基于Mesh网络的井下机车自主导航系统研究
发布时间：2019-06-08 09:15
【摘要】：目前,我国矿山开采深度、强度和规模逐年增加,采矿条件愈加恶劣,急需先进的采矿设备和技术来改善现状。井下自主行走机车是采矿设备智能化研究的一大趋势,自主导航系统研究是自主行走机车核心内容。 本课题设计的自主导航系统属于远程无线遥控系统的一部分,主要任务是实现一套基于无线Mesh网络(Wireless Mesh Network, WMN)的井下机车自主导航系统,利用无线Mesh网络的组网优势和传输特性,实现机车无线定位和系统远程无线监控。通过NS2无线网络仿真实验研究适用于本系统的随机接入机制,保障网络传输质量,最后通过仿真实验和实际测试验证导航算法和定位算法的可靠性、有效性。 自主导航系统由核心控制单元和执行单元组成,核心控制单元采用LPC1768处理器,通过CAN、RS485、以太网通信接口采集激光扫描仪、转角传感器、旋转编码器、RFID阅读器数据,通过Flash模块存储数据；同时执行激光导航定位算法。执行单元接收核心控制单元的逻辑控制指令,通过PWM模块输出控制信号,驱动电机控制机车,并将机车运行状态、告警信息通过WMN发送至远程监控单元。 本文首先介绍课题研究背景及意义、研究状况及研究目标；其次详细介绍远程无线遥控系统各部分主要功能,分析WMN拓扑结构和相关标准；然后进行自主导航系统硬件设计,包括主控制器、通信单元、外围模块的电路设计。接着重点研究基于WMN的激光导航定位算法,详细设计激光导航算法路径规划、数据融合、逻辑反馈控制三个子系统,紧接着介绍自主导航系统软件设计,重点分析包括数据采集、导航算法、通信协议的软件设计；接着介绍MAC层DCF和EDCF随机接入机制,模拟系统网络拓扑完成QoS性能仿真；最后分析系统测试结果。 实际仿真结果表明采用EDCF机制,网络服务质量更好；基于RSSI的三角质心定位算法适用于本系统；系统测试结果表明激光导航算法达到预期目标,实现自主导航定位功能和远程监控功能,具有较高应用和推广价值。
[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.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD655;TN929.5
本文编号：2495174
[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.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD655;TN929.5
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