基于Z-Stack协议栈的井下无人车缺陷监测系统设计  

Design of Defect Monitoring System for Underground Unmanned Vehicle Based on Z-Stack Protocol Stack

作　　者：常映辉 Chang Yinghui(Taiyuan Research Institute,China Coal Technology and Engineering Group,Taiyuan 030051,China;Yunlin Tiandi Coal Mining Machinery Co.,Ltd.,Yulin 719000,China;National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030051,China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司,太原030051 [2]榆林天地煤机装备有限公司,陕西榆林719000 [3]煤矿采掘机械装备国家工程实验室,太原030051

出　　处：《煤矿机械》2023年第3期194-197,共4页Coal Mine Machinery

摘　　要：在国内矿山数字化背景下,具备矿井巷道内点对点的自主路线规划、自动环境感知、跟车、错车、主动避障等技术特点的新能源无轨辅助运输设备应运而生。为实现各类无人矿车在矿井复杂恶劣环境下的平稳、安全、高效工作,设计了一种面向智慧矿山的井下无人车缺陷监测系统。该系统采用节点化设计,基于Z-Stack协议栈的无线通信将各节点无人矿车工作过程中的油门检测、雨刮响应、转向识别等动态参数实时返回给井上监测中心,并提供诊断日志查看、导出功能,实现了井下不依赖于5G基站的固定行车路线的无人驾驶车辆动态参数在线实时缺陷监测,有效避免了煤矿巷道环境内无人驾驶失效风险。Under the background of digitalization of domestic mines,new energy trackless auxiliary transportation equipment with the technical characteristics of point-to-point autonomous route planning in mine roadway,automatic environment perception,following vehicle,wrong vehicle,and active obstacle avoidance emerges as the times require.In order to realize the stable,safe and efficient operation of various types of unmanned mining vehicles in the complex and harsh environment of the mine,designed an underground unmanned vehicle defect monitoring system for a smart mine.The system adopts node design,returns the dynamic parameters such as throttle detection,wiper response,steering recognition and other dynamic parameters during the working process of each node unmanned mining vehicle to the monitoring center in real time through the wireless communication based on Z-Stack protocol stack,and provides the functions of check and export of diagnosis journal,realizes the underground on-line real-time defect monitoring for unmanned driving vehicle with fixed driving routes that does not rely on 5G base stations,and effectively avoids the risk of unmanned driving failure in the coal mine roadway environment.

关 键 词：无人矿车 Z-Stack协议栈 缺陷监测 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]