Coal Mine Robot Navigation And Wireless Video Surveillance Technology Research Based On Industrial Internet

Coal mining is developing towards intelligent unmanned coal mining in the future.Robots are gradually being used in the coal detection,exploitation and transportation in underground coal mine.According to the special environment of coal mine,an effective positioning method and a reliable path planning method are proposed based on the underground industrial Internet framework,making coal mine robot navigation more efficient.The coal mine robot wireless video surveillance is designed and developed,so that the dispatcher can observe the state of the robot and the surrounding environment in real time through industrial Internet.Firstly,the framework and communication process of the underground industrial Internet based on optical fiber ring network is introduced.Then,the network structure of wireless Mesh network is described in detail.After comparing the advantages of wireless Mesh network in the underground coal mine,this paper constructs the underground industrial Internet communication system based on the combination of optical fiber ring network and wireless access network.The localization method of robot navigation based on underground industrial Internet is studied.This paper proposed a coal mine robot ultrasonic network localization method based on filter(Unscented Kalman Filter,UKF).The proposed method is to update and predict the robot position through UKF which combines the robot position output of light code disc and electronic compass localization with the robot position output of ultrasonic networks localization.Since the location update and prediction for a robot is a complex nonlinear function,the filtering accuracy is improved and the error of positioning is reduced effectively by the UKF.The simulation results show that the more accurate and reliable location of robot is achieved with the proposed ultrasonic network localization based on UKF.The path planning method of robot navigation based on the underground industrial Internet is studied.This paper proposed a method for 3D path planning of robot in underground complex space based on hybrid ant colony and artificial bee colony algorithm.The proposed method can generate the initial paths simply and extend the search range of new feasible path,which effectively solves the problem that ant colony algorithm may trap into the local optimal solution and the iteration times of the artificial bee colony algorithm may be numerous.The simulation results show that the robot can plan its path effectively in underground local complex space with the proposed path planning method based on hybrid ant colony and artificial bee colony algorithm.Aiming at the wireless video surveillance of the coal mine robot based on the underground industrial Internet,the robot communication control protocol is designed,and the lower computer and the upper computer PC client of the wireless video surveillance system are developed.The coal mine robot uses the underground industrial Internet to transmit the wireless video surveillance data,and the dispatcher can monitor the surrounding environment of the coal mine robot through the wireless video surveillance PC client.The experimental results show that the video of the wireless video surveillance system is clear,and the video storage and camera function can be used normally.