皮带廊智能巡检机器人基于 LoRa 的通信系统设计

带式输送机为矿石开采提供了便利条件。由于带式输送机长年高负荷运转，器件易产生磨损,严重会导致产线停工，本项目团队设计了人工智能巡检机器人，实现相较人工巡检更为精准有效的失效检测。市面常见的巡检机器人通信主要依赖蜂窝网络，但由于带式输送机皮带廊地处偏远、地势复杂、没有稳定的网络连接，移动蜂窝网络和NB-IoT技术使用受限，而LoRa单点传输距离无法满足低功耗超长距离传输目标，传统技术方案不适配，为实现不依赖蜂窝网络的超长距离信息上云，本课题设计了一种基于LoRa技术的通信方案。

本课题对LoRa技术和LoRaWan协议的技术原理进行分析，并调研其现有应用场景，结合项目场景分析其可用性，基于项目场景特殊的长线型结构，制定LoRa射频多跳组网和LoRaWan组网结合的方案。方案为超长距离通信设计了LoRa射频私有化协议，通信节点以STM32单片机作为处理中枢，搭载LoRa射频模组和移植LoRaWan协议的射频模组，将节点分为机器人源节点、中继节点和末位中继节点，分别为其进行软硬件设计，通过失效重传策略极大程度保证通信稳定，通过LoRa射频模块的私有化设计与LoRaWan协议结合，实现了长距离节点信息上云。本课题进行了城市环境下的模拟测试，验证达到预期结果。

本课题设计的通信方案为无网络连接的超长距离场景提出了通信方案，适用场景广泛、成本低，在山区安防、野外监测等场景同样适用，有较好的实用价值。

Belt conveyor provides convenient conditions for ore mining. Due to the high load operation of the belt conveyor all year round, the components are easy to be worn and will seriously lead to the shutdown of the production line. The project team designed an artificial intelligence inspection robot to realize more accurate and effective failure detection than manual inspection.The use of mobile cellular network and NB-IoT technology is limited, while the LoRa single-point transmission distance cannot meet the target of low power consumption and ultra-long distance transmission. The traditional technical scheme is also not suitable to achieve ultra-long distance information independent of cellular network. This project designs a communication scheme based on LoRa technology. This paper analyzes the technical principles of Lora technology and loRaWan protocol, investigates its existing application scenarios, analyzes its availability in combination with the project scenarios, and formulates a scheme for the combination of Lora RF multi hop networking and lorawan networking based on the special long-line structure of the project scenarios. The scheme designs Lora RF privatization protocol for ultra long distance communication. The communication nodes take STM32 singlechip microcomputer as the processing center, carries Lora RF module and RF module transplanted with lorawan protocol. The nods can be divided into robot start node, relay nodes and last relay node. The transceiver mechanism is designed for the node to greatly ensure the stability of communication through failure retransmission strategy, The last relay node is connected to the Lora gateway through the lorawan protocol. The gateway parses the information and forwards it to the server. Finally, it can view the data flow of the gateway and the last node in the cloud, which can be used for statistical analysis of the detection results. The simulation test in urban environment is carried out to verify that the expected results are achieved. The communication scheme designed in this project puts forward a communication scheme for ultra-long distance scenarios without network connection. This scheme can be used in a wide range of scenarios with low cost. It is also applicable to mountain security, field monitoring and other scenes, so it has good practical value.

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