Pure electric trackless rubber-tyred vehicle path planning model and method
A technology for trackless rubber-tyred vehicles and path planning, which is applied in the fields of earth drilling, mining equipment, instruments, etc., and can solve problems that do not consider the working environment of pure electric trackless rubber-tyred vehicles, the structure of pure electric trackless rubber-tyred vehicles and mine assistance. Transport regulations and other issues to achieve the effect of avoiding battery life anxiety, improving efficiency, and improving work efficiency
Active Publication Date: 2022-01-07
CHINA UNIV OF MINING & TECH (BEIJING)
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Problems solved by technology
These methods have improved the path planning quality of electric vehicles to a certain extent. However, the scenarios they considered did not consider the working environment of pure electric trackless rubber-tyred vehicles in mines, and did not address the structure of pure electric trackless rubber-tyred vehicles and mines. Ancillary transport regulations, some using only simplified energy models that do not account for variables
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Embodiment 1
[0058] Embodiment 1: A pure electric trackless rubber-tyred vehicle path planning model and method according to the present invention comprises the following steps:
[0059] Step 1: Set up the basic information of the pure electric trackless rubber-tyred vehicle path planning according to the auxiliary transportation line information of the mine, the work task information and the vehicle information of the pure electric trackless rubber-tyred vehicle;
[0060] The basic information includes: the position coordinates V of each transportation point ts , the position number V of each transportation point, the distance dis between each transportation point, the rolling resistance coefficient f between each transportation point, the slope a between each transportation point, the speed v between each transportation point, pure electric trackless The goods demand d of rubber-tired vehicles at each transportation point em , the working time p of the pure electric trackless rubber-tyr...
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The invention discloses a pure electric trackless rubber-tyred vehicle path planning model and method, and belongs to the field of coal mine underground auxiliary transportation and logistics distribution. The pure electric trackless rubber-tyred vehicle path planning method comprises the steps of determination of problem basic information, establishment of an optimization model, solution of an optimal path and display of an optimal scheme, and is used for solving the path planning problem of pure electric trackless rubber-tyred vehicle meeting the mine production requirements. The method comprises the following steps of firstly, setting basic information of a path planning problem of the pure electric trackless rubber-tyred vehicle according to information such as an auxiliary transportation line of a mine, then, establishing a path planning model of the pure electric trackless rubber-tyred vehicle in combination with a specific environment of the mine and a coal mine safety regulation, solving an optimal solution of the model by utilizing an ant colony algorithm, finally, displaying the obtained optimal solution so as to realize path planning of the pure electric trackless rubber-tyred vehicle. According to the optimal path planning method for the pure electric trackless rubber-tyred vehicle, the energy consumption problem is considered in the path planning problem of the pure electric trackless rubber-tyred vehicle, the energy consumption is changed due to the influence of roadway conditions and coal mine safety regulations, and the optimal path planning method is closer to the actual situation.
Description
technical field [0001] The invention relates to the field of coal mine auxiliary transportation and logistics distribution, in particular to a path planning model and method for a pure electric trackless rubber-tyred vehicle. Background technique [0002] In auxiliary transportation in coal mines, trackless rubber-tyred vehicles have been widely used. Compared with diesel trackless rubber-tyred vehicles, pure electric trackless rubber-tyred vehicles have the advantages of no pollution and low noise. They have gradually replaced diesel trackless rubber-tyred vehicles and will become important equipment for coal mine auxiliary transportation. When the pure electric trackless rubber-tyred vehicle is used for auxiliary transportation, it is necessary to plan the path according to the parameters of the pure electric trackless rubber-tyred vehicle, the auxiliary transportation work arrangement, and the transportation environment parameters in the roadway, which is an important iss...
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IPC IPC(8): E21F13/02E21F17/00E21F17/18G06Q50/02G06F30/27
CPCE21F13/025E21F17/00E21F17/18G06Q50/02G06F30/27
Inventor 葛世荣张一辙郭一楠黄遥
Owner CHINA UNIV OF MINING & TECH (BEIJING)