A pure electric trackless rubber wheeled vehicle path planning model and method
A technology for trackless rubber-tyred vehicles and path planning, which is applied in the fields of earthwork drilling, equipment, transportation and packaging, 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 mines. Auxiliary transportation regulations and other issues to achieve the effect of avoiding battery life anxiety, improving efficiency, and improving work efficiency
Active Publication Date: 2022-07-01
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: The path planning model and method for a pure electric trackless rubber-wheeled vehicle according to the present invention, including the following steps:
[0059] Step 1: According to the auxiliary transportation route information of the mine, the work task information and the vehicle information of the pure electric trackless rubber tire vehicle, set the basic information of the path planning of the pure electric trackless rubber tire 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 the transportation points, the rolling resistance coefficient f between the transportation points, the slope a between the transportation points, the speed v between the transportation points, the pure electric trackless Cargo demand d of rubber wheeled trucks at each transportation point em , the working time p of the pure electric track...
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The invention discloses a path planning model and method for a pure electric trackless rubber-wheeled vehicle, belonging to the field of auxiliary transportation and logistics distribution in coal mines. Including the determination of the basic information of the problem, the establishment of the optimization model, the solution of the optimal path, and the display of the optimal solution, it is used to realize the path planning problem of the pure electric trackless rubber wheeled vehicle that meets the mine production requirements. Firstly, the basic information of the path planning problem of pure electric trackless rubber-tired vehicle is set up according to the information of the auxiliary transportation line of the mine, and then combined with the specific environment of the mine and the safety regulations of the coal mine, the path planning model of the pure electric trackless rubber-tired vehicle is established, and the ant colony algorithm is used to solve the problem. The optimal solution of the model is finally displayed, which constitutes a complete optimal path planning scheme for the pure electric trackless rubber-tyred vehicle. The present invention considers the energy consumption problem into the path planning problem of the pure electric trackless rubber-tyred vehicle. In , the energy consumption is affected by roadway conditions and coal mine safety regulations, which is closer to the actual situation.
Description
technical field [0001] The invention relates to the field of auxiliary transportation and logistics distribution in coal mines, in particular to a path planning model and method for a pure electric trackless rubber-tired vehicle. Background technique [0002] In the auxiliary transportation of coal mines, trackless rubber-tired 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 an important equipment for auxiliary transportation in coal mines. When the pure electric trackless rubber-tired vehicle is used for auxiliary transportation, it is necessary to plan the path according to the parameters of the pure electric trackless rubber-tired vehicle, the auxiliary transportation work arrangement and the transportation environment parameters in the roadway, which is an...
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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)