【作者】 邬燕波；

【导师】 牛志刚；

【作者基本信息】 太原理工大学 ， 机械制造及其自动化， 2011， 硕士

【摘要】 随着人们对煤炭需求量的不断增加,’煤矿开采任务日益加重,导致矿难事故频频发生。为了尽可能地使矿井灾难损失最小化,并在事故发生后第一时间获取井下现场环境状况和人员伤亡信息,为指挥者展开救援提供可靠依据,同时减少救援人员发生二次事故的可能性,研发一种能够取代人到达危险环境作业的煤矿井下救援机器人显得意义重大。煤矿井下救援机器人的研究是一项安全工程、生命工程,它为实现煤炭产业可持续发展提供了有力的保障。课题来源于山西省科技攻关项目“煤矿井下搜救探测机器人技术与系统的研究”,本文研究的机器人远程监控系统是课题的关键技术之一,是探测机器人完成井下远程通信和控制的重要保障。本文首先对探测机器人的主体结构平台展开研究,运用三维软件对其车体结构进行建模,并最终赋以实际样机生产；对机器人的核心控制系统(上位机和下位机)进行了硬件选型和原理分析；还从整体上阐述和分析了机器人所实现的功能,为机器人远程监控系统的扩展性研究做好铺垫。论文借用了当前已运用于煤矿井下较为成熟的通信技术,并结合探测机器人自身的特点,对井下常用的有线、无线两种通信方式进行了综合比较和分析,通过理论推导和Matlab曲线仿真确定了井下无线电通信的最佳频率,继而提出了一种基于ZigBee技术的无线传感网络与光纤网络相结合的井下通信设计方案。在此基础上,再重点解决了影响远程监控系统的两个重要因素：网络时延和视频采集。通过对网络传输通信协议的选择、网络传递延时因素的分析和视频压缩及传输的研究,并采用了补偿环节和高频采样处理等策略来减小和消除延时,依据MPEG-4标准来实现视频图像压缩并辅以RTP/RTCP协议实现其传输,最终满足探测机器人的实时控制和视频图像的实时采集,达到远程监控的实时性、可靠性的目的。最后,从机器人的设计框架着手,整体上去分析该智能机器人各个模块的功能,在Windows XP操作系统下,运用VC++并结合MFC库对底层应用程序进行设计,并打包成DLL动态链接库,很好地与用VB编辑的可视化界面链接。以机器人基本运动控制为例,进行了相关远程监控系统的实验,建立了无线局域网络,进行了远程视频采集和操控实验,从而验证了本文的主要研究结果。更多还原

【Abstract】 With the increasing demand for coal, coal mining task is increasing more and more, which leading to the frequent occurrence of mine accidents. To the extent possible minimize the loss of the mine disaster, get the mine-site environmental conditions and casualties information in the first time after the accident and provide a reliable basis for commanders to start rescue, while reducing the occurrence of the "second event" of rescue workers.It is significant to devise coal mine rescue robot who can replace of people reach a dangerous environment. Mine Rescue Robot is a safety engineering, life engineering, it is can provide a strong guarantee for achieve sustainable development of the coal industry. Topics from the scientific and technological project in Shanxi Province, "Mine detection robot search and rescue technologies and systems research", this article of remote monitoring system is one of the key issues,which is the important safeguard to complete the important communication and control protection.The article abstract with the mature communication which used in coal mine, combined with the characteristics of the robot probe on the common underground wired and wireless communications conducted two comprehensive comparison and analysis, and through theoretical analysis and simulation of Matlab curve determine the optimal frequency radio communications underground, and then propose a technique based on ZigBee wireless sensor network with a combination of underground fiber-optic network communications design.On this basis, then solve two important factors which influence the remote monitoring system:the network delay and video capture. Transmitted through the network communication protocol selection, network transmission delay factor analysis and video compression and transmission of research, and compensation for use of links and high-frequency sampling strategies to reduce handling and eliminate delay, according to MPEG-4 standard for video image compression and supplemented by RTP / RTCP protocol to achieve its transmission, and ultimately meet the real-time detection of robot control and real-time video image capture, to achieve real-time remote monitoring and reliability purposes.Finally, start from the robot’s design framework, the overall analysis of the intelligent robot up the function of each module in the Windows XP operating system, using VC++and MFC libraries with the underlying application design, and packaged into a DLL Dynamic Link Library, edited by VB well with visual interface link, and use its basic physical interface for example, conducted experiments related to remote monitoring system, establish a wireless local area network for remote video capture and control experiments, it is effective to achieve the unity of the robot hardware and software deployment and control.更多还原