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Research and Implementation based on multi- sensor information fusion technology for mine collision avoidance system

Author: ZhangTianYu
Tutor: LiXunBo
School: University of Electronic Science and Technology
Course: Precision instruments and machinery
Keywords: Fuzzy Logic Obstacle avoidance behavior controller Multi-sensor data fusion Obstacle avoidance decisions Intrinsically Safe
CLC: TD7
Type: Master's thesis
Year: 2010
Downloads: 73
Quote: 0
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Abstract

China is a big country of resources, a variety of very rich in mineral resources, is one of the one of the few relatively complete variety of mineral countries in the world, but it is also the world's mining accidents occur most frequently countries. In fact, only the Shanxi coal Supervisor Bureau of Statistics the 2008-2009 biennium, the province's various types of coal accumulated 192 production safety casualties, 509 people died, the direct economic losses amounting to tens of billions of yuan. From the daily newspapers, network news and other media reports, the mine safety situation is grim for all to see people. Analysis of the reasons the entire coal industry, the low level of technology application is an important reason for the frequent mining accidents. Improve the scientific and technological level of application of mine is one of the effective ways to reduce mine disaster occurred. For mine complex environment, this paper presents the design of the collision avoidance system applicable to the mine operating. All aspects of the design are completed in accordance with the requirements of the \In this paper, the multi-sensor information fusion technology as a research focus, combined with its mine collision avoidance system on the theoretically innovation and research, and make the system achieve specific application. Analysis of the system development process need to confront and solve some of the problems, and in-depth analysis and research. In addition, the paper describes the basic principles of multi-sensor data fusion algorithms and fuzzy logic control. For the underground obstructions orientation and movement status is difficult to measure the problem, this paper proposes the hybrid structure of the digital filter and fuzzy kinematic process model based data fusion algorithm and implementation of the algorithm. Pre-search algorithm through the filter to filter the data in and out of the large error range of fusion, and then use the method of fuzzy reasoning given the obstacle orientation deblurring of value and weighting factor for each sensor, by weighting algorithm obstacle position Information. Has been the obstacle position information and movement trends, design obstacle avoidance behavior controller and guide behavior controller, guiding the carrier next movement speed and steering. The scene is detected by the system in underground operations, and error analysis of the algorithm processing instance data, to verify the stability and accuracy of the algorithm. The instance analysis showed that the fusion method can achieve an effective obstacle avoidance and to effectively guide the harsh environment of the underground, anti-collision system.

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