Study On The Underground Locomotive Autonomous Navigation System Based On WLAN

With the acceleration of the mines’ automation,the dropping off of the miningresources,and increasing of the difficulty in mine exploitation, mining efficiency andsafety problems are faced with severe challenges, so that the Locomotive intelligentnavigation technology are gained great popularity as its effective ways in solving minesafety and raising production.Because the traditional underground navigation technologyis difficult in adapting to the bad production environment,it has great significance oflocomotion to find a new method of navigation application development.The essay withproduction under the conditions of the mine environment as the research object, hascarried on the underground locomotive based on WLAN (wireless local area network)autonomous navigation and video monitoring system design.Paper puts forward the underground locomotive autonomous navigation based onWLAN and the feasibility of video monitoring system design: laser navigation systemwith a laser scanner for motorcycle road on both sides of the scan, obtaining trafficinformation, and return to the samsung S3C6410based on ARM11kernel microprocessors,CPU for data processing and storage. According to the principle of least square method,the fitting out of the locomotive driving route, establish kinematics model of locomotiverunning. At the same time, the processor for other sensor information, the locomotivewheel rotation Angle, engine speed, engine into the distance on both sides of the road ofauxiliary operations.This main job of the topic design includes debugging of hardware circuit design,software design and test, etc. Hardware circuit design of samsung S3C6410microprocessor as the core, mainly includes power supply circuit design, data collectioncircuit design, signal output circuit, clock circuit design, circuit design and so on. Thesoftware designs are based on wince operating system, and transmit information throughWifi network. The software function main includes controlling the locomotiveperformance,collecting camera information,compressing and transmitting thevideo,designing and displaying the video CODEC,and the video CODEC is based on theH.264Codec principle.Testing and debugging is proceeded in the area of The jin coal group co., LTD.In the process of testing,we mainly adjust the Laser scanning location andFront wheel Angle control,so as to achieve autonomous navigation in locomotive at last.