CN107065848A - A kind of underground mine locomotive Unmanned Systems and method based on high accuracy positioning navigation terminal - Google Patents
A kind of underground mine locomotive Unmanned Systems and method based on high accuracy positioning navigation terminal Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Automation & Control Theory (AREA)
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Abstract
The invention provides a kind of underground mine locomotive Unmanned Systems based on high accuracy positioning navigation terminal and method, it is related to mine field, it is characterised in that the system includes：The central processing unit run for control system；Radio frequency locating module for carrying out radio frequency positioning；Wireless communication module for carrying out radio communication；For the lighting device being illuminated in ore deposit hole；Image collecting device for carrying out IMAQ；D GPS locating module for carrying out GPS location；Kinetic control system and foundation for controlling mine car motor operation have the drive model library of drive model and for the fixed coordinates read write line node group for radio frequency locating module common reference point；Signal is connected to radio frequency locating module, wireless communication module, lighting device, image collecting device, d GPS locating module, kinetic control system and drive model library to the central processing unit respectively.The present invention has the advantages that accurate positioning, intelligence degree are high and safe.
Description
Technical field
The present invention relates to mine field, more particularly to a kind of underground mine locomotive based on high accuracy positioning navigation terminal nobody
Control loop and method.
Background technology
In recent years, Mine Safety in Production monitoring system was developed rapidly, personnel in the pit's work attendance positioning remote management and
Production safety management information system, mine digitlization firedamp remote monitoring system etc. are preliminary to realize the long-range monitoring of safety, production.
The application of Mine Personnel Positioning System at home is very universal, but the location technology of mine movable equipment and equipment are also waited out
Hair.Current personnel in the pit is not high with equipment positioning precision, is generally regional positioning, and the peace of underground mines personnel and equipment
Entirely, it is always concern the most in Mine Safety in Production.
Policy support with country to intelligent large equipment manufacturing, it is unmanned with reference to underground mines future production scene
Demand, therefore, realizes that underground mines equipment is unmanned, to ensure underground on the basis of exploitation high-precision location technique and equipment
Supply of the country to underground mineral resources wilderness demand is kept the safety in production and ensured to ore deposit, with reality and strategic importance.
The content of the invention
In consideration of it, the invention provides a kind of underground mine locomotive Unmanned Systems based on high accuracy positioning navigation terminal
And method, it is of the invention to have the advantages that accurate positioning, intelligence degree are high and safe.
The technical solution adopted by the present invention is as follows：
A kind of underground mine locomotive Unmanned Systems based on high accuracy positioning navigation terminal, it is characterised in that the system bag
Include：The central processing unit run for control system；Radio frequency locating module for carrying out radio frequency positioning；For carrying out channel radio
The wireless communication module of letter；For the lighting device being illuminated in ore deposit hole；Image collector for carrying out IMAQ
Put；D GPS locating module for carrying out GPS location；Kinetic control system and foundation for controlling mine car motor operation have ore deposit
The drive model library of road model and for the fixed coordinates read write line node group for radio frequency locating module common reference point；The center
Signal is connected to radio frequency locating module, wireless communication module, lighting device, image collecting device, GPS location mould to processor respectively
Block, kinetic control system and drive model library.
Further, the radio frequency locating module includes：Controller, transceiver and scene storage computing unit；The control
Signal is connected to transceiver and scene storage computing unit to device processed respectively.
Further, the fixed coordinates read write line node group is made up of several fixed coordinates read write lines；Each is consolidated
Position fixing read write line divides equally level signal and is connected to transceiver；The fixed coordinates read write line includes：Coordinated controller, coordinate transmitting-receiving
Device and coordinate scene storage computing unit；Signal is connected to coordinate transceiver and the storage of coordinate scene to the coordinated controller respectively
Computing unit.
Further, the drive model library is made up of the memory of multiple separation, separate between each memory；Often
It is made up of in individual memory multiple independent databases；Be stored with drive road model in each database；The drive road
Road model is used to be combined with the positioning result of radio frequency locating module and the positioning result of d GPS locating module, determines that mine car exists
Position in drive.
Further, the wireless communication module is connected with remote control terminal；The remote control terminal can pass through
The operation that remote control command controls mine car is sent, and central processing unit can control illumination to fill according to the control command received
Put the image information for being illuminated and being obtained with image collecting device in ore deposit hole in drive.
The method of the underground mine locomotive Unmanned Systems of a kind of high accuracy positioning navigation terminal, it is characterised in that described
Method comprises the following steps：
Step 1：System initialization, if there is remote control terminal control, the remote control command warp that remote control terminal is sent
After wireless communication module is received by central processing unit, central processing unit is according to the control command control illumination lighting device received
Open；Meanwhile, the image information that image collecting device starts in acquisition ore deposit hole is emitted to long-range control after being handled through central processing unit
Terminal processed；Central processing unit is also by the control command control kinetic control system control ore deposit sended over according to remote control terminal
Motor sport；
Step 2：When no remote control terminal is controlled, mine locomotive is positioned by radio frequency locating module；Lead to simultaneously
Cross d GPS locating module to be positioned, central processing unit is averaged according to both coordinate values of both positioning results and obtained
Positioning result；
Step 3：Central processing unit is further according to corresponding drive model programming movement path in drive model library；Control motion control
System control mine locomotive advances.
Further, the method that the radio frequency locating module is positioned comprises the following steps：
Step 1：System initialization, the radiofrequency signal between read write line and label realizes that contactless information is passed by Space Coupling
Pass；
Step 2：Read write line recognizes that collision algorithm obtains received signal strength and referred to by the radio communication with label by multi-tag
Indicating value, i.e.,：RSSI value；
Step 3：The coordinate value of oneself of read write line is obtained, the coordinate value got and RSSI value are transferred to central processing unit,
Central processing unit obtains the position of mine car according to data message is received.
Further, the multi-tag identification collision algorithm comprises the following steps：
Step 1：If contention timeslot number is T；In contention, first with the remainder obtained by tag serial number divided by T
To determine sending time slots of the label in contention data frame；
Step 2：Then the transmission position of label corresponding time slot in contention frame is determined using the business obtained by tag serial number divided by T,
Then the corresponding time slot of the contention data frame sent in contention sends position filling data " 1 "；
Step 3：Finally transmission order of the label in whole data transmitting period is determined using the contention data frame filled；Institute
Stating transmission order is：It sends position and its above each sum for sending " 1 " in position, so that the label distribution to different sequence numbers is not
Same transmission timing.
Further, the location algorithm comprises the following steps：
Step 1：It is determined that receiving signal intensity and signal transmission distance relation is：
RSSI=- (A+10n log10D)-EAF；Wherein RSSI is received signal strength, and D is to send out the distance between node, n in week
It is signal propagation factor；EAF is envirment factor；
Step 2：If three positions of read write line are：p1(x1, y1)、p2(x2, y2)、p1(x3, y3) formula calculates label to be positioned
Coordinate calculation formula：
Step 3：The coordinate position of outgoing label is：
Using above technical scheme, present invention produces following beneficial effect：
1st, intelligence degree is high：In the mine locomotive Unmanned Systems of the present invention, mine locomotive is except being capable of remotely controlled terminal
Control be operated in ore deposit hole beyond, moreover it is possible to according to drive model library when remote control terminal can not be controlled
In drive model and the positioning results of two locating modules automatically control ore deposit and pick up and worked in drive.
2nd, registration：In the mine locomotive Unmanned Systems of the present invention, employ two independent locating modules and carry out
Positioning, integrates according to the positioning result of two locating modules and obtains final result, positions extremely accurate.In addition, radio frequency is positioned
Module is using unique location algorithm；Multi-tag identification collision algorithm is employed, the algorithm is based on sequence number to timeslot number computing
Sort algorithm there is algorithm to be easily achieved, fast response time, high execution efficiency the features such as, be one kind of time-division multiplexing method.
In addition, can simply calculate the position of positioning by specific location algorithm.
3rd, it is safe：The mine locomotive Unmanned Systems of the present invention need not allow people operated in ore deposit hole, safety
Property is high.
Brief description of the drawings
Fig. 1 is a kind of the underground mine locomotive Unmanned Systems and method based on high accuracy positioning navigation terminal of the present invention
System structure diagram.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, summary), unless specifically stated otherwise,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
A kind of unmanned system of underground mine locomotive based on high accuracy positioning navigation terminal is provided in the embodiment of the present invention 1
System, system architecture is as shown in Figure 1：
A kind of underground mine locomotive Unmanned Systems based on high accuracy positioning navigation terminal, it is characterised in that the system bag
Include：The central processing unit run for control system；Radio frequency locating module for carrying out radio frequency positioning；For carrying out channel radio
The wireless communication module of letter；For the lighting device being illuminated in ore deposit hole；Image collector for carrying out IMAQ
Put；D GPS locating module for carrying out GPS location；Kinetic control system and foundation for controlling mine car motor operation have ore deposit
The drive model library of road model and for the fixed coordinates read write line node group for radio frequency locating module common reference point；The center
Signal is connected to radio frequency locating module, wireless communication module, lighting device, image collecting device, GPS location mould to processor respectively
Block, kinetic control system and drive model library.
Further, the radio frequency locating module includes：Controller, transceiver and scene storage computing unit；The control
Signal is connected to transceiver and scene storage computing unit to device processed respectively.
Further, the fixed coordinates read write line node group is made up of several fixed coordinates read write lines；Each is consolidated
Position fixing read write line divides equally level signal and is connected to transceiver；The fixed coordinates read write line includes：Coordinated controller, coordinate transmitting-receiving
Device and coordinate scene storage computing unit；Signal is connected to coordinate transceiver and the storage of coordinate scene to the coordinated controller respectively
Computing unit.
Further, the drive model library is made up of the memory of multiple separation, separate between each memory；Often
It is made up of in individual memory multiple independent databases；Be stored with drive road model in each database；The drive road
Road model is used to be combined with the positioning result of radio frequency locating module and the positioning result of d GPS locating module, determines that mine car exists
Position in drive.
Further, the wireless communication module is connected with remote control terminal；The remote control terminal can pass through
The operation that remote control command controls mine car is sent, and central processing unit can control illumination to fill according to the control command received
Put the image information for being illuminated and being obtained with image collecting device in ore deposit hole in drive.
A kind of unmanned system of underground mine locomotive based on high accuracy positioning navigation terminal is provided in the embodiment of the present invention 2
The method of system：
A kind of method of the underground mine locomotive Unmanned Systems of high accuracy positioning navigation terminal, it is characterised in that methods described
Comprise the following steps：
Step 1：System initialization, if there is remote control terminal control, the remote control command warp that remote control terminal is sent
After wireless communication module is received by central processing unit, central processing unit is according to the control command control illumination lighting device received
Open；Meanwhile, the image information that image collecting device starts in acquisition ore deposit hole is emitted to long-range control after being handled through central processing unit
Terminal processed；Central processing unit is also by the control command control kinetic control system control ore deposit sended over according to remote control terminal
Motor sport；
Step 2：When no remote control terminal is controlled, mine locomotive is positioned by radio frequency locating module；Lead to simultaneously
Cross d GPS locating module to be positioned, central processing unit is averaged according to both coordinate values of both positioning results and obtained
Positioning result；
Step 3：Central processing unit is further according to corresponding drive model programming movement path in drive model library；Control motion control
System control mine locomotive advances.
Further, the method that the radio frequency locating module is positioned comprises the following steps：
Step 1：System initialization, the radiofrequency signal between read write line and label realizes that contactless information is passed by Space Coupling
Pass；
Step 2：Read write line recognizes that collision algorithm obtains received signal strength and referred to by the radio communication with label by multi-tag
Indicating value, i.e.,：RSSI value；
Step 3：The coordinate value of oneself of read write line is obtained, the coordinate value got and RSSI value are transferred to central processing unit,
Central processing unit obtains the position of mine car according to data message is received.
Further, the multi-tag identification collision algorithm comprises the following steps：
Step 1：If contention timeslot number is T；In contention, first with the remainder obtained by tag serial number divided by T
To determine sending time slots of the label in contention data frame；
Step 2：Then the transmission position of label corresponding time slot in contention frame is determined using the business obtained by tag serial number divided by T,
Then the corresponding time slot of the contention data frame sent in contention sends position filling data " 1 "；
Step 3：Finally transmission order of the label in whole data transmitting period is determined using the contention data frame filled；Institute
Stating transmission order is：It sends position and its above each sum for sending " 1 " in position, so that the label distribution to different sequence numbers is not
Same transmission timing.
Further, the location algorithm comprises the following steps：
Step 1：It is determined that receiving signal intensity and signal transmission distance relation is：
RSSI=- (A+10n log10D)-EAF；Wherein RSSI is received signal strength, and D is to send out the distance between node, n in week
It is signal propagation factor；EAF is envirment factor；
Step 2：If three positions of read write line are：p1(x1, y1)、p2(x2, y2)、p1(x3, y3) formula calculates label to be positioned
Coordinate calculation formula：
Step 3：The coordinate position of outgoing label is：
A kind of unmanned system of underground mine locomotive based on high accuracy positioning navigation terminal is provided in the embodiment of the present invention 3
System and method, system construction drawing are as shown in Figure 1：
A kind of underground mine locomotive Unmanned Systems based on high accuracy positioning navigation terminal, it is characterised in that the system bag
Include：The central processing unit run for control system；Radio frequency locating module for carrying out radio frequency positioning；For carrying out channel radio
The wireless communication module of letter；For the lighting device being illuminated in ore deposit hole；Image collector for carrying out IMAQ
Put；D GPS locating module for carrying out GPS location；Kinetic control system and foundation for controlling mine car motor operation have ore deposit
The drive model library of road model and for the fixed coordinates read write line node group for radio frequency locating module common reference point；The center
Signal is connected to radio frequency locating module, wireless communication module, lighting device, image collecting device, GPS location mould to processor respectively
Block, kinetic control system and drive model library.
Further, the radio frequency locating module includes：Controller, transceiver and scene storage computing unit；The control
Signal is connected to transceiver and scene storage computing unit to device processed respectively.
Further, the fixed coordinates read write line node group is made up of several fixed coordinates read write lines；Each is consolidated
Position fixing read write line divides equally level signal and is connected to transceiver；The fixed coordinates read write line includes：Coordinated controller, coordinate transmitting-receiving
Device and coordinate scene storage computing unit；Signal is connected to coordinate transceiver and the storage of coordinate scene to the coordinated controller respectively
Computing unit.
Further, the drive model library is made up of the memory of multiple separation, separate between each memory；Often
It is made up of in individual memory multiple independent databases；Be stored with drive road model in each database；The drive road
Road model is used to be combined with the positioning result of radio frequency locating module and the positioning result of d GPS locating module, determines that mine car exists
Position in drive.
Further, the wireless communication module is connected with remote control terminal；The remote control terminal can pass through
The operation that remote control command controls mine car is sent, and central processing unit can control illumination to fill according to the control command received
Put the image information for being illuminated and being obtained with image collecting device in ore deposit hole in drive.
The method of the underground mine locomotive Unmanned Systems of a kind of high accuracy positioning navigation terminal, it is characterised in that described
Method comprises the following steps：
Step 1：System initialization, if there is remote control terminal control, the remote control command warp that remote control terminal is sent
After wireless communication module is received by central processing unit, central processing unit is according to the control command control illumination lighting device received
Open；Meanwhile, the image information that image collecting device starts in acquisition ore deposit hole is emitted to long-range control after being handled through central processing unit
Terminal processed；Central processing unit is also by the control command control kinetic control system control ore deposit sended over according to remote control terminal
Motor sport；
Step 2：When no remote control terminal is controlled, mine locomotive is positioned by radio frequency locating module；Lead to simultaneously
Cross d GPS locating module to be positioned, central processing unit is averaged according to both coordinate values of both positioning results and obtained
Positioning result；
Step 3：Central processing unit is further according to corresponding drive model programming movement path in drive model library；Control motion control
System control mine locomotive advances.
Further, the method that the radio frequency locating module is positioned comprises the following steps：
Step 1：System initialization, the radiofrequency signal between read write line and label realizes that contactless information is passed by Space Coupling
Pass；
Step 2：Read write line recognizes that collision algorithm obtains received signal strength and referred to by the radio communication with label by multi-tag
Indicating value, i.e.,：RSSI value；
Step 3：The coordinate value of oneself of read write line is obtained, the coordinate value got and RSSI value are transferred to central processing unit,
Central processing unit obtains the position of mine car according to data message is received.
Further, the multi-tag identification collision algorithm comprises the following steps：
Step 1：If contention timeslot number is T；In contention, first with the remainder obtained by tag serial number divided by T
To determine sending time slots of the label in contention data frame；
Step 2：Then the transmission position of label corresponding time slot in contention frame is determined using the business obtained by tag serial number divided by T,
Then the corresponding time slot of the contention data frame sent in contention sends position filling data " 1 "；
Step 3：Finally transmission order of the label in whole data transmitting period is determined using the contention data frame filled；Institute
Stating transmission order is：It sends position and its above each sum for sending " 1 " in position, so that the label distribution to different sequence numbers is not
Same transmission timing.
Further, the location algorithm comprises the following steps：
Step 1：It is determined that receiving signal intensity and signal transmission distance relation is：
RSSI=- (A+10n log10D)-EAF；Wherein RSSI is received signal strength, and D is to send out the distance between node, n in week
It is signal propagation factor；EAF is envirment factor；
Step 2：If three positions of read write line are：p1(x1, y1)、p2(x2, y2)、p1(x3, y3) calculated and treated using equation below
Position the coordinate calculation formula of label：
Step 3：The coordinate position of outgoing label is：
The invention is not limited in foregoing embodiment.The present invention, which is expanded to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (9)
1. a kind of underground mine locomotive Unmanned Systems based on high accuracy positioning navigation terminal, it is characterised in that the system
Including：The central processing unit run for control system；Radio frequency locating module for carrying out radio frequency positioning；It is wireless for carrying out
The wireless communication module of communication；For the lighting device being illuminated in ore deposit hole；IMAQ for carrying out IMAQ
Device；D GPS locating module for carrying out GPS location；Kinetic control system and foundation for controlling mine car motor operation have
The drive model library of drive model and for the fixed coordinates read write line node group for radio frequency locating module common reference point；In described
Signal is connected to radio frequency locating module, wireless communication module, lighting device, image collecting device, GPS location to central processor respectively
Module, kinetic control system and drive model library.
2. the underground mine locomotive Unmanned Systems of high accuracy positioning navigation terminal as claimed in claim 1, it is characterised in that
The radio frequency locating module includes：Controller, transceiver and scene storage computing unit；Signal is connected to the controller respectively
Transceiver and scene storage computing unit.
3. the underground mine locomotive Unmanned Systems of high accuracy positioning navigation terminal as claimed in claim 2, it is characterised in that
The fixed coordinates read write line node group is made up of several fixed coordinates read write lines；Each fixed coordinates read write line is respectively
Signal is connected to transceiver；The fixed coordinates read write line includes：Coordinated controller, coordinate transceiver and coordinate scene storage meter
Calculate unit；Signal is connected to coordinate transceiver and coordinate scene storage computing unit to the coordinated controller respectively.
4. the underground mine locomotive Unmanned Systems of high accuracy positioning navigation terminal as claimed in claim 3, it is characterised in that
The drive model library is made up of the memory of multiple separation, separate between each memory；By multiple in each memory
Independent database composition；Be stored with drive road model in each database；The drive road model is used for and radio frequency
The positioning result of locating module and the positioning result of d GPS locating module are combined, and determine position of the mine car in drive.
5. the underground mine locomotive Unmanned Systems of high accuracy positioning navigation terminal as claimed in claim 4, it is characterised in that
The wireless communication module is connected with remote control terminal；The remote control terminal can be by sending remote control command control
The operation of mine car processed, and central processing unit can control lighting device to be illuminated in drive according to the control command received
The image information in ore deposit hole is obtained with image collecting device.
6. a kind of unmanned system of underground mine locomotive of high accuracy positioning navigation terminal based on described in one of claim 1 to 5
The method of system, it is characterised in that the described method comprises the following steps：
Step 1：System initialization, if there is remote control terminal control, the remote control command warp that remote control terminal is sent
After wireless communication module is received by central processing unit, central processing unit is according to the control command control illumination lighting device received
Open；Meanwhile, the image information that image collecting device starts in acquisition ore deposit hole is emitted to long-range control after being handled through central processing unit
Terminal processed；Central processing unit is also by the control command control kinetic control system control ore deposit sended over according to remote control terminal
Motor sport；
Step 2：When no remote control terminal is controlled, mine locomotive is positioned by radio frequency locating module；Lead to simultaneously
Cross d GPS locating module to be positioned, central processing unit is averaged according to both coordinate values of both positioning results and obtained
Positioning result；
Step 3：Central processing unit is further according to corresponding drive model programming movement path in drive model library；Control motion control
System control mine locomotive advances.
7. the method for the underground mine locomotive Unmanned Systems of high accuracy positioning navigation terminal as claimed in claim 6, it is special
Levy and be, the method that the radio frequency locating module is positioned comprises the following steps：
Step 1：System initialization, the radiofrequency signal between read write line and label realizes that contactless information is passed by Space Coupling
Pass；
Step 2：Read write line recognizes that collision algorithm obtains received signal strength and referred to by the radio communication with label by multi-tag
Indicating value, i.e.,：RSSI value；
Step 3：The coordinate value of oneself of read write line is obtained, the coordinate value got and RSSI value are transferred to central processing unit,
Central processing unit obtains the position of mine car according to data message is received.
8. the method for the underground mine locomotive Unmanned Systems of high accuracy positioning navigation terminal as claimed in claim 7, it is special
Levy and be, the multi-tag identification collision algorithm comprises the following steps：
Step 1：If contention timeslot number is；In contention, first with tag serial number divided byThe remainder of gained
To determine sending time slots of the label in contention data frame；
Step 2：Then using tag serial number divided byThe business of gained determines the transmission position of label corresponding time slot in contention frame,
Then the corresponding time slot of the contention data frame sent in contention sends position filling data " 1 "；
Step 3：Finally transmission order of the label in whole data transmitting period is determined using the contention data frame filled；Institute
Stating transmission order is：It sends position and its above each sum for sending " 1 " in position, so that the label distribution to different sequence numbers is not
Same transmission timing.
9. the method for the underground mine locomotive Unmanned Systems of high accuracy positioning navigation terminal as claimed in claim 8, it is special
Levy and be, location algorithm comprises the following steps：
Step 1：It is determined that receiving signal intensity and signal transmission distance relation is：
;Wherein RSSI is received signal strength, and D is between week hair node
Distance, n is signal propagation factor；EAF is envirment factor；
Step 2：If three positions of read write line are：Utilize equation below meter
Calculate the coordinate calculation formula of label to be positioned：
Step 3：The coordinate position of outgoing label is：
。
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| CN110519703A (en) * | 2019-08-28 | 2019-11-29 | 北京易控智驾科技有限公司 | A kind of mine car Unmanned Systems |
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| CN112527000A (en) * | 2020-12-23 | 2021-03-19 | 中南大学 | Local path planning method and system for mine underground intelligent driving |
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| CN115942280A (en) * | 2023-03-14 | 2023-04-07 | 上海伯镭智能科技有限公司 | Remote communication method and system for unmanned mine car |
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