基于工业互联网的煤矿井下机器人导航与无线视频监控技术研究

发布时间：2018-05-30 20:25

本文选题：机器人 + 工业互联网　；参考：《北京交通大学》2017年硕士论文

【摘要】：未来智能煤矿开采正在向着无人化或少人化的方向不断发展。机器人正逐渐被应用于煤矿井下的探测、开采和运输过程中。针对煤矿井下的特殊环境,基于井下工业互联网框架,提出了井下机器人有效可靠的定位和路径规划方法,有利于机器人在井下环境中更高效的导航。设计并开发了井下机器人无线视频监控功能,使井上调度人员能够通过工业互联网实时观察机器人的状态和井下周围环境。首先,介绍了基于光纤环网的井下工业互联网框架与通信过程,对在井下环境下采用光纤环网作为工业互联网骨干网络的特点和可用性进行了分析。然后,详细描述了作为井下工业互联网接入网络的无线Mesh网网络结构。对比分析了无线Mesh网络在煤矿井下构建网络时的优势后,构建了以光纤环网和无线接入网络相结合的井下工业互联网通信系统。对基于井下工业互联网的机器人导航所涉及的定位方法进行了研究。提出了一种基于无损卡尔曼滤波(Unscented Kalman Filter,UKF)的井下机器人超声网络定位方法。所提出的定位方法通过对光电码盘和电子罗盘定位以及超声网络定位输出的井下机器人位置坐标和航向角度进行UKF滤波,对井下机器人进行位置更新和预测。由于机器人位置更新和预测是复杂的非线性函数,采用UKF能有效提高滤波精度,降低定位误差。仿真结果表明,采用所提出的基于UKF的井下机器人超声网络定位方法实现了井下机器人更稳定和更精确的定位。对基于井下工业互联网的机器人导航所涉及的路径规划方法进行了研究。提出了一种基于混合蚁群-蜂群算法的井下局部复杂空间机器人三维路径规划方法。所提出的井下局部复杂空间机器人三维路径规划方法具有产生初始可行路径简单,探索新的可行路径能力强的特点,可有效解决蚁群路径规划算法可能过早陷入局部最优解,人工蜂群算法迭代次数过多的问题。仿真结果表明,采用所提出的基于混合蚁群-蜂群算法的井下局部复杂空间机器人三维路径规划方法,机器人可有效对在井下局部复杂空间进行三维路径规划。针对基于井下工业互联网的井下机器人无线视频监控,设计了机器人通信控制协议,开发了井下机器人无线视频监控下位机模块和上位机PC客户端。井下机器人利用井下工业互联网传输无线视频监控数据,并且井上调度人员能够通过PC客户端对井下机器人周围作业环境进行无线视频监控。实验结果表明,井下无线视频监控的监控画面比较清晰,视频保存和拍照功能正常。上述工作对进一步实现基于工业互联网的井下机器人的导航与无线视频监控具有重要价值。
[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.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD67;TP242

【引证文献】