Research On Underground Locomotive Autonomous Navigation And Control System Based On Mesh

Currently, the depth, strength and size of mining increase every year, harsh mining conditions need advanced mining equipments and technology to improve the situation. Autonomous underground locomotive is a major trend in the mining equipment, the core of which is autonomous navigation systems.Autonomous navigation system designed in this paper is part of wireless remote control system,utilizing the advantages and transmission characteristics of Wireless Mesh Network (WMN) to achieve wireless positioning and remote monitoring and controlling. Autonomous navigation system consists of a core control unit and execution units.Core control unit uses LPC1768, gathering information form laser scanners, angle sensors, rotary encoders, RFID reader through CAN bus, RS485and Ethernet interface, storing data to Flash module and executing laser navigation algorithm in the mean time.Execution units receive logic control command form core control unit, driving motors to control the locomotive through PWM module output and transmitting locomotive status and warning message to remote monitoring unit via WMN.This paper firstly introduces the research background and significance, research status and research objectives, and then introduces main functions of various parts in wireless remote control system, analyses WMN topology and relative standard. Autonomous navigation system hardware design follows with the study of laser navigation and positioning algorithm based on WMN, focusing on autonomous navigation system software design. Then DCF and EDCF random access mechanisms in MAC layer are introduced and simulated to compare their QoS performance. System test results are analyzed in the end. The test results prove that locomotive achieved autonomous navigation and positioning as well as remote monitoring and controlling with high value for application and promotion.