在煤矿井下事故发生后，救援机器人能够最先进入井下，探测并带回事故现场的环境和图像信息，帮助救援人员迅速、准确地实施救援工作。本论文针对煤矿救援机器人系统的无线通信和数据传输，分别设计了基于单片机控制CC1100模块的无线通信系统和基于WiFi的无线通信系统。 基于单片机控制CC1100模块的无线通信系统，其设计分为硬件和软件两个方面。在硬件方面，选择了低功耗、高性能的ATmega16L单片机为主控芯片，结合CC1100无线通信模块，完成两级机器人的双向数据传输，PC与单片机之间通过RS232进行数据传输，单片机通过SPI总线控制CC1100进行数据收发。在软件设计方面，采用ICCAVR进行ATmega16L单片机的开发，其中主要包括通过SPI总线对CC1100的配置和控制以及单片机端的串口通信程序的开发；在上位机上采用VC++编写上位机程序，主要是对串口传输的数据进行分析和分类存储，实现信息的交换等功能。 基于WiFi的无线通信系统采用802.11n协议，其硬件主要是由两个工业PC和无线路由器组成。在软件上通过搭建C/S模型实现两级机器人的数据交换和存储，此系统的传输速度快，针对在救援过程中所采集的环境信息和图像数据，平均能达到2MBit/s左右，可以实现数据的实时传输。同时，在此基础上实现了第三方的遥操作功能，通过救援人员远程遥控救援机器人，提高了救援工作的速度和安全性。 实验结果表明，单片机无线通信系统具有良好的穿透性，但传输速度相对较慢；基于WiFi的无线通信系统具有较快的数据传输速度与较好的稳定性，虽然穿透传输性能较差，但是在平直隧道传输时有良好的覆盖范围。

After accident occurred in the coal mine, rescue robots can go down the mine and bring back all the environment and image information, which could help rescuers implement rescue work quickly and precisely. This paper focused on the wireless communication and data transmission technologies used in coal mine rescue robots system, the systems based on CC1100 module controlled by SCM(Single Chip Microcomputer) and based on WIFI are designed. The wireless communication system based on CC1100 module controlled by SCM was designed. In the hardware aspect, the high performance and low power microcontroller ATmega16L is used as the master control chip, and combined with the CC1100 wireless communication module, the robot's bidirectional information transmissions is completed. Data transmission between PC and SCM is through the RS232 bus, SCM controls CC1100 through the SPI bus to receive and dispatch data. In the software aspect, the ATmega16L software is developed in ICCAVR compiler, including configure and control CC1100 through SPI bus, and Serial Port communication program on the SCM. The host computer program is compiled in Visual C++ compiler which mainly analyze and store all kinds of data, exchange all the information and so on. The communication system based on WiFi adopts 802.11n protocol, this system is built by two PCs and a wireless router. Through building a Client/Severs model, data is exchanged and stored between two rescue robots. This system has higher transmit speed, it reached 2Mbit per second for the environment date and images obtained in the coal, and the real-time data transmission is ensured. In the mean time, a third party remote operate function is carried out, and the rescuer can control the robots in a distance so that they could finish the rescue job quickly and safely. The experiments show that the system based on SCM has a better penetrability, however, its transfer speed is slower. The system based on WiFi has a better data transmit speed and stability, and larger signal transmit scale in the straight tunnel, but its penetrability is worse.