China University of Mining and Technology

Xuzhou Kerui Mining Technology Co., Ltd

Chaofan Zhang

Zhencai Zhu

Gongbo Zhou

Gang Shen

Fan Jiang

Chuansheng Zhang

Niansheng Liu

Libing Wang

Shuman Cheng

Xingtao Huang

Wenwen Yi

Yuxing Peng

Junfeng Guo

Jinlei Ma

Zhengxu Wang

The present disclosure discloses a method for positioning an auxiliary transportation vehicle in a coal mine and a positioning system thereof. The method comprises: acquiring a rotation velocity of each wheels and a rotation angle of a steering wheel, constructing a kinematics model based on wheels not for steering of the vehicle and a kinematics model based on wheels for steering of the vehicle respectively, and constructing a kinematics model based on a geometric center of the vehicle according to the above two kinematics models; and according to a travelling condition of the vehicle, integrating the kinematics model based on the geometric center with a strap-down inertial navigation system for positioning, when the vehicle is in a normal travelling state; and integrating, the kinematics model based on the wheels not for steering with the strap-down inertial navigation system for positioning, when the vehicle is in an abnormal travelling state.

Method for positioning auxiliary transportation vehicle in coal mine and positioning system thereof

The present disclosure discloses a low-energy-consumption grading and positioning method and system for a coal mine auxiliary transportation vehicle, which belongs to the technical field of mine tunnel transportation. The method comprises the following steps: S, determining an optimal transportation route of a vehicle, and dividing the optimal transportation route into a plurality of locked intervals; S, determining an initial velocity vof the vehicle passing through each locked interval; S, constructing a discretization mileage estimation model to update a real-time position of the vehicle, and obtaining dynamic track information of the vehicle in each locked interval; S, constructing a [v0, t] prediction model, and obtaining a theoretical time tof the vehicle passing through each locked interval through the prediction model; S, comparing a actual time t and the theoretical time tof the vehicle passing through each locked interval, and selecting whether to start overtime early warning or overtime alarm; and S, repeating Sto Safter the vehicle enters the next locked interval. The low-energy-consumption grading and positioning method and system for the coal mine auxiliary transportation vehicle provided in the present disclosure realizes on-demand positioning of the underground vehicle and reduces the consumption and cost of positioning.

Low-energy-consumption grading and positioning method for coal mine auxiliary transportation vehicle and system thereof

Growing community of inventors

Jiangsu, China

Chaofan Zhang