The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 14, 2025
Filed:
Sep. 30, 2022
China University of Mining and Technology, Jiangsu, CN;
Xuzhou Kerui Mining Technology Co., Ltd., Jiangsu, CN;
Fan Jiang, Jiangsu, CN;
Zhencai Zhu, Jiangsu, CN;
Xingtao Huang, Jiangsu, CN;
Gongbo Zhou, Jiangsu, CN;
Niansheng Liu, Jiangsu, CN;
Libing Wang, Jiangsu, CN;
Chuansheng Zhang, Jiangsu, CN;
Yuxing Peng, Jiangsu, CN;
Gang Shen, Jiangsu, CN;
Chaofan Zhang, Jiangsu, CN;
Wenwen Yi, Jiangsu, CN;
Shuman Cheng, Jiangsu, CN;
Zhengxu Wang, Jiangsu, CN;
China University of Mining and Technology, Jiangsu, CN;
Xuzhou Kerui Mining Technology Co., Ltd., Jiangsu, CN;
Abstract
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.