煤矿井下探测机器人远程监控系统的研究
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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。
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.
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。
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.
引文
[1]朱华.矿井救灾机器人研究现状及需要重点解决的技术问题[J].徐州工程学院学报,2007,22(6)：5-8.
[2]王勇,朱华,王永胜,程刚,李允旺.煤矿救灾机器人研究现状及需要重点解决的技术问题[J].煤矿机械,2007,28(4)：107-109.
[3]"Rescue Robot Demonstrated for Mine Disaster"[EB/OL]. http://crasar.casee.usf.edu, 2003.
[4]钱善华,葛世荣,王永胜,王勇,柳昌庆.救灾机器人的研究现状与煤矿救灾的应用[J].机器人,2006,28(3)：350-354.
[5]王维,赵红超,刘浩.矿井救灾机器人[J].山东煤矿机械,2009,(4)
[6]付志超.基于信息融合技术的煤矿井下探测机器人检测系统研究[D],太原：太原理工大学,2010.
[7]S. Hirose. Snake, walking and group robots for super mechanosystem[C], IEEE SMC'99 conf.,1999,2.
[8]周丹.基于嵌入式的智能机器人及其运动控制系统研究[D],成都理工大学,2007.
[9]臧金华,郜新平.浅谈煤矿井下通信系统的特点及要求[J].中州煤炭,2005(2)
[10]赵庆平,方观礼.煤矿井下通信系统的研究[J],科技信息,2009(13):351.
[11]于长波,孙春义.现有井下通信方式的分析与比较[J].煤矿工程,2008(2):126-127.
[12]孙继平.矿井移动通信关键科学技术问题[C].第19届全国煤矿自动化与信息化学术会议暨中国矿业大学(北京)百年校庆学术会议论文集,2009年.
[13]孙继平.矿井移动通信的特点及现有系统分析[J].煤矿自动化.1997(4):21-24.
[14]张文祥,徐世国.蓝牙技术在矿井无线通信中的应用[J].煤矿机械,2007,28(7):158-159.
[15]孙继平.矿井通信与监控关键科学技术问题[A].中国煤炭学会六届三次常务理事会及学术论坛[C].北京：中国煤炭学会,2009(2).
[16]钟华,吴镇炜.光纤在煤矿救援探测机器人中的应用[J].仪器仪表学报,2007(8).
[17]何翠平.雷达信号的光汇流环传输技术[D].成都：电子科技大学,2006.
[18]孙继平.煤矿井下无线通信传输信号最佳频率选择[J].辽宁工程技术大学学报,24(3)
[19]Delogne, P.EM ProPagation Tunnels[J]. IEEE Trans on Antennas and Propagation, 1991-39(3):401-405.
[20]Yamaguchi, Y, Abe, T, Sekiguchi, T.Attenuation Constants of UHF Radio Waves in Arches Tunnels[J]. IEEE Transactions on EMC,1989,31(1):87-91.
[21]王椿年,戴耀森,高怀珍等译.[比]保罗.德隆涅著.漏泄馈线和地下无线电通信[M].北京：人民邮电出版社.1988,111-117.
[22]J. LIU, Y. R. LIANG, J. YANG.Accessing Web Heterogeneous Databases Based on CORBA. Journal of Beijing Insititue of Technology,2002,11(1):81-84.
[23]孙继平,石庆冬.空圆形隧道中电磁波的传播特性[J].辽宁工程技术大学学报,2001,20(2)：169-171.
[24]Cochran J A, Pecina R G. Mode propagation in continuously curved waveguides [J].Radio Science,1966,1(6):679-696.
[25]Wu C P. Waveguide modes in curved waveguides [A]. Mittra R. Computer Techniques for Electromagnetics edited [C]. New York:Pergamon,1973.279-281.
[26]曹育红,田子键.特殊环境下无线通信系统的频率选择[J].电子工程师,2004,30(5)：12-13.
[27]李脂,刘建辉.ZigBee无线网络在井下救援通信系统中的应用研究[J].世界科技研究与发展,2009,31(1)：74-76.
[28]朱峰,基于Zigbee的井下无线定位与通信系统[J].电子元器件应用,2008,10(2)
[29]邓勇军.煤矿井下探测机器人的远程监视与控制[D].太原：太原理工大学,2010.
[30]蔡闻天.井下视频通信技术的研究与实现[D],南京：东南大学,2008.
[31]周理.机器人远程监控实验室的研制[D],长沙：中南大学,2004.
[32]和亮.嵌入式远程视频监控系统的设计与实现[D].西安：西安电子科技大学,2009.
[33]段军棋,蒋丹.远程视频监控系统的设计与实现[J].电子科技大学学报,2002,31(5).
[34]彭强,杨天武,陈维荣.远程视频监控系统中的解码技术及显示策略[J].电力系统自动化,2002,26(9).
[35]赵军,谢晓尧.救援机器人无线局域网控制系统研究[J].贵州大学学报,2010,27(2)： 83-86.
[36]曹晟.移动机器人远程监控系统研究与设计[D].长沙：中南大学,2004.
[37]樊荣.一种移动机器人视频采集及安全传输系统[D].北京：北京邮电大学,2009.
[38]刘晓磊.基于DSP的全自主移动机器人运动控制系统研究[D].西安：西北工业大学,2008.
[39]梁香凝.Delta机器人运动学建模及仿真[D].太原：太原理工大学,2008.
[40]何斌.Visual C++数字图像处理[M].北京：人民邮电出版社,2002.
[41]Ilan Shimshoni. On mobile robot localization from landmak bearings. Robotics and Automation[J]. IEEE Transactions on,2002,18(6):971-976.
[2]王勇,朱华,王永胜,程刚,李允旺.煤矿救灾机器人研究现状及需要重点解决的技术问题[J].煤矿机械,2007,28(4)：107-109.
[3]"Rescue Robot Demonstrated for Mine Disaster"[EB/OL]. http://crasar.casee.usf.edu, 2003.
[4]钱善华,葛世荣,王永胜,王勇,柳昌庆.救灾机器人的研究现状与煤矿救灾的应用[J].机器人,2006,28(3)：350-354.
[5]王维,赵红超,刘浩.矿井救灾机器人[J].山东煤矿机械,2009,(4)
[6]付志超.基于信息融合技术的煤矿井下探测机器人检测系统研究[D],太原：太原理工大学,2010.
[7]S. Hirose. Snake, walking and group robots for super mechanosystem[C], IEEE SMC'99 conf.,1999,2.
[8]周丹.基于嵌入式的智能机器人及其运动控制系统研究[D],成都理工大学,2007.
[9]臧金华,郜新平.浅谈煤矿井下通信系统的特点及要求[J].中州煤炭,2005(2)
[10]赵庆平,方观礼.煤矿井下通信系统的研究[J],科技信息,2009(13):351.
[11]于长波,孙春义.现有井下通信方式的分析与比较[J].煤矿工程,2008(2):126-127.
[12]孙继平.矿井移动通信关键科学技术问题[C].第19届全国煤矿自动化与信息化学术会议暨中国矿业大学(北京)百年校庆学术会议论文集,2009年.
[13]孙继平.矿井移动通信的特点及现有系统分析[J].煤矿自动化.1997(4):21-24.
[14]张文祥,徐世国.蓝牙技术在矿井无线通信中的应用[J].煤矿机械,2007,28(7):158-159.
[15]孙继平.矿井通信与监控关键科学技术问题[A].中国煤炭学会六届三次常务理事会及学术论坛[C].北京：中国煤炭学会,2009(2).
[16]钟华,吴镇炜.光纤在煤矿救援探测机器人中的应用[J].仪器仪表学报,2007(8).
[17]何翠平.雷达信号的光汇流环传输技术[D].成都：电子科技大学,2006.
[18]孙继平.煤矿井下无线通信传输信号最佳频率选择[J].辽宁工程技术大学学报,24(3)
[19]Delogne, P.EM ProPagation Tunnels[J]. IEEE Trans on Antennas and Propagation, 1991-39(3):401-405.
[20]Yamaguchi, Y, Abe, T, Sekiguchi, T.Attenuation Constants of UHF Radio Waves in Arches Tunnels[J]. IEEE Transactions on EMC,1989,31(1):87-91.
[21]王椿年,戴耀森,高怀珍等译.[比]保罗.德隆涅著.漏泄馈线和地下无线电通信[M].北京：人民邮电出版社.1988,111-117.
[22]J. LIU, Y. R. LIANG, J. YANG.Accessing Web Heterogeneous Databases Based on CORBA. Journal of Beijing Insititue of Technology,2002,11(1):81-84.
[23]孙继平,石庆冬.空圆形隧道中电磁波的传播特性[J].辽宁工程技术大学学报,2001,20(2)：169-171.
[24]Cochran J A, Pecina R G. Mode propagation in continuously curved waveguides [J].Radio Science,1966,1(6):679-696.
[25]Wu C P. Waveguide modes in curved waveguides [A]. Mittra R. Computer Techniques for Electromagnetics edited [C]. New York:Pergamon,1973.279-281.
[26]曹育红,田子键.特殊环境下无线通信系统的频率选择[J].电子工程师,2004,30(5)：12-13.
[27]李脂,刘建辉.ZigBee无线网络在井下救援通信系统中的应用研究[J].世界科技研究与发展,2009,31(1)：74-76.
[28]朱峰,基于Zigbee的井下无线定位与通信系统[J].电子元器件应用,2008,10(2)
[29]邓勇军.煤矿井下探测机器人的远程监视与控制[D].太原：太原理工大学,2010.
[30]蔡闻天.井下视频通信技术的研究与实现[D],南京：东南大学,2008.
[31]周理.机器人远程监控实验室的研制[D],长沙：中南大学,2004.
[32]和亮.嵌入式远程视频监控系统的设计与实现[D].西安：西安电子科技大学,2009.
[33]段军棋,蒋丹.远程视频监控系统的设计与实现[J].电子科技大学学报,2002,31(5).
[34]彭强,杨天武,陈维荣.远程视频监控系统中的解码技术及显示策略[J].电力系统自动化,2002,26(9).
[35]赵军,谢晓尧.救援机器人无线局域网控制系统研究[J].贵州大学学报,2010,27(2)： 83-86.
[36]曹晟.移动机器人远程监控系统研究与设计[D].长沙：中南大学,2004.
[37]樊荣.一种移动机器人视频采集及安全传输系统[D].北京：北京邮电大学,2009.
[38]刘晓磊.基于DSP的全自主移动机器人运动控制系统研究[D].西安：西北工业大学,2008.
[39]梁香凝.Delta机器人运动学建模及仿真[D].太原：太原理工大学,2008.
[40]何斌.Visual C++数字图像处理[M].北京：人民邮电出版社,2002.
[41]Ilan Shimshoni. On mobile robot localization from landmak bearings. Robotics and Automation[J]. IEEE Transactions on,2002,18(6):971-976.
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