Research On Accurate Localization Of Underground Robot

With the development of economy, the nation and community have paid enough attention to coal mine safety problems, but accidents still occur. In order to improve the working environment of underground workers and productivity, using robot to work underground will be the future trend. Aiming at the problems of communication and localization when robot works underground, this paper mainly researches the positioning technology of robot.This paper introduces the current research status of robot location at home and abroad, through the comparison of several kinds of wireless location technology, select ZigBee technology to build underground network. Introduces the ZigBee protocol architecture and network topology, and analyzes the deployment strategy of underground anchor nodes. Further discusses the specific localization algorithms, aiming at the issue of low positioning accuracy when use the static parameters to locate, proposes an improved location algorithm based on RSSI, it uses dynamic parameters combining with the weighted centroid localization algorithm to calculate the blind node coordinates. Through the comparison of 2 filtering technology, selects the Kalman filtering technology to optimize the received signal. The effectiveness of the improved location algorithm is verified by MATLAB simulation platform.Finally, the paper implements a ZigBee underground wireless localization system’s hardware design and software design, which is based on the TI Company’s chip CC2430/CC2431. In hardware aspect, paper briefly introduces the chip CC2430/ CC2431, analyzes the CC2431 positioning engine’s working principle, and completes the design of system’s auxiliary circuits. In software aspect, introduces the system’s network maintenance and cluster ID commands, completes the software design of each node, then the paper builds and tests the location system.