Design And Implementation Of Environmental Monitoring System In Cable Tunnel Based On Mobile Sensor Network

Underground cable has been gradually replaceing the overhead line and becomes the dominant power distribution network in the city due to its advantages.However,the application of underground cable and cable tunnel brings both convenience and problems.To avoid accidents,it is necessary to monitor the environment of the cable tunnel.In view of the shortcomings of the environmental monitoring system of cable tunnel at home and abroad,this thesis develop a environmental monitoring system by combining the spherical robot technology and wireless ad hoc network technology.By the use of spherical robots and the wireless sensor network,the system will not only realize daily monitoring of the cable tunnel,but work in the case of some major accidents especially,such as fire and flood.The application of the system will not only prevent the happening of the accidents,but also provide guidance for the rescue work by obtaining real-time information when the accidents happen.The main work of this thesis is as follows:Firstly,the overall design of the system based on mobile sensor network is carried out.The system is divided into three major parts.When it refers to the spherical robot,the built-in car driving mode is selected as the implementation scheme by comparing the different driving modes.When it refers to the wireless sensor network,several wireless communication technologies are analyzed and the appropriate ones are choozen.When it refers to the monitoring center,its functions and characteristics are analyzed.Secondly,the dynamic model of spherical robot is constructed by using the Lagrangian equation.Simulation of direct motion and steering motion are carried out,proving the correctness of the model.In addition,the closed-loop control strategy is developed,and the position fuzzy controller and the speed PID controller are designed respectively to realize the balanced stability control and the dynamic stability control.The simulation achieved the expected results.Thirdly,two sets of wireless ad hoc network schemes are designed based on ZigBee and WiFi technologies respectively.In the ZigBee-based network,a set of self-organizing protocol is customized,and some problems are analyzed and explained.In the WiFi-based network,the establishment scheme of Ad Hoc network is designed,and the establishment of TCP/IP connection and data transmission in the network are analyzed and explained.Finally,a group of the spherical models are made due to the software and hardware designment of the system.Experiments are carried out to prove the functions of the spherical robot and the wireless sensor networkThe spherical robot technology and wireless ad hoc network technology are combined in this thesis,which deserves further studies both in the research of environmental monitoring of cable tunnel or other fields.