公开(公告)号：US20230349295A1

公开(公告)日：2023-11-02

申请号：US18013908

申请日：2022-08-31

Applicant: China University of Mining and Technology

Inventor： Gang SHEN ,  Zhencai ZHU ,  Song QU ,  Yunjie SA ,  Yu TANG ,  Xiang LI ,  Guan YUAN ,  Zhiou XU ,  Jiaqi ZHAO ,  Pengpeng CHEN

IPC: E21F13/00 ,  B60P7/06

CPC classification number: E21F13/00 ,  B60P7/06

Abstract: The present application relates to an attitude self-correcting underground transportation apparatus based on UWB technology and a control method thereof. A transport clamping and fastening mechanism is mounted on an upper surface of an upper platform part of a six-degree-of-freedom motion platform. An attitude perception and sensing set at least includes three UWB tags, the UWB tags in the attitude perception and sensing set being evenly distributed on the side of the upper platform part of the six-degree-of-freedom motion platform. A control module is configured to send an electric signal to drive the six-degree-of-freedom motion platform and the transport clamping and fastening mechanism to grip an object to be transported, collect positioning information of the attitude perception and sensing set, calculate the attitude of the six-degree-of-freedom motion platform in real time, and perform attitude adjustment with reference to an expected position and attitude to maintain a smooth transportation process.