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1.发明公开公开(公告)号：US20240317283A1
公开(公告)日：2024-09-26
申请号：US18034386
申请日：2022-09-30
发明人： Fan JIANG , Zhencai ZHU , Xingtao HUANG , Gongbo ZHOU , Niansheng LIU , Libing WANG , Chuansheng ZHANG , Yuxing PENG , Gang SHEN , Chaofan ZHANG , Wenwen YI , Shuman CHENG , Zhengxu WANG
IPC分类号： B61L25/02
CPC分类号： B61L25/025
摘要： 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.
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2.发明公开公开(公告)号：US20230331263A1
公开(公告)日：2023-10-19
申请号：US18029326
申请日：2022-09-30
发明人： Zhencai ZHU , Fan JIANG , Xingtao HUANG , Gongbo ZHOU , Niansheng LIU , Libing WANG , Chuansheng ZHANG , Junfeng GUO , Gang SHEN , Shuman CHENG , Jinlei MA , Chaofan ZHANG , Wenwen YI
CPC分类号： B61D11/00 , E21F17/18 , G05D1/028 , G05D2201/021
摘要： 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: S10, determining an optimal transportation route of a vehicle, and dividing the optimal transportation route into a plurality of locked intervals; S20, determining an initial velocity v0 of the vehicle passing through each locked interval; S30, 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; S40, constructing a [v0, t] prediction model, and obtaining a theoretical time t0 of the vehicle passing through each locked interval through the prediction model; S50, comparing a actual time t and the theoretical time t0 of the vehicle passing through each locked interval, and selecting whether to start overtime early warning or overtime alarm; and S60, repeating S30 to S50 after 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.
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