矿用无轨胶轮车是煤矿井下辅助运输系统的重要设备。它承担着井下生产材料及人员运输的任务。由于煤矿井下工作环境恶劣、无轨胶轮车运输任务重、使用较为频繁等原因，以及现有安全装置存在车况参数监测种类较少、车辆定位不准确、监测参数数据噪声较大等问题，导致事故频繁发生。本文针对上述问题，分析了现阶段无轨胶轮车安全监测工作的不足之处，提出了一种定位精度高、功能较全面、性能较稳定的无轨胶轮车安全监测系统，以保障车辆的安全运行。

        车辆的准确定位调度能够保障无轨胶轮车安全运行，提高运输效率。本文分析了常用的几种定位算法，将RSSI及TOF测距定位算法相结合，提出了一种基于现场蓝牙装置的混合测距定位算法。在理论分析的基础上，本文设计了一款无轨胶轮车安全监测系统。该系统由上位机和终端装置两部分组成，其中上位机部分主要用于车况参数的远程查看，终端装置部分主要用于对无轨胶轮车冷却水温度、机油温度、车速、瓦斯体积浓度、尾气温度等参数的采集与显示。同时，倒车防碰撞装置是保障车辆安全运行的重要措施之一，本文分析了不同测距传感器的性能特点，选择了多位超声波测距传感器作为测距仪器，并对其监测盲区、报警方式及超声波干扰问题进行了详细分析设计，提出了基于多位超声波测距传感器无干扰协同工作的全方位、高精度的倒车防碰撞装置。最后，在完成系统整体功能设计的前提下，对系统电源本安、电路抗干扰、故障监测进行了分析设计。

        根据以上设计，本文上位机基于Android Studio开发平台，终端装置基于FPGA控制器及多种外围设备，进行了系统开发，并完成了实验室测试。测试结果表明，本文提出的无轨胶轮车安全监测系统是可行的、有效的，实现了对无轨胶轮车的实时监测。其研究结果对同行业的理论研究有一定的借鉴意义，同时也具有一定的实用性及推广价值。

      Mining trackless rubber-tyred truck is an important equipment for the auxiliary transportation system in coal mines. It undertakes the task of underground production materials and personnel transportation. Due to the harsh working environment in coal mines, heavy transportation tasks of trackless rubber-tired vehicles, and frequent use, as well as the existing safety devices have problems such as fewer types of vehicle condition parameter monitoring, inaccurate vehicle positioning, and high noise of monitoring parameter data, etc., resulting in accidents. Occurs frequently. In view of the above problems, this paper analyzes the shortcomings of the current trackless rubber-tired vehicle safety monitoring work, and proposes a trackless rubber-tyred vehicle safety monitoring system with high positioning accuracy, comprehensive functions and stable performance to ensure the safety of the vehicle. run.

       The accurate positioning and scheduling of vehicles can ensure the safe operation of trackless rubber-tired vehicles and improve transportation efficiency. This paper analyzes several commonly used positioning algorithms, and combines RSSI and TOF ranging and positioning algorithms to propose a hybrid ranging and positioning algorithm based on on-site Bluetooth devices. On the basis of theoretical analysis, this paper designs a safety monitoring system for trackless rubber-tyred vehicles. The system consists of two parts: the upper computer and the terminal device. The upper computer part is mainly used for remote viewing of vehicle condition parameters, and the terminal device part is mainly used to monitor the cooling water temperature, oil temperature, vehicle speed, gas volume concentration, and exhaust gas of the trackless rubber tire. Collection and display of parameters such as temperature. At the same time, the reversing anti-collision device is one of the important measures to ensure the safe operation of the vehicle. This paper analyzes the performance characteristics of different ranging sensors, selects multiple ultrasonic ranging sensors as ranging instruments, and monitors blind spots, alarm methods and The ultrasonic interference problem is analyzed and designed in detail, and an omnidirectional and high-precision reversing anti-collision device based on multiple ultrasonic ranging sensors working together without interference is proposed. Finally, on the premise of completing the overall function design of the system, the system power supply intrinsic safety, circuit anti-interference, and fault monitoring are analyzed and designed.

      According to the above design, the host computer in this paper is based on the Android Studio development platform, and the terminal device is based on the FPGA controller and various peripheral devices. The system is developed and the laboratory test is completed. The test results show that the safety monitoring system for the trackless rubber-tyred vehicle proposed in this paper is feasible and effective, and the real-time monitoring of the trackless rubber-tyred vehicle is realized. The research results have certain reference significance for theoretical research in the same industry, and also have certain practical and promotion value.

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