针对矿井恶劣的环境,设计一种能自动循迹的矿井车系统。硬件方面,采用Cortex-M3作控制模块,红外感应方式探测路径,测温模块和图像传感器辨别周围环境,无线Zigbee模块进行通讯;软件设计上,循迹系统使用了模糊控制策略,针对不同轨迹自适应调整行车路线。仿真实验结果表明,该系统能根据预设的轨迹运行,并能自动纠偏,偏差小于5%,同时能较好的监视周围环境和温度。%Aiming at the atrocious environment in the mine,a kind of automatical trace system for mine-vehicle is designed.In the hardware platform,the control module is based on cortex-m3,detecting route on infrared induction,distinguishing ambience on the thermometric module and communication on the wireless zigbee module.In the software platform,fuzzy control method is introduced to the trace system,so that it can adjust traveling crane path according to different track.Simulations results are presented to demonstrate that the system proposed in this paper can run according to predetermined track,correct the warp which is less than five percent automatically,scout the ambience and the temperature as well.
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