【摘要】：目前,我國礦山開采深度、強(qiáng)度和規(guī)模逐年增加,采礦條件愈加惡劣,急需先進(jìn)的采礦設(shè)備和技術(shù)來改善現(xiàn)狀。井下自主行走機(jī)車是采礦設(shè)備智能化研究的一大趨勢,自主導(dǎo)航系統(tǒng)研究是自主行走機(jī)車核心內(nèi)容。 本課題設(shè)計的自主導(dǎo)航系統(tǒng)屬于遠(yuǎn)程無線遙控系統(tǒng)的一部分,主要任務(wù)是實現(xiàn)一套基于無線Mesh網(wǎng)絡(luò)(Wireless Mesh Network, WMN)的井下機(jī)車自主導(dǎo)航系統(tǒng),利用無線Mesh網(wǎng)絡(luò)的組網(wǎng)優(yōu)勢和傳輸特性,實現(xiàn)機(jī)車無線定位和系統(tǒng)遠(yuǎn)程無線監(jiān)控。通過NS2無線網(wǎng)絡(luò)仿真實驗研究適用于本系統(tǒng)的隨機(jī)接入機(jī)制,保障網(wǎng)絡(luò)傳輸質(zhì)量,最后通過仿真實驗和實際測試驗證導(dǎo)航算法和定位算法的可靠性、有效性。 自主導(dǎo)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(wǎng)通信接口采集激光掃描儀、轉(zhuǎn)角傳感器、旋轉(zhuǎn)編碼器、RFID閱讀器數(shù)據(jù),通過Flash模塊存儲數(shù)據(jù)；同時執(zhí)行激光導(dǎo)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(qū)動電機(jī)控制機(jī)車,并將機(jī)車運(yùn)行狀態(tài)、告警信息通過WMN發(fā)送至遠(yuǎn)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(biāo)；其次詳細(xì)介紹遠(yuǎn)程無線遙控系統(tǒng)各部分主要功能,分析WMN拓?fù)浣Y(jié)構(gòu)和相關(guān)標(biāo)準(zhǔn)；然后進(jìn)行自主導(dǎo)航系統(tǒng)硬件設(shè)計,包括主控制器、通信單元、外圍模塊的電路設(shè)計。接著重點研究基于WMN的激光導(dǎo)航定位算法,詳細(xì)設(shè)計激光導(dǎo)航算法路徑規(guī)劃、數(shù)據(jù)融合、邏輯反饋控制三個子系統(tǒng),緊接著介紹自主導(dǎo)航系統(tǒng)軟件設(shè)計,重點分析包括數(shù)據(jù)采集、導(dǎo)航算法、通信協(xié)議的軟件設(shè)計；接著介紹MAC層DCF和EDCF隨機(jī)接入機(jī)制,模擬系統(tǒng)網(wǎng)絡(luò)拓?fù)渫瓿蒕oS性能仿真；最后分析系統(tǒng)測試結(jié)果。 實際仿真結(jié)果表明采用EDCF機(jī)制,網(wǎng)絡(luò)服務(wù)質(zhì)量更好；基于RSSI的三角質(zhì)心定位算法適用于本系統(tǒng)；系統(tǒng)測試結(jié)果表明激光導(dǎo)航算法達(dá)到預(yù)期目標(biāo),實現(xiàn)自主導(dǎo)航定位功能和遠(yuǎn)程監(jiān)控功能,具有較高應(yīng)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(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TD655;TN929.5

【相似文獻(xiàn)】

相關(guān)期刊論文 前2條

1 隋樹林;姚文龍;趙曉偉;;平方根UKF混合濾波在自主光學(xué)導(dǎo)航中的應(yīng)用[J];青島科技大學(xué)學(xué)報(自然科學(xué)版);2007年05期

2 ;[J];;年期

相關(guān)會議論文 前4條

1 徐瑞;崔平遠(yuǎn);朱圣英;崔祜濤;;小行星接近段自主導(dǎo)航系統(tǒng)設(shè)計[A];中國宇航學(xué)會深空探測技術(shù)專業(yè)委員會第六屆學(xué)術(shù)年會暨863計劃“深空探測與空間實驗技術(shù)”重大項目學(xué)術(shù)研討會論文集[C];2009年

2 隋樹林;姚文龍;于鐳;池榮虎;;SR-CDKF方法在探測器自主光學(xué)導(dǎo)航中的應(yīng)用[A];中國宇航學(xué)會深空探測技術(shù)專業(yè)委員會第四屆學(xué)術(shù)年會論文集[C];2007年

3 王奕迪;鄭偉;劉利;孫守明;;X射線脈沖星自主導(dǎo)航系統(tǒng)數(shù)字仿真平臺設(shè)計[A];第二屆中國衛(wèi)星導(dǎo)航學(xué)術(shù)年會電子文集[C];2011年

4 尚琳;劉國華;劉善伍;張銳;李國通;;地面錨固站消除自主導(dǎo)航中星座旋轉(zhuǎn)誤差的性能評估[A];第三屆中國衛(wèi)星導(dǎo)航學(xué)術(shù)年會電子文集——S03精密定軌與精密定位[C];2012年

相關(guān)重要報紙文章 前3條

1 執(zhí)筆記者 欒海 采訪記者 郭洋 林小春 趙嫣 戴曉崢 藍(lán)建中 徐謙;外媒爭睹嫦娥 驚嘆中國速度[N];新華每日電訊;2013年

2 本報記者 曹紅艷 通訊員 李治;小陀螺經(jīng)緯大海天[N];經(jīng)濟(jì)日報;2014年

3 本報記者 陽錫葉 通訊員 呂超 王致林;小陀螺綻放強(qiáng)軍之光[N];中國教育報;2014年

相關(guān)碩士學(xué)位論文 前7條

1 鄧銘輝;基于GPS的車輛自主導(dǎo)航系統(tǒng)的研究[D];哈爾濱工程大學(xué);2002年

2 袁猛;基于ARM9的車載自主導(dǎo)航系統(tǒng)軟硬件平臺設(shè)計[D];哈爾濱工程大學(xué);2008年

3 蔡玲;低成本長航時自主導(dǎo)航系統(tǒng)的設(shè)計與仿真[D];電子科技大學(xué);2012年

4 楊雪;基于Mesh網(wǎng)絡(luò)的井下機(jī)車自主導(dǎo)航系統(tǒng)研究[D];北京交通大學(xué);2015年

5 楊義松;X射線敏感器件設(shè)計仿真研究[D];哈爾濱工業(yè)大學(xué);2009年

6 李國輝;車載自主導(dǎo)航系統(tǒng)的研究[D];哈爾濱工業(yè)大學(xué);2009年

7 李建國;行星際天文導(dǎo)航方法及其精度影響因素分析[D];哈爾濱工業(yè)大學(xué);2009年

，

本文編號：2495174