本文在国家自然科学基金“煤矿救援机器人自主导航与智能控制基础研究（50674075）”项目的资助下，以煤矿救援机器人课题组研发的样机为平台，为解决煤矿事故井下安全、可靠、稳定的远距离无线通信问题，深入研究了煤矿救援机器人无线通信系统的搭建方法。 针对救援指挥中心与救援探测机器人之间快速建立应急无线通信网络的问题，提出了一种自适应、自组网、远距离、高效化的应急救援无线通信系统搭建方法。以改进后两级机器人系统的运载机器人为载体，搭载关键组网设备进入煤矿事故井下，通过对井下通信环境状态分析，布置组网设备，完成事故井下应急救援无线通信网络的快速搭建。针对井下环境及快速稳定搭建网络的需求，设计了基于Wi-Fi技术的“不倒翁”型应急无线通信中继器，借助有限元仿真方法，对中继结构进行了力学分析，为优化结构提供了依据。提出了借助Visual Studio开发了网络跟踪监测软件，实时反映网络设备状况、网络运行状况，以及与救援机器人通信状况信息等，保证应急无线通信网络搭建及运行正常。为解决中继器携带及布放的安全可靠，设计了中继器布放装置，实现快速、准确布置中继器。 仿真分析和实验验证结果表明，应急无线通信系统方案合理可行，实现便捷，性能可靠；中继器布放装置结构合理，操作方便。论文所取得的研究成果，对煤矿救援机器人在事故井下实现远距离通信及有效救援具有重要意义。

With funding from the National Natural Science Foundation project “The Basic Research of Mine Rescue Robot’s Autonomous Navigation and Intelligent Control（50674075）”, based on the platform of coal mine rescue robot prototype researched and developed by the research group, this paper deep studies the method of setting up a coal mine rescue robot by the wireless communication system to solve the problem of safety, reliable and stable long-distance wireless communication in coal mine accidents. For the problem of quickly establishing a wireless communication network between the rescue command center and rescue robots, the paper comes up with an adaptive, ad hoc networks, long-distant, efficient structures emergency rescue wireless communication system. The paper studies the method of building an emergency rescue wireless communication network in the accident mine through analyzing the underground communication state and arranging networking equipment, taking the improved carrying-robot of two-level robot system as a carrier and being equipped with a set of key network equipment. Aiming at the underground environment and demands of quick and stable network establishment, the paper, based on the Wi-Fi technology, designs an emergency wireless communication repeater in a “tumbler” type, and provides the basis for optimizing the structure with the aid of finite element simulation by the mechanical analysis on the structure. Second, the network tracking and monitoring software is designed with Visual Studio to reflect real-time status of network devices, network health, as well as rescue robot communication status information in order to ensure the normal operating of emergency wireless communication network structures. For maintaining the security of carrying and laying out the repeater, the paper designs arrangement device for the repeater to achieve rapid and accurate repeater arrangement. The simulation analysis and experimental verification illustrate that the emergency wireless communication system is reasonable, feasible and convenient with reliable performance; repeater arrangement device has a reasonable structure with easy operation. The research achievement obtained by the paper is of great significance to realize long-distance communication and effective rescue by coal mine rescue robots in an accident mine.