CN109451441A - A kind of vehicle positioning system for mine - Google Patents
A kind of vehicle positioning system for mine Download PDFInfo
- Publication number
- CN109451441A CN109451441A CN201811427473.4A CN201811427473A CN109451441A CN 109451441 A CN109451441 A CN 109451441A CN 201811427473 A CN201811427473 A CN 201811427473A CN 109451441 A CN109451441 A CN 109451441A
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- Prior art keywords
- bluetooth
- mine car
- terminal
- label
- drive
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- 238000004891 communication Methods 0.000 claims abstract description 28
- 238000012545 processing Methods 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 239000003245 coal Substances 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 5
- 241001062009 Indigofera Species 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of vehicle positioning systems for mine, are related to coal field.It include: terminal, mine car and at least one Bluetooth label being arranged in drive, each Bluetooth label is fixed on inside drive according to pre-determined distance, it is provided on mine car and the matched Bluetooth Receiver of each Bluetooth label, Bluetooth Receiver and each Bluetooth label are wirelessly connected, wireless communication module is additionally provided on mine car, wireless communication module is connect with Bluetooth Receiver and terminal wireless respectively, and terminal is arranged outside drive.Vehicle positioning system provided by the invention, by the broadcast message for receiving the Bluetooth label being arranged in inside drive, the location of mine car can be determined according to the identification code of the Bluetooth label identified, solve the problems, such as that mine car can not position inside drive, the underground location suitable for mine car.
Description
Technical field
The present invention relates to coal field more particularly to a kind of vehicle positioning systems for mine.
Background technique
Currently, production mine uses traditional distributed management scheme, and due to relatively deep inside drive, traditional GPS is fixed
Position is failed in underground, can not be positioned to mine car, and vehicle management department is caused to be difficult to control the particulars and auxiliary fortune of vehicle
Process.
Summary of the invention
It is fixed the technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide a kind of vehicle for mine
Position system.
The technical scheme to solve the above technical problems is that
A kind of vehicle positioning system for mine, comprising: terminal, mine car and at least one bluetooth being arranged in drive
Label, each Bluetooth label are fixed on inside the drive according to pre-determined distance, are provided on the mine car and each indigo plant
The Bluetooth Receiver of tooth tag match, the Bluetooth Receiver and each Bluetooth label are wirelessly connected, and are also set on the mine car
It is equipped with wireless communication module, the wireless communication module is connect with the Bluetooth Receiver and the terminal respectively, the terminal
It is arranged outside the drive；
Each Bluetooth label is used to send the encoded information of itself with the forms of broadcasting, and the Bluetooth Receiver is used for
After the encoded information for receiving any Bluetooth label, module is sent to the terminal outside drive, institute by wireless communication
Terminal is stated for according to the encoded information and each of to prestore location information of the Bluetooth label inside the drive true
The position of the fixed mine car.
The beneficial effects of the present invention are: vehicle positioning system provided by the invention, is arranged in inside drive by receiving
The broadcast message of Bluetooth label can determine the location of mine car according to the identification code of the Bluetooth label identified, solve
The problem of mine car can not position inside drive.The information for the Bluetooth label that control centre administrative staff return according to mine car is to underground
Situations such as travel condition of vehicle, position, quantity, is very clear, and the tune of mine vehicle quickly, is comprehensively grasped convenient for administrative staff
Situation and physical state are spent, to help the better conducting shaft vehicle scheduling work of control centre administrative staff, improves mine
Logistics system working efficiency strengthens operational management of the vehicle scheduling personnel to vehicle, improves traffic safety, establishes good
Vehicle run system.
The advantages of additional aspect of the invention, will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or practice is recognized through the invention.
Detailed description of the invention
Fig. 1 is a kind of system structural framework that the embodiment of the vehicle positioning system for mine provides signal of the present invention
Figure；
Fig. 2 is a kind of Bluetooth label structural frames that the other embodiments of the vehicle positioning system for mine provide of the present invention
Frame schematic diagram；
Fig. 3 is a kind of mine car structural framing that the embodiment of the vehicle positioning system for mine provides signal of the present invention
Figure.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and illustrated embodiment is served only for explaining the present invention,
It is not intended to limit the scope of the present invention.
As shown in Figure 1, for a kind of system structure frame that the embodiment of the vehicle positioning system for mine provides of the present invention
Frame schematic diagram, the system include: terminal 1, mine car 2 and at least one Bluetooth label 3 being arranged in drive, each Bluetooth label 3
Be fixed on inside drive according to pre-determined distance, be provided on mine car 2 with the matched Bluetooth Receiver 4 of each Bluetooth label 3, bluetooth connects
Receive device 4 and each Bluetooth label 3 to be wirelessly connected, be additionally provided with wireless communication module 5 on mine car 2, wireless communication module 5 respectively with indigo plant
Tooth receiver 4 and terminal 1 connect, and terminal 1 is arranged outside drive.
It should be understood that terminal 1 can be computer, a mobile phone etc., it can also refer to and be made of multiple computers, server
Dispatch grid.It can arrange that wireless access point 6, wireless communication module 5 and wireless access point 6 are wirelessly connected in drive,
Wireless access point 6 is connect by cable, optical cable etc. with terminal 1.
When terminal 1 indicates scheduling system, wireless access point 6 can pass through the industry of cable, optical cable etc. and scheduling system
Router connection, industrial router are connect with display, server, the console etc. in scheduling system, the number that mine car 2 is sent
According to being sent in scheduling system.
Scheduling system is for safeguarding information of vehicles and other essential informations etc., for example, the display in scheduling system can be with
The current operational information of underground vehicle is shown by GIS mine figure.The data that underground part obtains pass through transmission of network to database
In, information of vehicles is transmitted to Dispatch system of ITS by extracting storage, analysis and processing to data by system background
In.Dispatch system of ITS obtains projection coordinate of the vehicle in GIS mine figure for the current location of vehicle and fortune by backstage
Row state in systems, the tracking and positioning work of underground vehicle is completed with this with patterned way of output real-time exhibition.
For example, the operating status of vehicle may include: unloaded, fully loaded, parking, alarm.Dispatch system of ITS can be with
Include the functions such as GIS positioning, trace playback, vehicle alarm, voice broadcast, information of vehicles statistics.Wherein, trace playback can return
Any vehicle driving record in any time section is put, each department can be made to understand the service condition of underground vehicle and equipment,
Scheduling system integrates acquisition, input, storage, retrieval, inquiry and spatial data analysis, and can export various operation letters
Breath.
Each Bluetooth label 3 is used to send the encoded information of itself with the forms of broadcasting, and Bluetooth Receiver 4 is for receiving
After the encoded information of any Bluetooth label 3, module 5 is sent to the terminal 1 outside drive by wireless communication, and terminal 1 is used for basis
Encoded information and location information of each Bluetooth label 3 prestored inside drive determine the position of mine car 2.
It should be noted that the pre-determined distance between each Bluetooth label 3 can be true according to the broadcasting area of Bluetooth label 3
Fixed, for example, it is assumed that the maximum transmission distance of Bluetooth label 3 is a, then pre-determined distance can be a-b, b is one normal less than a
Number.
Those skilled in the art can arrange Bluetooth label 3 according to the structure of drive inside drive according to actual needs,
Each Bluetooth label 3 has unique encoded information, can be used for distinguishing different Bluetooth labels 3, mine car 2 is by blue
The induction zone of tooth label 3, it will be able to the coding of corresponding Bluetooth label 3 is read by Bluetooth Receiver 4.
It should be understood that there are many Bluetooth label 3, Bluetooth Receiver 4, the type of wireless communication module 5, specific structure is also belonged to
Common knowledge, those skilled in the art can select according to actual needs, because of these Bluetooth labels 3, Bluetooth Receiver
4, wireless communication module 5 belongs to the prior art, so those skilled in the art understand that its application method and Bluetooth label
3 with the matching connection method of Bluetooth Receiver 4.The application protects Bluetooth label 3, drive, mine car 2, Bluetooth Receiver 4, terminal 1
Deng the connection relationship between these internal systems composition.
For example, Bluetooth label 3 can be the DA14580 type Bluetooth label 3 of Dialog semiconductor company, Bluetooth Receiver 4
It can be Bluetooth Receiver 4 matched with its.Wireless communication module 5 can be wireless with the IOT-L2S-B type of remote intelligent company
Communication module 5 is manufactured and designed based on LoRa radio frequency chip, is integrated with two-way industrial standard RS485, wireline equipment is needed to transmit
Data be transferred in the equipment by RS485 connection, then data are wirelessly transmitted, support a variety of associations
View realizes that the data between wireline equipment and wireless device are transmitted.The RS485 that Bluetooth Receiver 4 can be exported by its signal
Port is connect with one end of RS485 connection, the signal input of the other end and wireless communication module 5 of RS485 connection
The connection of the port RS485, the connection being achieved that between Bluetooth Receiver 4 and wireless communication module 5.
It should be understood that Bluetooth label 3 and Bluetooth Receiver 4 all have antenna, the two passes through the electromagnetic transmission between antenna
Information is realized and is wirelessly connected.
It should be noted that the wireless communication module 5 on mine car 2 can be connected by wireless access node and terminal 1
It connects, wireless access node can be arranged in drive according to the size of signal cover.
It should be understood that terminal 1 can be the equipment such as computer, mobile phone, tablet computer, or by multiple construction of computer network
The scheduling system of formation.
Vehicle positioning system provided in this embodiment, the broadcast by receiving the Bluetooth label 3 being arranged in inside drive are believed
Breath can determine the location of mine car 2 according to the identification code of the Bluetooth label 3 identified, solve 2 nothing of mine car inside drive
The problem of legal position.The information for the Bluetooth label 3 that control centre administrative staff return according to mine car 2 runs shape to underground vehicle
Situations such as state, position, quantity, is very clear, and the dispatch situation and object of mine vehicle quickly, are comprehensively grasped convenient for administrative staff
Stream mode improves mine logistics system work to help the better conducting shaft vehicle scheduling work of control centre administrative staff
Make efficiency, strengthen operational management of the vehicle scheduling personnel to vehicle, improve traffic safety, establishes good vehicle operation
System.
Optionally, in some embodiments, further includes: at least one wireless access point 6, each wireless access point 6 is according to pre-
If arranging rule is arranged inside drive；
Each wireless access node is used to provide wireless connection for terminal 1 and wireless communication module 5.
It should be noted that the default arranging rule of wireless access point 6 can be arranged according to actual needs, for example, it is assumed that
The maximum transmission distance of wireless access point 6 is c, then default arranging rule can for centered on wireless access point 6, with
(c-d)2For the coverage area of the wireless access point 6, d is constant, then wireless access point 6 can be arranged in drive, is made
The coverage area of whole wireless access points 6 covers whole drives.
Wireless access point 6 can be connect by cable, optical cable etc. with terminal 1.
It should be understood that the application is applied to mining industry, drive is complicated and length is longer, and therefore, the quantity of wireless access point 6 is logical
It is often very much, and for the terminal on ground 1, it typically is the scheduling systems that multiple computers, server form, therefore, respectively
A wireless access point 6 can be connect with the access point of scheduling system, and then the Intranet of access in dispatch system, access point can be again
Industrial router etc..
Below with reference to Fig. 2, some alternative embodiments of the invention are illustrated.
Optionally, in some embodiments, as shown in Fig. 2, Bluetooth label 3 may include: power supply 31 and Bluetooth circuit, indigo plant
Tooth circuit includes: the antenna 32 and Bluetooth chip 33 of interconnection, and antenna 32 and Bluetooth Receiver 4 are wirelessly connected, Bluetooth chip
33 connect with power supply 31.
Specifically, power supply 31 can be powered by detachable battery, for example, button cell, AAA battery etc., battery and bluetooth
The energization input of chip 33 connects, and the ability output end of Bluetooth chip 33 is connect with antenna 32.
Optionally, in some embodiments, as shown in Fig. 2, Bluetooth label 3 can also include: comparator 34, LED light 35
With buzzer 36, the first input end of comparator 34 is connect with the anode of power supply 31, the second input end grounding of comparator 34, than
Output end compared with device 34 is connect with LED light 35 and buzzer 36 respectively；
The first input end of comparator 34 is used to obtain the remaining capacity of power supply 31, and the second input terminal of comparator 34 is used for
Reference voltage is obtained, comparator 34 is for remaining capacity to be compared with reference voltage, when remaining capacity is less than reference voltage
When, control LED light 35 lights, and controls buzzer 36 and sound.
Below with reference to Fig. 3, some alternative embodiments of the invention are illustrated.
Optionally, in some embodiments, as shown in figure 3, being additionally provided with processor 7 and sensor group 8 on mine car 2, place
The all sensors that reason device 7 includes with sensor group 8 respectively are connect, and processor 7 is also connect with wireless communication module 5；
Operation data of the sensor group 8 for the mine car 2 of acquisition, processor 7 are used to judge mine car 2 according to operation data
Operating status, and module 5 is sent to terminal 1 by wireless communication by the operating status of mine car 2.
It should be understood that processor 7, wireless communication module 5 etc. are all existing apparatus, those skilled in the art understand that its work
Make principle and application method, the connection between processor 7 and sensor group 8, wireless communication module 5 be by electric wire, conducting wire or
Conductor connection.It include multiple sensors in sensor group 8, but each sensor has signal output port, for example, can
The signal output port of each sensor to be connect with the signal input port of processor 7 by conducting wire, it will be able at realization
Manage the connection between device 7 and sensor group 8.It should be understood that sensor output signal carry out interface enter processor 7 it
Before, the processing such as need to denoise signal, filter, converting, these are all existing structure or the function that circuit is realized, this
Field technical staff can add filter circuit, conversion circuit etc. between processor 7 and interface according to existing technology.Place
Connection between reason device 7 and wireless communication module 5 similarly repeats no more.
Processor 7 can be fpga chip, for example, model can be Spartan-6.
Optionally, in some embodiments, sensor group 8 includes velocity sensor, 3-axis acceleration sensor, angle biography
Sensor and range sensor.
It should be noted that the model of these sensors can be arranged according to actual needs, but these sensors all have
There is signal output end, for the data of output monitoring, data output end passes through data transmission interface respectively and connect with processor 7.
Optionally, in some embodiments, loudspeaker 9 is additionally provided on mine car 2, loudspeaker 9 is connect with processor 7；
Terminal 1, is sent to the information of processor 7 by the control for the control instruction that loudspeaker 9 is used to be sent according to processor 7
It plays out in the form of speech.
The worker on mine car 2 is broadcasted by loudspeaker 9, commander worker, specification vehicle can improve row in time
Vehicle safety.
Reader should be understood that in the description of this specification reference term " one embodiment ", " is shown " some embodiments "
The description of example ", " specific example " or " some examples " etc. mean specific features described in conjunction with this embodiment or example, structure,
Material or feature are included at least one embodiment or example of the invention.In the present specification, above-mentioned term is shown
The statement of meaning property need not be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
It is apparent to those skilled in the art that for convenience of description and succinctly, the dress of foregoing description
The specific work process with unit is set, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can select some or all of unit therein according to the actual needs to realize the mesh of the embodiment of the present invention
's.
More than, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or substitutions,
These modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be wanted with right
Subject to the protection scope asked.
Claims (7)
1. a kind of vehicle positioning system for mine characterized by comprising terminal, mine car and be arranged in drive extremely
A few Bluetooth label, each Bluetooth label are fixed on inside the drive according to pre-determined distance, are provided on the mine car
With each matched Bluetooth Receiver of Bluetooth label, the Bluetooth Receiver and each Bluetooth label are wirelessly connected, described
Wireless communication module is additionally provided on mine car, the wireless communication module connects with the Bluetooth Receiver and the terminal respectively
It connects, the terminal is arranged outside the drive；
Each Bluetooth label is used to send the encoded information of itself with the forms of broadcasting, and the Bluetooth Receiver is for receiving
To after the encoded information of any Bluetooth label, module is sent to the terminal outside drive, the end by wireless communication
End is for according to the encoded information and each of prestoring location information of the Bluetooth label inside the drive and determining institute
State the position of mine car.
2. vehicle positioning system according to claim 1, which is characterized in that further include: at least one wireless access point, respectively
The wireless access point is arranged inside the drive according to default arranging rule；
Each wireless access node is used to provide wireless connection for the terminal and the wireless communication module.
3. vehicle positioning system according to claim 1, which is characterized in that the Bluetooth label includes: power supply and bluetooth
Circuit, the Bluetooth circuit include: the antenna and Bluetooth chip of interconnection, and the antenna wirelessly connects with the Bluetooth Receiver
It connects, the Bluetooth chip is connect with the power supply.
4. vehicle positioning system according to claim 3, which is characterized in that the Bluetooth label further include: comparator,
LED light and buzzer, the first input end of the comparator are connect with the anode of the power supply, the second input of the comparator
End ground connection, the output end of the comparator are connect with the LED light and the buzzer respectively；
The first input end of the comparator is used to obtain the remaining capacity of the power supply, and the second input terminal of the comparator is used
In obtaining reference voltage, the comparator is for the remaining capacity to be compared with the reference voltage, when the residue
When electricity is less than the reference voltage, controls the LED light and light, and control the buzzer and sound.
5. vehicle positioning system according to any one of claim 1 to 4, which is characterized in that also set up on the mine car
There are processor and sensor group, all sensors that the processor includes with the sensor group respectively are connect, the processing
Device is also connect with the wireless communication module；
Operation data of the sensor group for the mine car of acquisition, the processor according to the operation data for sentencing
Break the operating status of the mine car, and the operating status of the mine car is sent to the end by the wireless communication module
End.
6. vehicle positioning system according to claim 5, which is characterized in that the sensor group include velocity sensor,
3-axis acceleration sensor, angular transducer and range sensor.
7. vehicle positioning system according to claim 5, which is characterized in that be additionally provided with loudspeaker, institute on the mine car
Loudspeaker is stated to be connected to the processor；
The control for the control instruction that the loudspeaker is used to be sent according to the processor, is sent to the processing for the terminal
The information of device plays out in the form of speech.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811427473.4A CN109451441A (en) | 2018-11-27 | 2018-11-27 | A kind of vehicle positioning system for mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811427473.4A CN109451441A (en) | 2018-11-27 | 2018-11-27 | A kind of vehicle positioning system for mine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109451441A true CN109451441A (en) | 2019-03-08 |
Family
ID=65555020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811427473.4A Pending CN109451441A (en) | 2018-11-27 | 2018-11-27 | A kind of vehicle positioning system for mine |
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| Country | Link |
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| CN (1) | CN109451441A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111897320A (en) * | 2020-06-19 | 2020-11-06 | 中国煤炭科工集团太原研究院有限公司 | Underground unmanned material transporting vehicle control system |
| CN113781816A (en) * | 2021-09-24 | 2021-12-10 | 神华准格尔能源有限责任公司 | Mining vehicle control method, storage medium and electronic device |
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| CN208908505U (en) * | 2018-11-27 | 2019-05-28 | 北斗天地股份有限公司山东分公司 | A kind of vehicle positioning system for mine |
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| CN2158837Y (en) * | 1992-12-12 | 1994-03-16 | 林玉树 | Multifunction electric easy cycle |
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| CN203734843U (en) * | 2014-01-16 | 2014-07-23 | 上海华亨电信设备有限公司 | Coal-mine worker positioning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111897320A (en) * | 2020-06-19 | 2020-11-06 | 中国煤炭科工集团太原研究院有限公司 | Underground unmanned material transporting vehicle control system |
| CN113781816A (en) * | 2021-09-24 | 2021-12-10 | 神华准格尔能源有限责任公司 | Mining vehicle control method, storage medium and electronic device |
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