【摘要】：目前,我國礦山開采深度、強度和規(guī)模逐年增加,采礦條件愈加惡劣,急需先進的采礦設備和技術來改善現(xiàn)狀。井下自主行走機車是采礦設備智能化研究的一大趨勢,自主導航系統(tǒng)研究是自主行走機車核心內容。 本課題設計的自主導航系統(tǒng)屬于遠程無線遙控系統(tǒng)的一部分,主要任務是實現(xiàn)一套基于無線Mesh網絡(Wireless Mesh Network, WMN)的井下機車自主導航系統(tǒng),利用無線Mesh網絡的組網優(yōu)勢和傳輸特性,實現(xiàn)機車無線定位和系統(tǒng)遠程無線監(jiān)控。通過NS2無線網絡仿真實驗研究適用于本系統(tǒng)的隨機接入機制,保障網絡傳輸質量,最后通過仿真實驗和實際測試驗證導航算法和定位算法的可靠性、有效性。 自主導航系統(tǒng)由核心控制單元和執(zhí)行單元組成,核心控制單元采用LPC1768處理器,通過CAN、RS485、以太網通信接口采集激光掃描儀、轉角傳感器、旋轉編碼器、RFID閱讀器數(shù)據,通過Flash模塊存儲數(shù)據；同時執(zhí)行激光導航定位算法。執(zhí)行單元接收核心控制單元的邏輯控制指令,通過PWM模塊輸出控制信號,驅動電機控制機車,并將機車運行狀態(tài)、告警信息通過WMN發(fā)送至遠程監(jiān)控單元。 本文首先介紹課題研究背景及意義、研究狀況及研究目標；其次詳細介紹遠程無線遙控系統(tǒng)各部分主要功能,分析WMN拓撲結構和相關標準；然后進行自主導航系統(tǒng)硬件設計,包括主控制器、通信單元、外圍模塊的電路設計。接著重點研究基于WMN的激光導航定位算法,詳細設計激光導航算法路徑規(guī)劃、數(shù)據融合、邏輯反饋控制三個子系統(tǒng),緊接著介紹自主導航系統(tǒng)軟件設計,重點分析包括數(shù)據采集、導航算法、通信協(xié)議的軟件設計；接著介紹MAC層DCF和EDCF隨機接入機制,模擬系統(tǒng)網絡拓撲完成QoS性能仿真；最后分析系統(tǒng)測試結果。 實際仿真結果表明采用EDCF機制,網絡服務質量更好；基于RSSI的三角質心定位算法適用于本系統(tǒng)；系統(tǒng)測試結果表明激光導航算法達到預期目標,實現(xiàn)自主導航定位功能和遠程監(jiān)控功能,具有較高應用和推廣價值。
[Abstract]:At present, the mining depth, intensity and scale of mines in China are increasing year by year, and the mining conditions are becoming worse and worse, so advanced mining equipment and technology are urgently needed to improve the present situation. Underground autonomous walking locomotive is a major trend of intelligent research of mining equipment, and the research of autonomous navigation system is the core content of autonomous walking locomotive. The autonomous navigation system designed in this paper belongs to a part of remote wireless remote control system. The main task is to realize a set of underground locomotive autonomous navigation system based on wireless Mesh network (Wireless Mesh Network, WMN). The wireless positioning and remote wireless monitoring of locomotive are realized by using the networking advantages and transmission characteristics of wireless Mesh network. The random access mechanism suitable for the system is studied by NS2 wireless network simulation experiment to ensure the quality of network transmission. Finally, the reliability and effectiveness of navigation algorithm and positioning algorithm are verified by simulation experiments and practical tests. The autonomous navigation system is composed of core control unit and execution unit. The core control unit adopts LPC1768 processor and collects laser scanner, angle sensor, rotary encoder and RFID reader data through CAN,RS485, Ethernet communication interface. The data is stored through Flash module. At the same time, the laser navigation and positioning algorithm is executed. The execution unit receives the logic control instruction of the core control unit, outputs the control signal through the PWM module, drives the motor to control the locomotive, and sends the locomotive running state and alarm information to the remote monitoring unit through WMN. This paper first introduces the research background and significance, research status and research objectives. Secondly, the main functions of remote wireless remote control system are introduced in detail, and the topology of WMN and related standards are analyzed. Then the hardware design of autonomous navigation system is carried out, including the circuit design of main controller, communication unit and peripheral module. Then focus on the laser navigation and positioning algorithm based on WMN, detailed design of laser navigation algorithm path planning, data fusion, logic feedback control three subsystems, followed by the introduction of autonomous navigation system software design. The software design of data acquisition, navigation algorithm and communication protocol is analyzed in detail. Then the random access mechanism of DCF and EDCF in MAC layer is introduced, and the performance simulation of QoS is completed by simulating the network topology of the system. Finally, the test results of the system are analyzed. The actual simulation results show that the network quality of service is better with EDCF mechanism, and the triangular centroids location algorithm based on RSSI is suitable for this system. The test results show that the laser navigation algorithm achieves the expected goal, realizes the autonomous navigation and positioning function and remote monitoring function, and has high application and popularization value.
【學位授予單位】：北京交通大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TD655;TN929.5

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