本文選題：機器人 + 工業(yè)互聯(lián)網(wǎng)　； 參考：《北京交通大學》2017年碩士論文

【摘要】：未來智能煤礦開采正在向著無人化或少人化的方向不斷發(fā)展。機器人正逐漸被應用于煤礦井下的探測、開采和運輸過程中。針對煤礦井下的特殊環(huán)境,基于井下工業(yè)互聯(lián)網(wǎng)框架,提出了井下機器人有效可靠的定位和路徑規(guī)劃方法,有利于機器人在井下環(huán)境中更高效的導航。設計并開發(fā)了井下機器人無線視頻監(jiān)控功能,使井上調(diào)度人員能夠通過工業(yè)互聯(lián)網(wǎng)實時觀察機器人的狀態(tài)和井下周圍環(huán)境。首先,介紹了基于光纖環(huán)網(wǎng)的井下工業(yè)互聯(lián)網(wǎng)框架與通信過程,對在井下環(huán)境下采用光纖環(huán)網(wǎng)作為工業(yè)互聯(lián)網(wǎng)骨干網(wǎng)絡的特點和可用性進行了分析。然后,詳細描述了作為井下工業(yè)互聯(lián)網(wǎng)接入網(wǎng)絡的無線Mesh網(wǎng)網(wǎng)絡結(jié)構(gòu)。對比分析了無線Mesh網(wǎng)絡在煤礦井下構(gòu)建網(wǎng)絡時的優(yōu)勢后,構(gòu)建了以光纖環(huán)網(wǎng)和無線接入網(wǎng)絡相結(jié)合的井下工業(yè)互聯(lián)網(wǎng)通信系統(tǒng)。對基于井下工業(yè)互聯(lián)網(wǎng)的機器人導航所涉及的定位方法進行了研究。提出了一種基于無損卡爾曼濾波(Unscented Kalman Filter,UKF)的井下機器人超聲網(wǎng)絡定位方法。所提出的定位方法通過對光電碼盤和電子羅盤定位以及超聲網(wǎng)絡定位輸出的井下機器人位置坐標和航向角度進行UKF濾波,對井下機器人進行位置更新和預測。由于機器人位置更新和預測是復雜的非線性函數(shù),采用UKF能有效提高濾波精度,降低定位誤差。仿真結(jié)果表明,采用所提出的基于UKF的井下機器人超聲網(wǎng)絡定位方法實現(xiàn)了井下機器人更穩(wěn)定和更精確的定位。對基于井下工業(yè)互聯(lián)網(wǎng)的機器人導航所涉及的路徑規(guī)劃方法進行了研究。提出了一種基于混合蟻群-蜂群算法的井下局部復雜空間機器人三維路徑規(guī)劃方法。所提出的井下局部復雜空間機器人三維路徑規(guī)劃方法具有產(chǎn)生初始可行路徑簡單,探索新的可行路徑能力強的特點,可有效解決蟻群路徑規(guī)劃算法可能過早陷入局部最優(yōu)解,人工蜂群算法迭代次數(shù)過多的問題。仿真結(jié)果表明,采用所提出的基于混合蟻群-蜂群算法的井下局部復雜空間機器人三維路徑規(guī)劃方法,機器人可有效對在井下局部復雜空間進行三維路徑規(guī)劃。針對基于井下工業(yè)互聯(lián)網(wǎng)的井下機器人無線視頻監(jiān)控,設計了機器人通信控制協(xié)議,開發(fā)了井下機器人無線視頻監(jiān)控下位機模塊和上位機PC客戶端。井下機器人利用井下工業(yè)互聯(lián)網(wǎng)傳輸無線視頻監(jiān)控數(shù)據(jù),并且井上調(diào)度人員能夠通過PC客戶端對井下機器人周圍作業(yè)環(huán)境進行無線視頻監(jiān)控。實驗結(jié)果表明,井下無線視頻監(jiān)控的監(jiān)控畫面比較清晰,視頻保存和拍照功能正常。上述工作對進一步實現(xiàn)基于工業(yè)互聯(lián)網(wǎng)的井下機器人的導航與無線視頻監(jiān)控具有重要價值。
[Abstract]:In the future, intelligent coal mining is developing towards the direction of no man or less man. Robots are gradually being used in the exploration, mining and transportation of underground coal mines. Aiming at the special environment of underground coal mine, based on the underground industrial Internet framework, an effective and reliable positioning and path planning method for underground robot is proposed, which is conducive to more efficient navigation of robot in underground environment. The wireless video monitoring function of underground robot is designed and developed, which enables the dispatcher to observe the state of the robot and the surrounding environment through the industrial Internet in real time. Firstly, the framework and communication process of underground industrial Internet based on optical fiber ring network are introduced, and the characteristics and availability of using optical fiber ring network as backbone network of industrial Internet in underground environment are analyzed. Then, the network structure of wireless Mesh network, which is used as the underground industrial Internet access network, is described in detail. After comparing and analyzing the advantages of wireless Mesh network in the construction of underground coal mine network, a underground industrial Internet communication system based on optical fiber ring network and wireless access network is constructed. The localization method of robot navigation based on underground industrial Internet is studied. An ultrasonic network localization method for underground robot based on unscented Kalman filter UK F is proposed. The proposed positioning method can update and predict the position of the downhole robot by UKF filtering the position coordinates and heading angles of the downhole robot which is located by photoelectric code disk electronic compass and ultrasonic network positioning output. Because the update and prediction of robot position is a complex nonlinear function, UKF can effectively improve the filtering accuracy and reduce the positioning error. The simulation results show that the proposed ultrasonic network localization method based on UKF is more stable and accurate. The path planning method of robot navigation based on underground industrial Internet is studied. A 3D path planning method for underground local complex space robot based on hybrid ant colony-bee colony algorithm is proposed. The proposed 3D path planning method for underground local complex space robot has the characteristics of simple initial feasible path and strong ability to explore new feasible path, which can effectively solve the problem that ant colony path planning algorithm may fall into local optimal solution prematurely. The problem that artificial bee colony algorithm has too many iterations. The simulation results show that the proposed 3D path planning method for underground local complex space robot based on hybrid ant colony and bee colony algorithm can effectively carry out 3D path planning in underground local complex space. Aiming at the underground robot wireless video surveillance based on the underground industrial Internet, the robot communication control protocol is designed, and the downhole robot wireless video surveillance lower computer module and the upper PC client are developed. The underground robot uses the underground industrial Internet to transmit the wireless video monitoring data, and the dispatcher in the well can monitor the working environment of the underground robot through PC client. The experimental results show that the monitoring picture of underground wireless video surveillance is clear and the function of video preservation and photo taking is normal. The above work is of great value to further realize the navigation and wireless video surveillance of underground robot based on industrial Internet.
【學位授予單位】：北京交通大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TD67;TP242

【引證文獻】

相關(guān)期刊論文 前1條

1 許金;;智慧礦山架構(gòu)體系研究[J];能源與環(huán)保;2017年11期

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本文編號：1956669