中文摘要：

提出一种WLAN与ZigBee相结合的地下铲运机无线网络通信方案。根据ZigBee网络中的RSSI值计算出铲运机粗定位数据,并将其传输到车载计算机主控单元,该单元据此粗定位数据及车载传感器数据估算出铲运机的位置与姿态;通过WLAN在地面计算机与车载计算机之间传输铲运机视频监测数据、远程遥控数据及铲运机的位置与姿态数据。依此方案搭建的无线通信网络,分别在车载计算机主控单元和地面计算机上开发了数据采集与控制系统和超视距遥控与监控系统,实现了铲运机超视距遥控/无人自主行走功能,在模拟样车上取得了良好的实验效果。

英文摘要：

A solution for the wireless network communication of the underground scrapers is proposed based on WLAN and ZigBee. According to RSSI value of ZigBee networks,the paper calculates the rough-location data of the scraper and transmits it to MPU （Main Processing Unit） of the scraper-mounted computer. Then,the unit estimates the scraper＇s position and gesture on the basis of the rough-location data and delivers the vedio monitoring data and the remote monitoring data of the scraper,the information of the scraper＇s position and gesture between the ground computer and the scraper-mounted computer through WLAN. The wireless communication network realized by the solution respectively develops the data acquisition and control system as well as BVR （Beyond Visual Range） telecontrol and monitoring system for MPU of the scraper-mounted computer and the ground computer. It makes the scraper have functions of BVR telecontrol and the automatic walk,and it has also acquired better results by simulation.