井下瓦斯浓度检测机器人的设计

发布时间：2018-01-17 20:19

本文关键词：井下瓦斯浓度检测机器人的设计　出处：《河北联合大学》2014年硕士论文　论文类型：学位论文

【摘要】：近年来，我国煤矿安全事故频频发生，，尤其是重特大伤亡事故屡见不鲜造成了惨重的人员伤亡和巨大的经济损失，在这些事故中，瓦斯爆炸占了绝大多数。传统的煤矿安全监测系统均采用有线网络的方式，但是有线网络在时间和空间的灵活性上都受到了极大地束缚。首先分析了煤矿监测系统的国内外现状和课题研究的背景与意义；接着阐述了无线传感器技术。ZigBee技术和瓦斯浓度检测原理，为ZigBee无线传感器网络节点的软硬件设计提供了理论支持。根据煤矿现有环境和用户要求，完成了煤矿监控系统的需求分析；然后结合ZigBee无线传感器网络节点的特点选择了合适的器件，详细描述了煤矿井下ZigBee瓦斯浓度无线采集传输系统的软硬件设计及数据传输模式等，最后完成无线传感器节点模块的瓦斯检测和系统集成测试。以履带式移动机器人为研究对象，完成了其远程控制与自主避障功能，并提出了新的轨迹滤波算法。机器人远程控制的主要任务是通过上位机实时监视机器人的自身状态和周围环境，并无线控制机器人的运动。控制子系统可分为微控制器、电机控制模块、通信模块、传感器模块和人机交互模块五个主要部分。系统选择C8051F020作为主控芯片，按照模块化的思想完成了硬件电路与软件程序的设计，实现了机器人的远程控制。机器人自主避障的主要任务是使机器人在无人控制的情况下，能检测障碍物的位置，并自主躲避障碍物。避障子系统可分为障碍物信息采集、障碍物信息处理和避障决策三个主要步骤。本系统选择超声波模块HC-SR04作为测距传感器，选择模糊逻辑法作为避障算法，实现了机器人的自主避障。
[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.
【学位授予单位】：河北联合大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TD712;TP242

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