the challenges of operating the crawler driving structure of the tunneling robot in a space-constrained environment such as high impact,collision,high humidity,complex coal and rock substrate,the ex-ternal dynamic load usually cannot be directly measured or are complicated to measure,a wireless monitoring method of embedded sensing system that can monitor the crawler dynamic load of tunneling robot in real time is proposed.A special crawler driving structure designed for tunneling robot is presented,and a multi-layer com-posite packaging protective structure composed of matrix,splint and wireless acquisition module is built.The wireless transmission characteristics and dynamic stress distribution of the embedded sensing system during op-eration are studied in a closed environment,and calibration tests for the sensing system packaging are performed to ensure accuracy.Finally,the embedded sensing system is used to randomly replace a mountain damping pad in the track link,and the crawler load history of the tunneling robot is monitored and tested to verify the feasibil-ity of the proposed method.The embedded sensing system can collect the dynamic load of the crawler driving structure in real time and transmit it to the host computer wirelessly without changing the overall force of the track link,and the dynamic load time history is complete,stable and reliable.The problem of acquiring dynamic load of the crawler driving structure of tunneling robot under the extreme underground working conditions is solved.
crawler driving structureembedded sensing systemdynamic load time historywireless testing
NETL
NSTL
万方数据
