煤矿井下探测机器人的远程监视与控制

太原理工大学硕士学位论文煤矿井下探测机器人的远程监视与控制姓名：邓勇军申请学位级别：硕士专业：机械制造及其自动化指导教师：牛志刚20100501.REMOTEMONITERINGANDCONTROLOFCOALMINEDETECTIONROBOTABSTRACTWiththerapiddevelopmentofrobotics,robotswillplayasignificantroleincoalmineaccidentsrescue.Coalminedetectionrobotisakindofrobotwhichisusedtoexploretheminesiteandcollectdataafterthecoalmineaccident,anditsdevelopmentisveryimportantforfuturedisasterrelief,particularlyforprotectingthesafetyofaidworkers.Toensurethecompletionofundergroundexplorationtasksbyimplementingrobot’sremotemonitoringandcontrolisthemaincontentofthispaper.Coalminedetectionrobotistakenastheresearchobjectinthispaper,forwhichremotemonitoringandcontrolsystemisresearchedanddesignedbycombiningtheremotecontroltechnologyonrobotandvideomonitoringtechnologybasedontheanalysisofsystemtasksandfunctionsrequired.Supervisionmodeisadoptedinthesystemthatconsistsofthreesubsystems:thelocalcontrolsubsystemoftherobot,communicationsubsysteminthemiddlelayerandremoteclientcontrolsubsystem.OnthebasisofanalyzingthecharacteristicsofC/SandB/Sstructuremodel,theformerisusedasthesystemsoftware’sarchitecture.ClientandserversoftwarearedesignedaccordingtothefunctionalrequirementsofthembyusingmultithreadprogrammingtechniquesbasedonMFC,andtheirmaininterfaceofhuman-computerinteractionarealsodesignedaccordingtothedesignrequirementsofuser’ssoftwareinterface.Clientandrobotareconnectedbycommunicationsubsystem,whichplaysadecisiverolefortherealizationofremotevideosurveillance.Inthispaper,thecoalminedetectionrobot'scommunicationmodeisstudiedandacommunicationnetworkschemerelyingonwirelessrelayingintheundergroundisproposedaftercomparingandanalyzingmultiplecommunicationmethods.Differenttransportprotocolsarechoseforthetransmissionofinformationaccordingtothecharacteristicsofreliabilityandreal-time,specifically,TCPprotocolischosefordatatransmissionandUDPprotocolischoseforvideotransmission.Futhermore,transmissionofthesensors’statedata,theclient’scontrolcommandsandlivevideosareimplementedbyemployingSocketprogramming.Astherobot'seyes,visionsystemshouldersthetaskoflivevideocapture.Videocapturedevicesincludingthelightsource,cameraandvideocapturecardareselectedinthispaper.Aftercomparingandanalyzing,H.264videocompressionstandardisdeterminedasthecodingmethodbecauseofitshighcompressionratioandgoodcompressionquality,atthesametime,theopen-sourcesoftwarecodecT264ischosetoworkforencodinganddecoding.Thewholeprocessincludingvideocapture,compression,decompressionanddisplayisfinishedbyVFWprogramming.Finally,videoimageenhancementprocessingisperformedwiththegrayscaletransformationmethodandhistogramequalizationmethodtomakethevideoimagesclearerandeasiertounderstand,ensuretheeffectivenessofvideoimages,andprovideareliablebasisforfurtherdecisions.KEYWORDScoalminedetectionrobot,remotemonitoringandcontrol,wirelesscommunication,Socket,videotransmission11.11.1.11920KarelCapekRossum’sUniversalRobotsRobotaRobot206070[1-3]1231.1.2[4]1-11-1Table1-1Classificationofrobot(operatingrobot)(sequencecontrolrobot)(playbackrobot)(numericalcontrolrobot)(intelligentrobot)1.1.320083BigDog1-1BigDog35°405.51.5350551-21-31m320cm18ARV84°1-41-11-2Fig.1-1BigDogFig.1-2PhoenixMarsLander1-31-4“ARV”Fig.1-3AssistantRobotFig.1-4ARV1.220081167592009222781145[5]CO[6]1.31.3.1RemotecMSHAV2[7]1.2m540kgV2V21.5kmV2Sago1-5SandiaISRCRATLERRoboticAllTerrainLunarExplorationRover75m1-61-5V21-6RATLERFig.1-5V2Fig.1-6RATLERiRobotPackBot[8]60°9.3km/h1-73010cm1-81-7PackBot1-8Fig.1-7PackBotFig.1-8HummingbirdsRobot1.3.215083162006CUMT-1[9-10]1-93001.51-9CUMT-1Fig.1-9CUMT-1prototype1.41.4.11.4.212341.4.3GPSGPS[11-13]1231.4.4-[14-15]1.512MFCC/SVC++6.03Winsocket422.12.1.1[16-18]2-12-1Fig.2-1Robot’sremotecontrolmodel1232.1.212[19]3[20]2.1.3[21-23]1GSM22-1()R=MTBF/MTBF+MTTR2-1RMTBFMTTR32.22.2.11232.2.232-22-2Fig.2-2SchematicdiagramofremotecontrolSystemPCPC2.2.31100kg21.2×0.8×0.5m38km/h30°0.3m0.5m44h2-32-3Fig.2-3Robotbodystructure2-4483122-4Fig.2-4Ontologystructuremodelandthetensioningdevice123456-2.2.412PCPC/104+Intel852GM+ICH410/100MbpsPCIPCI-1046USB2.0108×115mmULVCeleronM1GHzCPUPCL-839+316DI16DO250KppsPCIPCI-1710/1710HG12A/DD/A/2.333.13.1.1C/SB/S[24]C/SClient/Server/B/SBrowse/Server/InternetC/SB/S[25]IPInternetProtocolICMPTCPUDPARPAddressResolutionProtocolRARPReverseAddressResolutionProtocolICMPInternetControlMessageProtocolTCPTransmissionControlProtocolUDPUserDatagramProtocolFTPFileTransferProtocolSMTPSimpleMailTransferProtocolTELNETTelnetTerminalProtocolHTTPHypertextTransferProtocolTFTPTrivialFileTransferProtocolTCP/IPTCPUDPIPTCP/IP3-13-1TCP/IPFig.3-1RelationshipbetweenTCP/IPkernelandapplication3.2.3WindowsSocketsWindowsWindowsSocketsWindows19911.019952.0.8IntelMicrosoftSunSGIInformixNovellWindows[26]WindowsSocketsSocketSocketSocketSocketSocketWindowssocketsSOCK_STREAMSOCK_DGRAMWindowssocketsTCP/IPTCPWindowsSocketswindowsSocketsTCP/IPUDP11S