發(fā)布時(shí)間：2018-01-17 20:19

  本文關(guān)鍵詞：井下瓦斯?jié)舛葯z測(cè)機(jī)器人的設(shè)計(jì)　出處：《河北聯(lián)合大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 瓦斯?jié)舛葯z測(cè) ZigBee 機(jī)器人 越障避障 報(bào)警

【摘要】：近年來(lái)，我國(guó)煤礦安全事故頻頻發(fā)生，，尤其是重特大傷亡事故屢見不鮮造成了慘重的人員傷亡和巨大的經(jīng)濟(jì)損失，在這些事故中，瓦斯爆炸占了絕大多數(shù)。傳統(tǒng)的煤礦安全監(jiān)測(cè)系統(tǒng)均采用有線網(wǎng)絡(luò)的方式，但是有線網(wǎng)絡(luò)在時(shí)間和空間的靈活性上都受到了極大地束縛。 首先分析了煤礦監(jiān)測(cè)系統(tǒng)的國(guó)內(nèi)外現(xiàn)狀和課題研究的背景與意義；接著闡述了無(wú)線傳感器技術(shù)。ZigBee技術(shù)和瓦斯?jié)舛葯z測(cè)原理，為ZigBee無(wú)線傳感器網(wǎng)絡(luò)節(jié)點(diǎn)的軟硬件設(shè)計(jì)提供了理論支持。根據(jù)煤礦現(xiàn)有環(huán)境和用戶要求，完成了煤礦監(jiān)控系統(tǒng)的需求分析；然后結(jié)合ZigBee無(wú)線傳感器網(wǎng)絡(luò)節(jié)點(diǎn)的特點(diǎn)選擇了合適的器件，詳細(xì)描述了煤礦井下ZigBee瓦斯?jié)舛葻o(wú)線采集傳輸系統(tǒng)的軟硬件設(shè)計(jì)及數(shù)據(jù)傳輸模式等，最后完成無(wú)線傳感器節(jié)點(diǎn)模塊的瓦斯檢測(cè)和系統(tǒng)集成測(cè)試。 以履帶式移動(dòng)機(jī)器人為研究對(duì)象，完成了其遠(yuǎn)程控制與自主避障功能，并提出了新的軌跡濾波算法。機(jī)器人遠(yuǎn)程控制的主要任務(wù)是通過上位機(jī)實(shí)時(shí)監(jiān)視機(jī)器人的自身狀態(tài)和周圍環(huán)境，并無(wú)線控制機(jī)器人的運(yùn)動(dòng)�？刂谱酉到y(tǒng)可分為微控制器、電機(jī)控制模塊、通信模塊、傳感器模塊和人機(jī)交互模塊五個(gè)主要部分。系統(tǒng)選擇C8051F020作為主控芯片，按照模塊化的思想完成了硬件電路與軟件程序的設(shè)計(jì)，實(shí)現(xiàn)了機(jī)器人的遠(yuǎn)程控制。機(jī)器人自主避障的主要任務(wù)是使機(jī)器人在無(wú)人控制的情況下，能檢測(cè)障礙物的位置，并自主躲避障礙物。避障子系統(tǒng)可分為障礙物信息采集、障礙物信息處理和避障決策三個(gè)主要步驟。本系統(tǒng)選擇超聲波模塊HC-SR04作為測(cè)距傳感器，選擇模糊邏輯法作為避障算法，實(shí)現(xiàn)了機(jī)器人的自主避障。
[Abstract]:In recent years, coal mine safety accidents have occurred frequently in our country, especially serious casualties have caused heavy casualties and huge economic losses, in these accidents. The traditional coal mine safety monitoring system uses wired network, but the wired network is greatly restricted in time and space flexibility. Firstly, the present situation of the coal mine monitoring system at home and abroad and the background and significance of the research are analyzed. Then the wireless sensor technology. ZigBee technology and gas concentration detection principle are described. It provides theoretical support for the hardware and software design of ZigBee wireless sensor network node. According to the existing environment and user requirements of coal mine, the requirement analysis of coal mine monitoring system is completed. Then according to the characteristics of ZigBee wireless sensor network nodes, the appropriate devices are selected. The software and hardware design and data transmission mode of wireless acquisition and transmission system of ZigBee gas concentration in coal mine are described in detail. Finally, the gas detection and system integration test of wireless sensor node module are completed. Taking crawler mobile robot as the research object, the remote control and autonomous obstacle avoidance function are completed. A new trajectory filtering algorithm is proposed. The main task of robot remote control is to monitor the state and environment of the robot through the host computer in real time. The control subsystem can be divided into microcontroller, motor control module and communication module. The system selects C8051F020 as the main control chip and completes the design of the hardware circuit and software program according to the modularization idea. The main task of autonomous obstacle avoidance is to enable the robot to detect the position of obstacles without control. The system can be divided into three main steps: obstacle information collection, obstacle information processing and obstacle avoidance decision. The ultrasonic module HC-SR04 is selected as the ranging sensor. The fuzzy logic method is chosen as the obstacle avoidance algorithm to realize the autonomous obstacle avoidance of the robot.
【學(xué)位授予單位】：河北聯(lián)合大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TD712;TP242

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