公开(公告)号：US20240190486A1

公开(公告)日：2024-06-13

申请号：US17785185

申请日：2022-01-22

申请人： SHANGHAI SHENCHUAN ELECTRIC CO., LTD

发明人： Changlu ZHENG ,  Yifei ZHENG ,  Hua ZHANG

IPC分类号： B61L25/02 ,  B61F19/06

CPC分类号： B61L25/026 ,  B61F19/06

摘要： The invention relates to the field of coal mine electric locomotives, and particularly discloses an autonomous positioning method for an underground coal mine anti-explosion storage battery rail electric locomotive, which comprises the following steps: constructing an underground coal mine dynamic map, scanning the surrounding environment by a laser radar at the frequency of more than 10 HZ, and transmitting data to a vehicle-mounted controller; performing dynamic map construction by the vehicle-mounted controller according to point cloud distribution map; underground electric locomotive is accurately positioned by adopting a static accurate positioning mode, a dynamic accurate positioning mode and a multi-track lateral positioning mode; through fusion of multiple dynamic positioning modes, laser radar positioning is adopted, inertial positioning and passive identification card RF ID positioning are fused, and the positioning precision of the system is greatly improved; three positioning modes are organically fused to provide system adaptability, stability and reliability.