WO2022183870A1 - 一种煤矿井下防爆蓄电池轨道电机车自主定位方法 - Google Patents

一种煤矿井下防爆蓄电池轨道电机车自主定位方法 Download PDF

Info

Publication number
WO2022183870A1
WO2022183870A1 PCT/CN2022/073336 CN2022073336W WO2022183870A1 WO 2022183870 A1 WO2022183870 A1 WO 2022183870A1 CN 2022073336 W CN2022073336 W CN 2022073336W WO 2022183870 A1 WO2022183870 A1 WO 2022183870A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning
electric locomotive
rfid
coal mine
underground
Prior art date
Application number
PCT/CN2022/073336
Other languages
English (en)
French (fr)
Inventor
郑昌陆
郑益飞
张华�
Original Assignee
上海申传电气股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海申传电气股份有限公司 filed Critical 上海申传电气股份有限公司
Publication of WO2022183870A1 publication Critical patent/WO2022183870A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/026—Relative localisation, e.g. using odometer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F19/00—Wheel guards; Bumpers; Obstruction removers or the like
    • B61F19/06—Nets, catchers, or the like for catching obstacles or removing them from the track
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance

Definitions

  • the invention relates to a positioning system, in particular to an autonomous positioning method for an underground explosion-proof battery rail electric locomotive in a coal mine, belonging to the field of coal mine electric locomotives.
  • Electric locomotives are the main mode of auxiliary transportation in coal mines and undertake the important tasks of transportation of personnel, equipment and materials. At present, it is completely dependent on the driver to control the vehicle, and human factors such as driver fatigue can easily lead to safety problems such as non-subjective speeding, running red lights, and rear-end collisions.
  • the present invention provides an autonomous positioning method for an explosion-proof battery rail electric locomotive in a coal mine.
  • An autonomous positioning method for an underground explosion-proof battery rail electric vehicle in a coal mine comprising the following steps:
  • the electric locomotive includes a braking mechanism, the braking mechanism includes wheels and a brake disc, a number of wheels are rotatably installed on both sides of the bottom of the electric locomotive, the brake disc is connected to the axle of the electric locomotive through a fixed shaft, and the wheels are installed on the brakes. the end of the disc away from the axle;
  • a shovel plate is installed at the bottom of one end of the electric locomotive, and two horizontally movable push plates are installed above the shovel plate at the end of the electric locomotive.
  • Installation slot, one end of the cross bar extends to the inside of the installation slot and is connected with the inner end of the installation slot through several tension springs.
  • the direction is provided with a chute adapted to the slide rail, the slide rail is slidably installed inside the chute, the end of the horizontal bar away from the push plate is connected with vertical bars on both sides at the bottom, and the vertical bar is rotated and installed at the bottom of the side away from the push plate
  • the top of the bracket extends to the inside of the installation slot and is connected with a gear, and the outer wall of the crossbar is connected with a rack that meshes with the gear;
  • a number of support rods are connected along the circumferential direction outside the fixed shaft close to one end of the push plate, and an end hammer is connected to the end of the support rod away from the fixed shaft, and the end hammer can be in contact with the roller.
  • the specific steps of constructing the dynamic map of the coal mine in the S1 are as follows:
  • 1Lidar scans the underground roadway and converts the distribution of objects in three-dimensional space into point cloud images
  • the on-board controller processes the point cloud image and extracts environmental features, such as roadway wall features, track features, special markers, etc.;
  • the speed of the electric locomotive is known, and it is sent to the vehicle controller in real time through CAN communication;
  • the point cloud image generated by the lidar contains the object coordinates (x, y, z, roll, pitch, yaw), which are the three-dimensional coordinates x, y, z, x respectively rotation angle, y rotation angle, z rotation angle;
  • UWB positioning is used in the following two situations: one: in a static state, the static error of UWB positioning is small (less than 30cm); two: the electric locomotive is just turned on. When the electric locomotive is just turned on, the lidar is in the just turned on state. To accurately determine its own position, UWB positioning is used at this time, and dynamic precise positioning is used when the running speed of the electric locomotive increases.
  • the dynamic precise positioning in the S2 includes positioning based on the lidar dynamic map, inertial positioning and RFID correction of the passive identification card;
  • the positioning process based on the lidar dynamic map is similar to the map construction process, and the main processes are as follows:
  • 1Lidar scans the underground roadway and converts the distribution of objects in three-dimensional space into point cloud images
  • the inertial positioning is: sending the rotational speed and direction to the unmanned controller through the CAN bus, and the controller according to the running direction and The speed can be calculated to obtain the running distance of the electric locomotive;
  • the RFID correction of the passive identification card is as follows: the passive identification card RFID is used for positioning and correction at the key positions of the roadway, such as the turning of the roadway, the speed limit section, and the forbidden section, etc.; the passive identification card The RFID is installed in the middle of the underground roadway track, and the mine intrinsically safe card reader is placed at the bottom of the electric locomotive to scan the RFID passive identification card; each passive identification card RFID has a unique address information ID, combined with the created map in the roadway key The RFID card is placed at the point; during the operation of the electric locomotive, the RFID card is scanned by the mine intrinsically safe card reader, and the built-in address code of the RFID is sent to the driverless controller through the tcp/ip protocol, and the controller reversely parses to obtain the motor The position of the vehicle can be corrected to correct the lidar positioning and carry out radar positioning and RFID positioning of the key points of the roadway, so as to improve the reliability of the autonomous positioning system;
  • the multi-track lateral positioning adopts passive identification card RFID technology; passive identification card RFID with track identification information is arranged in the middle of each track.
  • the human-driving controller can determine the specific track and realize lateral positioning.
  • the braking mechanism includes wheels and a brake disc, a number of wheels are rotatably installed on both sides of the bottom of the electric locomotive, the brake disc is connected with the axle of the electric locomotive through a fixed shaft, and the wheel is installed at the end of the brake disc away from the axle. .
  • the end hammer is spherical
  • the roller is installed between the end hammer and the push plate
  • the air duct is inclined at the bottom of the first air bag
  • the air outlet of the air duct faces the wheel.
  • the upper part of the crushing rod is rotatably installed with the electric locomotive through a bearing, and a spiral crushing knife is connected to the lower outer wall of the crushing rod.
  • one end of the push plate facing the electric locomotive is connected with a sleeve, the sleeve is sleeved on the outside of the carrying rod, the other end of the carrying rod is fixedly connected with the electric locomotive, and the transverse rod penetrates from the inside of the carrying rod.
  • a loading box is installed on the bottom of the electric locomotive, mounting rods are installed on both ends of the loading box, several cameras are installed on the outside of the mounting rods, and side plates are rotatably installed on both sides of the electric locomotive.
  • first brackets are connected on both sides above the side plate, the first bracket is rotatably installed with the side wall of the electric locomotive, and the upper and rotating sides of the side plate close to the side of the electric locomotive are rotatably installed on both sides through the second bracket.
  • Hydraulic column the other end of the hydraulic column is connected with the electric locomotive, a second air bag is installed under the side plate close to the side of the electric locomotive, and the side plate is provided with storage grooves on both sides of the second air bag, and the interior of the storage groove rotates
  • a force-bearing rod is installed, the end of the force-bearing rod away from the hydraulic column is rotated and installed by the pin shaft and the side plate, the other end of the force-bearing rod is magnetically bonded to the magnet plate, and the magnet plate is fixedly connected to the inner upper part of the receiving slot.
  • a brake caliper is clamped to the outside of the brake disc, and the brake caliper is fixedly connected to the electric locomotive; and a control box for installing electrical components is provided at one end of the top of the electric locomotive.
  • the end hammer at the end of the support rod is in contact with the roller, which pushes the roller, and then drives the vertical bar and the horizontal bar to move to one end of the shovel plate, thereby driving the Push the plate to move.
  • the tension spring pulls the push plate to move toward the electric locomotive, and the vertical bar and the horizontal bar return to their original positions.
  • the forward and backward movement of the push plate can push the accumulated debris in front of the electric locomotive and push the debris down, and then the shovel plate at the bottom of the electric locomotive can remove the debris on the moving track of the electric locomotive, so as to avoid the debris affecting the electric locomotive. normal operation.
  • the first air bag By installing the first air bag, the first air bag is compressed when the vertical rod moves to the crushing rod in the interior of the installation groove, so that the gas inside the first air bag is discharged from the air duct, and the discharged gas is opposite to the track.
  • the slag or other debris on the track is blown off, so that the track is clean and tidy, the wheels are more stable when moving on the track, and it is not easy to shake.
  • the slag will not accumulate on the track due to the extrusion of the wheels, eliminating the need for subsequent cleaning of the track, making the electric locomotive not easy to derail during operation, and improving the safety and stability.
  • the gas inside the first air bag can enter and exit freely, which is convenient for the first air bag to be recycled.
  • the crushing rod By installing the crushing rod, when the horizontal rod moves inside the installation groove, it can drive the crushing rod to rotate. After the crushing rod rotates, it can crush the debris on the track, so that the larger debris can be crushed into small particles, which is convenient for the gas discharged from the subsequent air duct to blow the debris, and finally makes it difficult to accumulate residual impurities on the track. , the track is clean, and the electric locomotive runs smoothly.
  • the cleaning process of the track is carried out at the same time as the wheels, and after the wheels are rotated, the cleaning of the track can be kept clean.
  • the staff can use the hydraulic column to support the side plate during the maintenance process, and the side plate can prevent the upper part from falling down.
  • Objects cause damage to the staff, especially after the collapse of the coal mine, the staff can avoid being smashed under the side plate, and the space under the side plate can provide a good shelter for the staff.
  • the storage of water, food and other daily necessities in the loading box can provide a good living guarantee for the staff, and the staff has a high safety guarantee when overhauling the electric locomotive.
  • gas can be filled into the inside of the second air bag, and the second air bag has a buffering effect after being deployed, so that the protective effect of the side panel is better.
  • the present invention adopts laser radar positioning, and integrates inertial positioning and passive identification card RFID positioning, which greatly improves the system positioning accuracy (within 30CM).
  • Lidar positioning is used for roadway sections where roadway environmental characteristics are easy to distinguish; inertial positioning is mainly used in areas where roadway environmental characteristics are not obvious and there is no RFID identification card section; passive identification card RFID positioning is used in key positions of roadway (roadway turning, limited speed section, forbidden section, etc.), to correct the lidar positioning and inertial positioning.
  • Organic integration through three positioning methods provides system adaptability, stability and reliability.
  • FIG. 1 is a block diagram of an autonomous positioning method for an underground electric locomotive in a coal mine of the present invention.
  • FIG. 2 is a schematic diagram of the overall structure of the electric locomotive of the present invention.
  • FIG. 3 is a schematic diagram of the installation structure of the push plate and the electric locomotive according to the present invention.
  • FIG. 4 is a schematic diagram of the installation structure of the support rod of the present invention.
  • FIG. 5 is a schematic view of the side plate structure of the present invention.
  • FIG. 6 is a flow chart of the dynamic map construction of the present invention.
  • FIG. 7 is a schematic diagram of combining various dynamic positioning methods of the present invention.
  • FIG. 8 is a block diagram of the autonomous positioning of the underground electric locomotive in a coal mine of the present invention.
  • FIG. 9 is a schematic diagram of an electric locomotive track running system of the present invention.
  • an autonomous positioning method for an explosion-proof battery rail electric vehicle in a coal mine includes the following steps:
  • the electric locomotive includes a braking mechanism, the braking mechanism includes a wheel 7 and a brake disc 24, a number of wheels 7 are rotatably installed on both sides of the bottom of the electric locomotive 1, and the brake disc 24 is connected with the axle of the electric locomotive through a fixed shaft 27, The wheel 7 is mounted on the end of the brake disc 24 away from the axle.
  • a shovel plate 6 is installed at the bottom of one end of the electric locomotive 1, and two horizontally movable push plates 4 are installed above the shovel plate 6 at the end of the electric locomotive 1.
  • One end of the push plates 4 is connected with a cross bar 10, and the electric locomotive
  • An installation groove 21 is provided below the interior of the 1.
  • One end of the crossbar 10 extends to the interior of the installation groove 21 and is connected to the inner end of the installation groove 21 through a number of tension springs 22.
  • the inner walls of the installation groove 21 are arranged along the length direction.
  • There are slide rails 23 and both sides of the cross bar 10 are provided with slide grooves 12 that are adapted to the slide rails 23 along the length direction.
  • Both sides of the bottom are connected with vertical rods 19 , the bottom of the vertical rod 19 away from the push plate 4 is rotated and installed with a roller 20 , and a first air bag 18 is installed between the end of the installation groove 21 close to the push plate 4 and the vertical rod 19 .
  • the bottom of the first air bag 18 is connected with a plurality of air ducts 17; both sides of the bottom of the electric locomotive 1 are rotatably installed with crushing rods 16, the top of the crushing rod 16 extends to the interior of the installation groove 21 and is connected with a gear 14, and the horizontal rod
  • the outer wall of 10 is connected with a rack 13 that meshes with a gear 14 .
  • support rods 26 are connected to the outside of the fixed shaft 27 near one end of the push plate 4 along the circumferential direction.
  • the end hammer 25 is spherically arranged, the roller 20 is installed between the end hammer 25 and the push plate 4, the air duct 17 is inclined at the bottom of the first air bag 18, and the wind
  • the air outlet of the pipe 17 faces the wheel 7, and the gas inside the first air bag 18 is discharged from the air pipe 17, and the discharged gas blows off the cinder or other debris on the track and the wheel 7, so that the track is clean and tidy,
  • the wheel 7 is more stable when moving on the track, and is less prone to shaking.
  • the upper part of the crushing rod 16 is rotatably installed with the electric locomotive 1 through the bearing 15, and a spiral crushing knife is connected to the lower outer wall of the crushing rod 16, and the crushing knife is conducive to crushing the block-shaped impurities. .
  • one end of the push plate 4 facing the electric locomotive 1 is connected with a sleeve 5, the sleeve 5 is sleeved on the outside of the bearing rod 11, and the other end of the bearing rod 11 is fixedly connected with the electric locomotive 1, and the horizontal
  • the rod 10 penetrates from the inside of the carrying rod 11 , and the sleeve 5 is conducive to the firmness of the cross rod 10 when the sleeve 5 moves outside the carrying rod 11 , so that the cross rod 10 is not easily deformed by force.
  • a loading box 9 is installed at the bottom of the electric locomotive 1, and mounting rods 8 are installed on both ends of the loading box 9. Both sides of 1 are rotatably installed with side panels 3, and the loading box 9 can store the daily necessities of the staff and some tools used.
  • the camera can check the bottom of the electric locomotive 1, and can check through the camera when a situation occurs.
  • first brackets 29 are connected on both sides above the side plate 3 , the first bracket 29 is rotatably installed with the side wall of the electric locomotive 1 , and the side plate 3 is close to the upper part of the side of the electric locomotive 1 .
  • a hydraulic column 31 is installed on both sides of the rotation through the second bracket 30, and the other end of the hydraulic column 31 is connected with the electric locomotive 1.
  • a second airbag 32 is also installed under the side plate 3 close to the electric locomotive 1, and the side plate 3.
  • Receiving grooves 35 are provided on both sides of the second airbag 32, and a force-bearing rod 34 is rotatably installed inside the receiving groove 35.
  • the other end of the force rod 34 is magnetically bonded to the magnet plate 33 , and the magnet plate 33 is fixedly connected to the inner upper part of the receiving slot 35 , and the side plate 3 has the function of protecting the staff.
  • a brake caliper 28 is clamped to the outside of the brake disc 24, and the brake caliper 28 is fixedly connected to the electric locomotive 1;
  • the wheels 7 below the electric locomotive 1 are installed on the track inside the coal mine roadway, and the battery inside the electric locomotive 1 supplies power to the motor, and then the motor can drive the wheels 7 to roll on the track through the axle, so that the electric locomotive can be rolled on the track.
  • 1 Move in the mine tunnel.
  • the support rod 26 rotates along with it.
  • the end hammer 25 at its end contacts the roller 20 and pushes the roller 20 , thereby driving the vertical rod 19 and the horizontal rod 10 to move to one end of the shovel plate 6 , thereby driving the push plate 4 make a move.
  • the tension spring 22 pulls the push plate 4 to move toward the electric locomotive 1, and the vertical rod 19 and the horizontal rod 10 return to their original positions.
  • the forward and backward movement of the push plate 4 can push the accumulated debris in front of the electric locomotive 1 and push the debris down, and then the shovel plate 6 at the bottom of the electric locomotive 1 can remove the debris on the moving track of the electric locomotive 1, so as to avoid the debris.
  • the object affects the normal operation of the electric locomotive 1 .
  • the first air bag 18 When the vertical rod 19 moves to the crushing rod 16 inside the installation groove 21, the first air bag 18 is compressed, so that the gas inside the first air bag 18 is discharged from the air duct 17, and the discharged gas is harmful to the cinder on the track. Or some other debris blows off, so that the track is clean and tidy, the wheel 7 is more stable when moving on the track, and it is not easy to shake. The slag will not accumulate on the track due to the extrusion of the wheels 7, and subsequent cleaning of the track is omitted, so that the electric locomotive is not easily derailed during operation, and the safety and stability are improved.
  • the first air bag 18 When the vertical rod 19 returns to its original position, the first air bag 18 is pulled and deployed, and the external air enters the inside of the first air bag 18 from the air duct 17, so that the air in the first air bag 18 can enter and exit freely, which is convenient for the first air bag. 18 can be recycled.
  • the rack 13 moves along with it.
  • the gear 14 is driven to rotate, which in turn drives the crushing rod 16 to rotate.
  • the crushing rod 16 After the crushing rod 16 is rotated, it can crush the debris on the track, so that the larger debris can be crushed into small particles, which is convenient for the gas discharged from the subsequent air duct 17 to blow the debris, and finally makes it difficult to accumulate on the track. Residual impurities, the track is clean, and the electric locomotive 1 runs smoothly.
  • the staff can use the hydraulic column 31 to support the side plate 3 during the maintenance process.
  • the side plate 3 is unfolded inside the roadway, the The force-bearing rod 34 is pulled out from the interior of the receiving slot 35, and the force-bearing rod 34 is in contact with the wall of the coal transport roadway, and is supported at the end of the side plate 3, so that the side plate 3 has better stability after unfolding.
  • the upper part of the side plate 3 can prevent the objects falling from above from causing damage to the staff, especially after the collapse of the coal mine, the staff can avoid being smashed under the side plate 3, and the space under the side plate 3 can provide the staff with Good shelter.
  • the storage of water, food and other daily necessities in the loading box 9 can provide a good life guarantee for the staff, and the staff has a high safety guarantee when overhauling the electric locomotive 1 .
  • the second air bag 32 can be filled with gas. After the second air bag 32 is deployed, it has the function of buffering, so that the protection effect of the side panel 3 is better.
  • the lidar scans the surrounding environment at a frequency of 10 Hz or more, and transmits the data to the on-board controller, which builds a dynamic map based on the point cloud distribution map. Proceed as follows:
  • 1Lidar scans the underground roadway and converts the distribution of objects in three-dimensional space into point cloud images
  • the on-board controller processes the point cloud image and extracts environmental features, such as roadway wall features, track features, and special markers.
  • the speed of the electric locomotive is known and sent to the on-board controller in real time through CAN communication.
  • the point cloud image generated by the lidar contains the object coordinates (x, y, z, roll, pitch, yaw), which are the three-dimensional coordinates x, y, z, x rotation angle, y rotation angle, and z rotation angle.
  • the electric locomotive is in a stationary state
  • the lidar When the electric locomotive is just turned on, the lidar is just turned on. At this time, it cannot accurately determine its own position. At this time, UWB positioning is used. When the running speed of the electric locomotive increases, dynamic precise positioning is adopted.
  • the positioning process based on lidar dynamic map is similar to the map construction process.
  • the main process is as follows:
  • 1Lidar scans the underground roadway and converts the distribution of objects in three-dimensional space into point cloud images
  • the speed of the electric locomotive is known, and the speed and direction are sent to the unmanned controller through the CAN bus, and the controller can calculate the running distance of the electric locomotive according to the running direction and speed.
  • the CAN bus speed and direction frame transmission period is 20ms and 500Kbps, which has the advantages of high real-time performance and reliable positioning. It is mainly used in combination with lidar positioning in the RFID section without passive identification card.
  • Passive identification card RFID is used for positioning correction in the roadway features are not obvious, and the key positions of the roadway (turning of the roadway, speed limit section, forbidden section, etc.)
  • the passive identification card RFID is installed in the middle of the underground roadway track, and the mine intrinsically safe card reader is placed at the bottom of the electric locomotive to scan the RFID passive identification card.
  • Each passive identification card RFID has a unique address information ID, and the RFID card is placed at the key points of the roadway in combination with the created map.
  • the RFID card is scanned by the mine intrinsically safe card reader, and the built-in address code of the RFID is sent to the unmanned controller through the tcp/ip protocol.
  • the controller reversely analyzes the position of the electric locomotive.
  • the lidar positioning is corrected and the key points of the roadway are double-judged (radar positioning and RFID positioning) to improve the reliability of the autonomous positioning system.
  • Multi-track lateral positioning adopts passive identification card RFID technology.
  • Passive identification card RFID with track identification information is arranged in the middle of each track.
  • the on-board card reader scans the corresponding RFID in turn, so that the on-board driverless controller can determine the specific track and realize the horizontal direction. position.

Abstract

一种煤矿井下防爆蓄电池轨道电机车（1）自主定位方法，包括以下步骤：煤矿井下动态地图构建，激光雷达以10Hz以上的频率扫描周边环境，并将数据传递给车载控制器，车载控制器根据点云分布图进行动态地图构建；井下电机车（1）精准定位，采用静态精确定位、动态精确定位以及多轨道横向定位方式进行定位；多种动态定位方式的融合，采用激光雷达定位，并且融合惯性定位、无源标识卡RF I D定位，极大地提高系统定位精度；通过三种定位方式进行有机融合提供系统适应性，稳定性及可靠性。

Description

一种煤矿井下防爆蓄电池轨道电机车自主定位方法 技术领域
本发明涉及一种定位系统，具体涉及一种煤矿井下防爆蓄电池轨道电机车自主定位方法，属于煤矿电机车领域。
背景技术
电机车是煤矿辅助运输的主要方式，承担着人员、设备和材料等运输的重要任务。目前完全依赖司机控制车辆，而司机疲劳等人为因素易导致非主观超速、闯红灯、车辆追尾等安全问题。
现有的煤矿电机车在使用中主要采用射频指纹匹配方法实现定位，多应用于室外环境或环境良好室内场所；在限定空间定位方面，主要通过WiFi、蓝牙或NFC等技术提供无线定位。定位的精度有待提高，对于电机车的定位精度不够精确，易引发电机车事故。电机车的刹车系统也是引起事故的主要原因之一，在电机车行驶过程中，车辆无法对轨道上的杂物进行清理，使得轨道上堆积的煤炭杂物会影响车轮和刹车部件的正常使用，严重的情况下会导致车辆脱轨。
发明内容
针对现有技术中的问题，本发明提供了一种煤矿井下防爆蓄电池轨道电机车自主定位方法。
本发明的目的可以通过以下技术方案实现：
一种煤矿井下防爆蓄电池轨道电机车自主定位方法，该定位方法包括以下步骤：
S1、煤矿井下动态地图构建，激光雷达以10HZ以上的频率扫描周边环境，并将数据传递给车载控制器，车载控制器根据点云分布图进行动态地图构建；
S2、井下电机车精准定位，采用静态精确定位、动态精确定位以及多轨道横向定位方式进行定位；
S3、多种动态定位方式的融合，井下电机车正常行驶时，大多采用激光雷达定位的方式，在巷道特征不明显、激光雷达不能有效分别的区段采用惯性定位；在巷道关键点位置采用无源标识卡RFID校正，多种动态定位技术融合，从而实现电机车自主定位；其中，
所述的电机车包括刹车机构，所述刹车机构包含有车轮和刹车盘，电机车的底部两侧均转动安装有若干个车轮，刹车盘通过固定轴与电机车的车轴连接，车轮安装在刹车盘远离车轴的一端；
所述电机车的一端底部安装有铲板，且电机车的端部在铲板的上方安装有两个可水平移动的推板，推板的一端连接有横杆，电机车的内部下方设置有安装槽，横杆的一端延伸至安装槽的内部且通过若干根拉簧与安装槽的内端连接，安装槽的两侧内壁均沿长度方向设置有滑轨，横杆的两侧均沿长度方向设置有与滑轨相适配的滑槽，滑轨滑动安装在滑槽的内部，横杆远离推板的一端底部两侧均连接有竖杆，竖杆远离推板的一侧底部转动安装有滚轮，且安装槽内部靠近推板的一端与竖杆之间安装有第一气囊，第一气囊的底部连接有多根风管；电机车的底部两侧均转动安装有粉碎杆，粉碎杆的顶部延伸至安装槽的内部连接有齿轮，且横杆的外壁连接有与齿轮相啮合的齿条；
靠近所述推板一端的固定轴外部沿圆周方向连接有若干个支撑杆，支撑杆远离固定轴的一端连接有端部锤，端部锤可与滚轮接触。
优选的，所述S1中煤矿井下动态地图构建的具体步骤如下：
①激光雷达扫描井下巷道，将三维空间物体分布转换成点云图；
②环境特征提取；
车载控制器对点云图进行处理，进行环境特征提取，比如巷道墙壁特征，轨道特征、特殊标识物等；
③特征匹配对齐；
电机车速度已知，通过CAN通信实时发送给车载控制器；激光雷达产生的点云图包含物体坐标(x,y,z,roll,pitch,yaw)，分别为三维坐标x，y，z，x旋转角度，y旋转角度，z旋转角度；
电机车移动时，在雷达扫描范围内进行特征提取的同时，需结合电机车速度、RFID标识卡在不同位置进行对比匹配，依次建立煤矿井下巷道地图模型。所述S2中的静态精确定位如下：
以下两种情况采用UWB定位：一：处于静止状态，UWB定位静态误差较小(小于30cm)；二：电机车处于刚开机状态，电机车刚开机时，激光雷达处于刚开启状态，此时不能精准判别出自身位置，此时采用UWB定位，当电机车运行速度上升后采用动态精准定位。
优选的，所述S2中的动态精准定位包括基于激光雷达动态地图的定位、惯性定位以及无源标识卡RFID校正；所述基于激光雷达动态地图的定位过程和地图构建过程类似，主要过程如下：
①激光雷达扫描井下巷道，将三维空间物体分布转换成点云图；
②环境特征提取；
③特征匹配对齐，将提取的环境特征和建立的地图模型进行匹配，从而实现精确定位；所述惯性定位为：通过CAN总线将转速、方向发送给无人驾驶控制器，控制器根据运行方向和转速可计算得到电机车的运行距离；
所述无源标识卡RFID校正为：在巷道特征不明显、巷道关键位置，如：巷道转弯处，限速区段，禁行区段等采用无源标识卡RFID进行定位校正；无源标识卡RFID安装在井下巷道轨道中间，矿用本安型读卡器放于电机车底部用于扫描RFID无源标识卡；每个无源标识卡RFID拥有唯一地址信息ID，结合已创建地图在巷道关键点处放置RFID卡；电机车运行过程中通过矿用本安型读卡器扫描RFID卡，通过tcp/ip协议将RFID的内置地址编码发送给无人驾驶控制器，控制器反向解析得到电机车的位置，以此对激光雷达定位进行修正并对巷道关键点进行雷达定位和RFID定位，提高自主定位系统的可靠性；
所述多轨道横向定位采用无源标识卡RFID技术；每个轨道中间间隔布置带有轨道标识信息的无源标识卡RFID，电机车运行时，车载读卡器依次扫描相应的RFID,这样车载无人驾驶控制器即可判断所处具体轨道，实现横向定位。
包括刹车机构，所述刹车机构包含有车轮和刹车盘，电机车的底部两侧均转动安装有若干个车轮，刹车盘通过固定轴与电机车的车轴连接，车轮安装在刹车盘远离车轴的一端。
优选的，所述端部锤为球形设置，且滚轮安装在端部锤与推板之间，风管在第一气囊的底部呈倾斜设置，且风管的出风口朝向车轮。
优选的，所述粉碎杆的上方通过轴承与电机车转动安装，粉碎杆的下方外壁连接有螺旋形的破碎刀。
优选的，所述推板朝向电机车的一端连接有套筒，套筒套装在承载杆的外部，承载杆的另一端与电机车固定连接，横杆从承载杆的内部贯穿。
优选的，所述电机车的底部安装有装载箱，装载箱的两侧端部均安装有安装杆，安装杆的外部安装有若干个摄像头，且电机车的两侧均转动安装有侧板。
优选的，所述侧板的上方两侧均连接有第一支架，第一支架与电机车的侧壁转动安装，侧板靠近电机车一侧的上方转动两侧均通过第二支架转动安装有液压柱，液压柱的另一端与电机车连接，侧板靠近电机车一侧的下方还安装有第二气囊，且侧板在第二气囊的两侧均开设有收纳槽，收纳槽的内部转动安装有受力杆，受力杆远离液压柱的一端通过销轴与侧板转动安装，受力杆的另一端与磁铁板磁力粘接，且磁铁板与收纳槽的内部上方固定连接。
优选的，所述刹车盘的外部卡接有刹车钳，刹车钳与电机车固定连接；且电机车的顶部一端设置有用于安装电气元件的控制箱。
本发明的有益效果：
1、通过设置推板和铲板，使得车轮转动过程中，支撑杆端部的端部锤与滚轮接触，对滚轮进行推动，进而带动竖杆以及横杆向铲板的一端进行移动，从而带动推板进行移动。端部锤与滚轮脱离后，拉簧拉动推板向电机车移动，竖杆和横杆回到原来的位置。推板的前后移动能对电机车前方的堆积的杂物进行推动，将杂物推倒，随后电机车底部的铲板能将电机车移动轨道上的杂物进行铲除，避免杂物影响电机车的正常运行。
2、通过安装第一气囊，使得竖杆在安装槽的内部向粉碎杆进行移动时，对第一气囊进行压缩，进而使得第一气囊内部的气体从风管向外排出，排出的气体对轨道上的煤渣或者其他的一些杂物吹动脱落，使得轨道干净整洁，车轮在轨道上移动时更加稳定，不易发生晃动。煤渣不会因车轮的挤压堆积在轨道上，省去了后续轨道的清理，使得电机车在运行过程中不易脱轨，安全性和稳定性得到提升。第一气囊内部的气体可以自由的进出，方便第一气囊可以循环使用。
3、通过安装粉碎杆，使得横杆在安装槽的内部移动时，能带动粉碎杆进行转动。粉碎杆转动后能对轨道上的杂物进行破碎，使得体积较大的杂物能被粉碎成小颗粒，方便后续风管排出的气体对杂物进行吹动，最终使得轨道上不易堆积残留杂质，轨道清洁，电机车运行平稳。轨道的清洁过程随着车轮同时进行，车轮转动后能保证轨道的清洁保持清洁。
4、通过设置侧板，若发生故障需要工作人员进入运煤巷道的内部进行检修时，工作人员在检修过程中可利用液压柱将侧板支撑开来，侧板在上部能防止上方掉落的物体对工作人员造成损伤，特别是发生煤矿坍塌后，工作人员在侧板的下方能避免被砸伤，侧板下方的空间能为工作人员提供良好的庇护场所。且装载箱内部储存水和食物以及其他的生活必须品可以为工作人员提供良好的生活保障，工作人员检修电机车时具有较高的安全保障。侧板展开后，可向第二气囊的内部充入气体，第二气囊展开后具有缓冲的作用，使得侧板的防护作用更好。
5、本发明采用激光雷达定位，并且融合惯性定位、无源标识卡RFID定位，极大地提高系统定位精度(在30CM以内)。激光雷达定位用于巷道环境特征易区分的巷道区间；惯性定位主要应用于巷道环境特征不明显地方且没有RFID标识卡区段；无源标识卡RFID定位应用于巷道关键位置(巷道转弯处，限速区段，禁行区段等)，对激光雷达定位和惯性定位进行校正。通过三种定位方式进行有机融合提供系统适应性，稳定性及可靠性。
电机车的精准定位技术为实现煤矿井下电机车辅助驾驶及自主驾驶提供有力的技术支持，对建设智慧矿山、煤矿减人增效、提高辅助运输安全性能有重要意义。
附图说明
为了便于本领域技术人员理解，下面结合附图对本发明作进一步的说明。
图1为本发明煤矿井下电机车自主定位方法框图。
图2为本发明电机车整体结构示意图。
图3为本发明推板与电机车安装结构示意图。
图4为本发明支撑杆安装结构示意图。
图5为本发明侧板结构示意图。
图6为本发明动态地图建图流程图。
图7为本发明多种动态定位方式结合示意图。
图8为本发明煤矿井下电机车自主定位框图。
图9为本发明电机车轨道运行系统示意图。
图中：1、电机车；2、控制箱；3、侧板；4、推板；5、套筒；6、铲板；7、车轮；8、安装杆；9、装载箱；10、横杆；11、承载杆；12、滑槽；13、齿条；14、齿轮；15、轴承；16、粉碎杆；17、风管；18、第一气囊；19、竖杆；20、滚轮；21、安装槽；22、拉簧；23、滑轨；24、刹车盘；25、端部锤；26、支撑杆；27、固定轴；28、 刹车钳；29、第一支架；30、第二支架；31、液压柱；32、第二气囊；33、磁铁板；34、受力杆；35、收纳槽。
具体实施方式
下面将结合实施例对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
请参阅图1-9所示，一种煤矿井下防爆蓄电池轨道电机车自主定位方法，该定位方法包括以下步骤：
S1、煤矿井下动态地图构建，激光雷达以10HZ以上的频率扫描周边环境，并将数据传递给车载控制器，车载控制器根据点云分布图进行动态地图构建；
S2、井下电机车精准定位，采用静态精确定位、动态精确定位以及多轨道横向定位方式进行定位；
S3、多种动态定位方式的融合，井下电机车正常行驶时，大多采用激光雷达定位的方式，在巷道特征不明显、激光雷达不能有效分别的区段采用惯性定位；在巷道关键点位置采用无源标识卡RFID校正，多种动态定位技术融合，从而实现电机车自主定位；其中，
所述的电机车包括刹车机构，刹车机构包含有车轮7和刹车盘24，电机车1的底部两侧均转动安装有若干个车轮7，刹车盘24通过固定轴27与电机车的车轴连接，车轮7安装在刹车盘24远离车轴的一端。
电机车1的一端底部安装有铲板6，且电机车1的端部在铲板6的上方安装有两个可水平移动的推板4，推板4的一端连接有横杆10，电机车1的内部下方设置有安装槽21，横杆10的一端延伸至安装槽21的内部且通过若干根拉簧22与安装槽21的内端连接，安装槽21的两侧内壁均沿长度方向设置有滑轨23，横杆10的两侧均沿长度方向设置有与滑轨23相适配的滑槽12，滑轨23滑动安装在滑槽12的内部，横杆10远离推板4的一端底部两侧均连接有竖杆19，竖杆19远离推板4的一侧底部转动安装有滚轮20，且安装槽21内部靠近推板4的一端与竖杆19之间安装有第一气囊18，第一气囊18的底部连接有多根风管17；电机车1的底部两侧均转动安装有粉碎杆16，粉碎杆16的顶部延伸至安装槽21的内部连接有齿轮14，且横杆10的外壁连接有与齿轮14相啮合的齿条13。
靠近推板4一端的固定轴27外部沿圆周方向连接有若干个支撑杆26，支撑杆26远离固定轴27的一端连接有端部锤25，端部锤25可与滚轮20接触。
作为本发明的一种技术优化方案，端部锤25为球形设置，且滚轮20安装在端部锤25与推板4之间，风管17在第一气囊18的底部呈倾斜设置，且风管17的出风口朝向车轮7，第一气囊18内部的气体从风管17向外排出，排出的气体对轨道和车轮7上的煤渣或者其他的一些杂物吹动脱落，使得轨道干净整洁，车轮7在轨道上移动时更加稳定，不易发生晃动。
作为本发明的一种技术优化方案，粉碎杆16的上方通过轴承15与电机车1转动安装，粉碎杆16的下方外壁连接有螺旋形的破碎刀，破碎刀有利于将块状的杂质进行粉碎。
作为本发明的一种技术优化方案，推板4朝向电机车1的一端连接有套筒5，套筒5套装在承载杆11的外部，承载杆11的另一端与电机车1固定连接，横杆10从承载杆11的内部贯穿，套筒5在承载杆11的外部移动时有利于横杆10的牢固性，使得横杆10受力不易变形。
作为本发明的一种技术优化方案，电机车1的底部安装有装载箱9，装载箱9的两侧端部均安装有安装杆8，安装杆8的外部安装有若干个摄像头，且电机车1的两侧均转动安装有侧板3，装载箱9可以放置工作人员日常的生活用品和一些使用的工具。摄像头可以查看电机车1底部的情况，发生状况时可以通过摄像头进行查看。
作为本发明的一种技术优化方案，侧板3的上方两侧均连接有第一支架29，第一支架29与电机车1的侧壁转动安装，侧板3靠近电机车1一侧的上方转动两侧均通过第二支架30转动安装有液压柱31，液压柱31的另一端与电机车1连接，侧板3靠近电机车1一侧的下方还安装有第二气囊32，且侧板3在第二气囊32的两侧均开设有收纳槽35，收纳槽35的内部转动安装有受力杆34，受力杆34远离液压柱31的一端通过销轴与侧板3转动安装，受力杆34的另一端与磁铁板33磁力粘接，且磁铁板33与收纳槽35的内部上方固定连接，侧板3对工作人员具有防护的作用。
作为本发明的一种技术优化方案，刹车盘24的外部卡接有刹车钳28，刹车钳28与电机车1固定连接；且电机车1的顶部一端设置有用于安装电气元件的控制箱2。
本发明在使用时，将电机车1下方的车轮7安装在煤矿巷道内部的轨道上，电机车1内部的蓄电池为电机供电，进而电机能通过车轴带动车轮7在轨道上滚动，从而使得电机车1在煤矿巷道中中移动。车轮7转动过程中，支撑杆26随之一起转动。支撑杆26转动的过程中，其端部的端部锤25与滚轮20接触，对滚轮20进行推动，进而带动竖杆19以及横杆10向铲板6的一端进行移动，从而带动推板4进行移动。端部锤25与滚轮20脱离后，拉簧22拉动推板4向电机车1移动，竖杆19和横杆10回到原来的位置。推板4的前后移动能对电机车1前方的堆积的杂物进行推动，将杂物推倒，随后电机车1底部的铲板6能将电机车1移动轨道上的杂物进行铲除，避免杂物影响电机车1的正常运行。
竖杆19在安装槽21的内部向粉碎杆16进行移动时，对第一气囊18进行压缩，进而使得第一气囊18内部的气体从风管17向外排出，排出的气体对轨道上的煤渣或者其他的一些杂物吹动脱落，使得轨道干净整洁，车轮7在轨道上移动时更加稳定，不易发生晃动。煤渣不会因车轮7的挤压堆积在轨道上，省去了后续轨道的清理，使得电机车在运行过程中不易脱轨，安全性和稳定性得到提升。竖杆19回到原位时，第一气囊18被拉动展开，外部的气体从风管17进入到第一气囊18的内部，使得第一气囊18内部的气体可以自由的进出，方便第一气囊18可以循环使用。
横杆10在安装槽21的内部移动时，齿条13随之一起移动，齿条13移动过程中带动齿轮14转动，进而带动粉碎杆16进行转动。粉碎杆16转动后能对轨道上的杂物进行破碎，使得体积较大的杂物能被粉碎成小颗粒，方便后续风管17排出的气体对杂物进行吹动，最终使得轨道上不易堆积残留杂质，轨道清洁，电机车1运行平稳。
若电机车1刹车后，车轮7不再转动，横杆10、竖杆19以及粉碎杆16停止运行，轨道的清洁过程随着车轮7同时进行，车轮7转动后能保证轨道的清洁保持清洁。
车辆停止后，若发生故障需要工作人员进入运煤巷道的内部进行检修时，工作人员在检修过程中可利用液压柱31将侧板3支撑开来，侧板3在巷道的内部展开后，将受力杆34从收纳槽35的内部拉出，受力杆34与运煤巷道的墙壁抵接，在侧板3的端部进行支撑，使得侧板3展开后稳定性能更好。侧板3在上部能防止上方掉落的物体对工作人员造成损伤，特别是发生煤矿坍塌后，工作人员在侧板3的下方能避免被砸伤，侧板3下方的空间能为工作人员提供良好的庇护场所。且装载箱9内部储存水和食物以及其他的生活必须品可以为工作人员提供良好的生活保障，工作人员检修电机车1时具有较高的安全保障。侧板3展开后，可向第二气囊32的内部充入气体，第二气囊32展开后具有缓冲的作用，使得侧板3的防护作用更好。
电机车1在轨道上运行时，需要实时的知道电机车1在轨道上所处的位置，发生意外后能及时的做出补救措施。对电机车1进行定位前，需要建立井下矿用电机车运行区域轨道地图，随后基于井下轨道地图实现静态及动态双精确定位。静态及动态双精确定位通过静态精确定位和动态精确定位以及多轨道横向定位三种定位方式进行实现。具体通过以下步骤操作：
1、煤矿井下动态地图构建
激光雷达以10HZ以上的频率扫描周边环境，并将数据传递给车载控制器，车载控制器根据点云分布图进行动态地图构建。步骤如下：
①激光雷达扫描井下巷道，将三维空间物体分布转换成点云图；
②环境特征提取；
车载控制器对点云图进行处理，进行环境特征提取，比如巷道墙壁特征，轨道特征、特殊标识物等。
③特征匹配对齐。
电机车速度已知，通过CAN通信实时发送给车载控制器。激光雷达产生的点云图包含物体坐标(x,y,z,roll,pitch,yaw)，分别为三维坐标x，y，z，x旋转角度，y旋转角度，z旋转角度。
不同于地面建图方式，煤矿井下存在特征不明显的区间，电机车移动时，在雷达扫描范围内进行特征提取的同时，需结合电机车速度、RFID标识卡在不同位置进行对比匹配，依次建立煤矿井下巷道地图模型。下图6为建图流程。
2.井下电机车精准定位
2.1静态精确定位
以下两种情况采用UWB定位：
2.1.1、电机车处于静止状态；
UWB定位静态误差较小(小于30cm)，UWB定位完全满足系统需求。
2.1.2、电机车处于刚开机状态。
电机车刚开机时，激光雷达处于刚开启状态，此时不能精准判别出自身位置，此时采用UWB定位，当电机车运行速度上升后采用动态精准定位。
2.2动态精准定位
2.2.1.基于激光雷达动态地图的定位
基于激光雷达动态地图的定位过程和地图构建过程类似，主要过程如下：
①激光雷达扫描井下巷道，将三维空间物体分布转换成点云图；
②环境特征提取；
③特征匹配对齐，将提取的环境特征和建立的地图模型进行匹配，从而实现精确定位。
2.2.2.惯性定位
电机车转速已知，通过CAN总线将转速、方向发送给无人驾驶控制器，控制器根据运行方向和转速可计算得到电机车的运行距离。CAN总线速度、方向帧发送周期为20ms，500Kbps，具有实时性高、定位可靠等优点，主要在没有无源标识卡RFID区段，结合激光雷达定位使用。
2.2.3.无源标识卡RFID校正。
在巷道特征不明显、巷道关键位置(巷道转弯处，限速区段，禁行区段等)采用无源标识卡RFID进行定位校正。
无源标识卡RFID安装在井下巷道轨道中间，矿用本安型读卡器放于电机车底部用于扫描RFID无源标识卡。每个无源标识卡RFID拥有唯一地址信息ID，结合已创建地图在巷道关键点处放置RFID卡。电机车运行过程中通过矿用本安型读卡器扫描RFID卡，通过tcp/ip协议将RFID的内置地址编码发送给无人驾驶控制器，控制器反向解析得到电机车的位置，以此对激光雷达定位进行修正并对巷道关键点进行双重判断(雷达定位和RFID定位)，提高自主定位系统的可靠性。
2.3多轨道横向定位
多轨道横向定位采用无源标识卡RFID技术。每个轨道中间间隔布置带有轨道标识信息的无源标识卡RFID，电机车运行时，车载读卡器依次扫描相应的RFID,这样车载无人驾驶控制器即可判断所处具体轨道，实现横向定位。
2.4多种动态定位方式的融合
井下电机车正常行驶时，大多采用激光雷达定位的方式，在巷道特征不明显、激光雷达不能有效分别的区段采用惯性定位。在巷道关键点位置采用无源标识卡RFID校正，多种动态定位技术融合，提高系统定位精度和可靠性，适应不同的工矿环境。
以上公开的本发明优选实施例只是用于帮助阐述本发明。优选实施例并没有详尽叙述所有的细节，也不限制该发明仅为所述的具体实施方式。显然，根据本说明书的内容，可作很多的修改和变化。本说明书选取并具体描述这些实施例，是为了更好地解释本发明的原理和实际应用，从而使所属技术领域技术人员能很好地理解和利用本发明。本发明仅受权利要求书及其全部范围和等效物的限制。

Claims (9)

  1. 一种煤矿井下防爆蓄电池轨道电机车自主定位方法，其特征在于，该定位方法包括以下步骤：
    S1、煤矿井下动态地图构建，激光雷达以10HZ以上的频率扫描周边环境，并将数据传递给车载控制器，车载控制器根据点云分布图进行动态地图构建；
    S2、井下电机车精准定位，采用静态精确定位、动态精确定位以及多轨道横向定位方式进行定位；
    S3、多种动态定位方式的融合，井下电机车正常行驶时，大多采用激光雷达定位的方式，在巷道特征不明显、激光雷达不能有效分别的区段采用惯性定位；在巷道关键点位置采用无源标识卡RFID校正，多种动态定位技术融合，从而实现电机车自主定位；其中，
    所述的电机车包括刹车机构，所述刹车机构包含有车轮(7)和刹车盘(24)，电机车(1)的底部两侧均转动安装有若干个车轮(7)，刹车盘(24)通过固定轴(27)与电机车的车轴连接，车轮(7)安装在刹车盘(24)远离车轴的一端；
    所述电机车(1)的一端底部安装有铲板(6)，且电机车(1)的端部在铲板(6)的上方安装有两个可水平移动的推板(4)，推板(4)的一端连接有横杆(10)，电机车(1)的内部下方设置有安装槽(21)，横杆(10)的一端延伸至安装槽(21)的内部且通过若干根拉簧(22)与安装槽(21)的内端连接，安装槽(21)的两侧内壁均沿长度方向设置有滑轨(23)，横杆(10)的两侧均沿长度方向设置有与滑轨(23)相适配的滑槽(12)，滑轨(23)滑动安装在滑槽(12)的内部，横杆(10)远离推板(4)的一端底部两侧均连接有竖杆(19)，竖杆(19)远离推板(4)的一侧底部转动安装有滚轮(20)，且安装槽(21)内部靠近推板(4)的一端与竖杆(19)之间安装有第一气囊(18)，第一气囊(18)的底部连接有多根风管(17)；电机车(1)的底部两侧均转动安装有粉碎杆(16)，粉碎杆(16)的顶部延伸至安装槽(21)的内部连接有齿轮(14)，且横杆(10)的外壁连接有与齿轮(14)相啮合的齿条(13)；
    靠近所述推板(4)一端的固定轴(27)外部沿圆周方向连接有若干个支撑杆(26)，支撑杆(26)远离固定轴(27)的一端连接有端部锤(25)，端部锤(25)可与滚轮(20)接触。
  2. 根据权利要求1所述的一种煤矿井下防爆蓄电池轨道电机车自主定位方法，其特征在于，所述S1中煤矿井下动态地图构建的具体步骤如下：
    ①激光雷达扫描井下巷道，将三维空间物体分布转换成点云图；
    ②环境特征提取；
    车载控制器对点云图进行处理，进行环境特征提取，比如巷道墙壁特征，轨道特征、特殊标识物等；
    ③特征匹配对齐；
    电机车速度已知，通过CAN通信实时发送给车载控制器；激光雷达产生的点云图包含物体坐标(x,y,z,roll,pitch,yaw)，分别为三维坐标x，y，z，x旋转角度，y旋转角度，z旋转角度；
    电机车移动时，在雷达扫描范围内进行特征提取的同时，需结合电机车速度、RFID标识卡在不同位置进行对比匹配，依次建立煤矿井下巷道地图模型。所述S2中的静态精确定位如下：
    以下两种情况采用UWB定位：一：处于静止状态，UWB定位静态误差较小(小于30cm)；二：电机车处于刚开机状态，电机车刚开机时，激光雷达处于刚开启状态，此时不能精准判别出自身位置，此时采用UWB定位，当电机车运行速度上升后采用动态精准定位。
  3. 根据权利要求1所述的一种煤矿井下防爆蓄电池轨道电机车自主定位方法，其特征在于，所述S2中的动态精准定位包括基于激光雷达动态地图的定位、惯性定位以及无源标识卡RFID校正；所述基于激光雷达动态地图的定位过程和地图构建过程类似，主要过程如下：
    ③特征匹配对齐，将提取的环境特征和建立的地图模型进行匹配，从而实现精确定位；所述惯性定位为：通过CAN总线将转速、方向发送给无人驾驶控制器，控制器根据运行方向和转速可计算得到电机车的运行距离；
    所述无源标识卡RFID校正为：在巷道特征不明显、巷道关键位置，如：巷道转弯处，限速区段，禁行区段等采用无源标识卡RFID进行定位校正；无源标识卡RFID安装在井下巷道轨道中间，矿用本安型读卡器放于电机车底部用于扫描RFID无源标识卡；每个无源标识卡RFID拥有唯一地址信息ID，结合已创建地图在巷道关键点处放置RFID卡；电机车运行过程中通过矿用本安型读卡器扫描RFID卡，通过tcp/ip协议将RFID的内置地址编码发送给无人驾驶控制器，控制器反向解析得到电机车的位置，以此对激光雷达定位进行修正并对巷道关键点进行雷达定位和RFID定位，提高自主定位系统的可靠性；
    所述多轨道横向定位采用无源标识卡RFID技术；每个轨道中间间隔布置带有轨道标识信息的无源标识卡RFID，电机车运行时，车载读卡器依次扫描相应的RFID,这样车载无人驾驶控制器即可判断所处具体轨道，实现横向定位。
  4. 根据权利要求1所述的一种煤矿井下防爆蓄电池轨道电机车自主定位方法，其特征在于，所述端部锤(25)为球形设置，且滚轮(20)安装在端部锤(25)与推板(4)之间，风管(17)在第一气囊(18)的底部呈倾斜设置，且风管(17)的出风口朝向车轮(7)。
  5. 根据权利要求4所述的一种煤矿井下防爆蓄电池轨道电机车自主定位方法，其特征在于，所述粉碎杆(16)的上方通过轴承(15)与电机车(1)转动安装，粉碎杆(16)的下方外壁连接有螺旋形的破碎刀。
  6. 根据权利要求5所述的一种煤矿井下防爆蓄电池轨道电机车自主定位方法，其特征在于，所述推板(4)朝向电机车(1)的一端连接有套筒(5)，套筒(5)套装在承载杆(11)的外部，承载杆(11)的另一端与电机车(1)固定连接，横杆(10)从承载杆(11)的内部贯穿。
  7. 根据权利要求6所述的一种煤矿井下防爆蓄电池轨道电机车自主定位方法，其特征在于，所述电机车(1)的底部安装有装载箱(9)，装载箱(9)的两侧端部均安装有安装杆(8)，安装杆(8)的外部安装有若干个摄像头，且电机车(1)的两侧均转动安装有侧板(3)。
  8. 根据权利要求7所述的一种煤矿井下防爆蓄电池轨道电机车自主定位方法，其特征在于，所述侧板(3)的上方两侧均连接有第一支架(29)，第一支架(29)与电机车(1)的侧壁转动安装，侧板(3)靠近电机车(1)一侧的上方转动两侧均通过第二支架(30)转动安装有液压柱(31)，液压柱(31)的另一端与电机车(1)连接，侧板(3)靠近电机车(1)一侧的下方还安装有第二气囊(32)，且侧板(3)在第二气囊(32)的两侧均开设有收纳槽(35)，收纳槽(35)的内部转动安装有受力杆(34)，受力杆(34)远离液压柱(31)的一端通过销轴与侧板(3)转动安装，受力杆(34)的另一端与磁铁板(33)磁力粘接，且磁铁板(33)与收纳槽(35)的内部上方固定连接。
  9. 根据权利要求8所述的一种煤矿井下防爆蓄电池轨道电机车自主定位方法，其特征在于，所述刹车盘(24)的外部卡接有刹车钳(28)，刹车钳(28)与电机车(1)固定连接；且电机车(1)的顶部一端设置有用于安装电气元件的控制箱(2)。
PCT/CN2022/073336 2021-03-04 2022-01-22 一种煤矿井下防爆蓄电池轨道电机车自主定位方法 WO2022183870A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110239458.2A CN112793629B (zh) 2021-03-04 2021-03-04 一种煤矿井下防爆蓄电池轨道电机车自主定位方法
CN202110239458.2 2021-03-04

Publications (1)

Publication Number Publication Date
WO2022183870A1 true WO2022183870A1 (zh) 2022-09-09

Family

ID=75816453

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/073336 WO2022183870A1 (zh) 2021-03-04 2022-01-22 一种煤矿井下防爆蓄电池轨道电机车自主定位方法

Country Status (2)

Country Link
CN (1) CN112793629B (zh)
WO (1) WO2022183870A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115900687A (zh) * 2023-01-06 2023-04-04 西安华创马科智能控制系统有限公司 液压支架机器人轨道定位方法及装置
CN117329419A (zh) * 2023-12-01 2024-01-02 山西智创博泽科技有限公司 一种煤矿井下安全用巡检装置及其巡检方法
CN117565830A (zh) * 2024-01-15 2024-02-20 常州海图信息科技股份有限公司 一种煤矿无轨胶轮车主动刹车装置

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112793629B (zh) * 2021-03-04 2021-10-01 上海申传电气股份有限公司 一种煤矿井下防爆蓄电池轨道电机车自主定位方法
CN113031602B (zh) * 2021-03-04 2022-08-02 上海申传电气股份有限公司 一种矿用轨道电机车动态包络线的构建方法
CN113670290B (zh) * 2021-06-30 2023-05-12 西南科技大学 一种基于多机器人协作的移动机器人室内地图构建方法
CN114459481A (zh) * 2021-12-22 2022-05-10 陕西小保当矿业有限公司 一种井工矿中无人驾驶车辆的定位系统及方法
CN114545346A (zh) * 2022-02-14 2022-05-27 中煤科工集团沈阳研究院有限公司 一种煤矿移动目标定位能力测试装置及测试方法
CN114991064A (zh) * 2022-03-31 2022-09-02 上海申传电气股份有限公司 一种煤矿井下蓄电池电机车辅助驾驶系统及其工作方法
CN114750805A (zh) * 2022-06-16 2022-07-15 天津七一二移动通信有限公司 一种用于无线平面调车系统的nfc高精度定位方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6195023B1 (en) * 1997-02-03 2001-02-27 Daimlerchrysler Ag Communication based vehicle positioning reference system
US20040267450A1 (en) * 2003-06-30 2004-12-30 Westinghouse Air Brake Technologies Corporation Method of determining locomotive orientation based on magnetic compass reading, GPS, and track layout
CN102053249A (zh) * 2009-10-30 2011-05-11 吴立新 基于激光扫描和序列编码图形的地下空间高精度定位方法
CN207228035U (zh) * 2017-09-20 2018-04-13 新汶矿业集团有限责任公司翟镇煤矿 煤矿轨道故障检测装置
CN108345305A (zh) * 2018-01-31 2018-07-31 中国矿业大学 无轨胶轮车智能车载系统、井下车辆调度系统和控制方法
CN110514225A (zh) * 2019-08-29 2019-11-29 中国矿业大学 一种矿井下多传感器融合的外部参数标定及精准定位方法
CN112793629A (zh) * 2021-03-04 2021-05-14 上海申传电气股份有限公司 一种煤矿井下防爆蓄电池轨道电机车自主定位方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2910697Y (zh) * 2006-02-21 2007-06-13 方小榕 汽车挡风玻璃气压除雨除泥装置
US8275522B1 (en) * 2007-06-29 2012-09-25 Concaten, Inc. Information delivery and maintenance system for dynamically generated and updated data pertaining to road maintenance vehicles and other related information
CN202600482U (zh) * 2012-04-26 2012-12-12 浙江元亨通信技术股份有限公司 智能车多分辨率识别系统
CN205206878U (zh) * 2015-12-08 2016-05-04 合肥工大高科信息科技股份有限公司 一种矿井无人驾驶机车精确定位装置
CN106958218B (zh) * 2017-05-16 2018-08-28 吕志 高效道路清扫车
CN108551858A (zh) * 2018-01-22 2018-09-21 昆明理工大学 一种大白菜采摘收集一体机
JP6464446B1 (ja) * 2018-03-26 2019-02-06 株式会社アドビック 伸縮自在な遮断装置
CN111451238A (zh) * 2020-04-27 2020-07-28 新昌县麦迪环保科技有限公司 一种高效且防二次扬尘的建筑除尘装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6195023B1 (en) * 1997-02-03 2001-02-27 Daimlerchrysler Ag Communication based vehicle positioning reference system
US20040267450A1 (en) * 2003-06-30 2004-12-30 Westinghouse Air Brake Technologies Corporation Method of determining locomotive orientation based on magnetic compass reading, GPS, and track layout
CN102053249A (zh) * 2009-10-30 2011-05-11 吴立新 基于激光扫描和序列编码图形的地下空间高精度定位方法
CN207228035U (zh) * 2017-09-20 2018-04-13 新汶矿业集团有限责任公司翟镇煤矿 煤矿轨道故障检测装置
CN108345305A (zh) * 2018-01-31 2018-07-31 中国矿业大学 无轨胶轮车智能车载系统、井下车辆调度系统和控制方法
CN110514225A (zh) * 2019-08-29 2019-11-29 中国矿业大学 一种矿井下多传感器融合的外部参数标定及精准定位方法
CN112793629A (zh) * 2021-03-04 2021-05-14 上海申传电气股份有限公司 一种煤矿井下防爆蓄电池轨道电机车自主定位方法

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115900687A (zh) * 2023-01-06 2023-04-04 西安华创马科智能控制系统有限公司 液压支架机器人轨道定位方法及装置
CN117329419A (zh) * 2023-12-01 2024-01-02 山西智创博泽科技有限公司 一种煤矿井下安全用巡检装置及其巡检方法
CN117329419B (zh) * 2023-12-01 2024-02-09 山西智创博泽科技有限公司 一种煤矿井下安全用巡检方法
CN117565830A (zh) * 2024-01-15 2024-02-20 常州海图信息科技股份有限公司 一种煤矿无轨胶轮车主动刹车装置
CN117565830B (zh) * 2024-01-15 2024-03-22 常州海图信息科技股份有限公司 一种煤矿无轨胶轮车主动刹车装置

Also Published As

Publication number Publication date
CN112793629B (zh) 2021-10-01
CN112793629A (zh) 2021-05-14

Similar Documents

Publication Publication Date Title
WO2022183870A1 (zh) 一种煤矿井下防爆蓄电池轨道电机车自主定位方法
CN110941239B (zh) 一种深部矿井环境监测机器人系统及监测方法
US9384402B1 (en) Image and video compression for remote vehicle assistance
CN113031602B (zh) 一种矿用轨道电机车动态包络线的构建方法
JP5330836B2 (ja) 車輌用ライン
CN105416259A (zh) 基于视频识别无人驾驶电机车行车控制系统
CN206348155U (zh) 车辆安全智能检测预警系统
CN109324649A (zh) 一种变电站复合巡检系统及方法
CN107546638A (zh) 一种隧道无死角巡检机器人
EP3833590A1 (en) Railway vehicle system and method for improving the safety of a railway vehicle
CN103373365A (zh) 公轨两用遥控车及其控制方法
CN206773949U (zh) 一种用于高速公路的防撞预警机器人
CN112947496A (zh) 一种无人驾驶的无轨胶轮车标准化运输平台及其控制方法
CN114194259A (zh) 一种灵活编组的控制系统
CN106836915A (zh) 一种平面移动式立体车库控制系统
CN205930728U (zh) 用于悬挂式单轨交通系统箱型轨道梁的巡检小车
EP3833591A1 (en) Railway drone vehicle and railway vehicle system
KR102080051B1 (ko) 자율운행체를 이용한 도시철도 안전운행 시스템
CN113587982A (zh) 一种岩土工程安全智能监测系统
US20120260818A1 (en) Lightweight transport vehicle
CN209904906U (zh) 一种基于号牌识别的停车场巡逻机器人
RU2810800C1 (ru) Способ автономного позиционирования для шахтного электровоза с взрывобезопасной аккумуляторной батареей
CN114047768A (zh) 一种基于组合导航井下运输车的无人驾驶系统
CN112498380B (zh) 一种无人驾驶多式联运车及运输系统
KR20160027459A (ko) 트램용 안전운행시스템

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 17785185

Country of ref document: US

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22762338

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2022114797

Country of ref document: RU

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22762338

Country of ref document: EP

Kind code of ref document: A1