A low-energy consumption hierarchical positioning method and system for coal mine auxiliary transport vehicles

Abstract

The present invention discloses a low-energy consumption graded positioning method and system for coal mine auxiliary transport vehicles, belonging to the field of mine tunnel transportation technology. The method includes S10, determining the optimal transport route of the vehicle, and dividing the optimal transport route into multiple locking intervals; S20, determining the initial speed v0 of the vehicle passing through each locking interval; S30, establishing a discretized mileage estimation model, performing real-time vehicle position updates, and obtaining dynamic trajectory information of the vehicle within each locking interval; S40, establishing a [v0, t] prediction model, and obtaining the theoretical time t0 of the vehicle passing through each locking interval through the prediction model; S50, comparing the actual time t and the theoretical time t0 of the vehicle passing through each locking interval, and selecting whether to activate a timeout warning or a timeout alarm; S60, re-executing S30 to S50 after the vehicle enters the next locking interval. The low-energy consumption graded positioning method and system for coal mine auxiliary transport vehicles of the present invention realizes on-demand positioning of underground vehicles and reduces the energy consumption and cost of positioning.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine tunnel transportation, and more specifically, relates to a low-energy consumption graded positioning method and system for coal mine auxiliary transportation vehicles. Background Art

[0002] The underground tunnels in coal mines are long and narrow with many branches, which poses a great challenge to the positioning of underground material distribution vehicles. Traditional positioning methods either have low positioning accuracy or high positioning costs, making it difficult to strike a balance.

[0003] The existing positioning solution is to use RFID card readers arranged in the lanes to locate material delivery vehicles. However, in order to achieve real-time and accurate positioning without blind spots, it is costly, difficult, and difficult to power, so it is not suitable for this method.

[0004] Therefore, there is an urgent need for a more effective positioning solution that can meet the positioning accuracy requirements and reduce positioning costs.

[0005] A search revealed a Chinese patent application with publication number CN 103670513 A, published on March 26, 2014, that discloses a mine car positioning system within a mine shaft. The system comprises surface equipment and underground equipment. The surface equipment includes a server, a network switch connected to the server circuit, and cables connecting the network switch to a computer, printer, and communication interface. The surface equipment also includes an information center workstation. The underground equipment includes a wireless transmission substation and an identification card with a built-in signal transmitter. The wireless transmission substation is connected to the information center workstation via a cable. The positioning system described in this application fails to effectively address the problem of low positioning accuracy underground.

[0006] For example, Chinese Patent Publication No. CN 109451441 A, Publication Date: March 8, 2019, discloses a vehicle positioning system for mines, comprising: a terminal, a mine car, and at least one Bluetooth tag set in a mine tunnel. Each Bluetooth tag is fixed inside the mine tunnel at a preset distance. The mine car is provided with a Bluetooth receiver that matches each Bluetooth tag, and the Bluetooth receiver is wirelessly connected to each Bluetooth tag. The mine car is also provided with a wireless communication module, which is wirelessly connected to the Bluetooth receiver and the terminal, respectively. The terminal is set outside the mine tunnel. The positioning system of this application can locate underground mine cars underground based on Bluetooth communication, and the positioning accuracy is improved, but the problem of high positioning cost still exists. Summary of the Invention

[0007] In order to solve at least one of the above technical problems, according to one aspect of the present invention, a low-energy consumption hierarchical positioning method for a coal mine auxiliary transport vehicle is provided, comprising the following steps:

[0008] S10. According to the distribution information of the starting and destination points of the coal mine auxiliary transportation vehicles, use the path planning algorithm to determine the optimal transportation route of the coal mine auxiliary transportation vehicles. An RFID reader is set at the roadway bifurcation intersection corresponding to the optimal transportation route, and the optimal transportation route is divided into multiple locking intervals, and the length of each locking interval is the length between two adjacent RFID readers;

[0009] S20. Set an RFID tag at both the head and the tail of the coal mine auxiliary transportation vehicle respectively. The distance between the two RFID tags is the length L of the coal mine auxiliary transportation vehicle. Use the length L of the coal mine auxiliary transportation vehicle and the time T used by each RFID reader to read the first and last two tags of the coal mine auxiliary transportation vehicle to determine the initial speed v0 of the coal mine auxiliary transportation vehicle passing through each locking interval;

[0010] S30. Use the initial speed v0 of the coal mine auxiliary transportation vehicle passing through each locking interval to establish a discretized mileage estimation model, update the real-time position of the coal mine auxiliary transportation vehicle, and obtain the dynamic trajectory information of the coal mine auxiliary transportation vehicle within each locking interval;

[0011] S40. Use the initial speed v0 of the coal mine auxiliary transportation vehicle passing through each locking interval and the historical statistical information of the time t used by the coal mine auxiliary transportation vehicle to pass through each locking interval to establish a [v0, t] prediction model. Through the prediction model, obtain the theoretical time t0 for the coal mine auxiliary transportation vehicle to pass through each locking interval;

[0012] S50. Compare the actual time t and the theoretical time t0 for the coal mine auxiliary transportation vehicle to pass through each locking interval,

[0013] If t ≤ t0, do not start the overtime warning and overtime alarm. At this time, perform the positioning in step S30,

[0014] If t0 < t ≤ 1.1t0, start the overtime warning to remind the driver that the time limit has been exceeded and ask about the running status,

[0015] If t > t0, start the overtime alarm. The remote server actively obtains the position information of the coal mine auxiliary transportation vehicle, and uses this position information to correct the dynamic trajectory information in step S30 to obtain the accurate dynamic position and trajectory information of the coal mine auxiliary transportation vehicle;

[0016] S60. When the coal mine auxiliary transportation vehicle travels to the end position of this locking interval and reads the card successfully, the overtime alarm stops. After that, the coal mine auxiliary transportation vehicle enters the next locking interval, and steps S30, step S40 and step S50 are executed again. <C

[0017] According to the low-energy consumption hierarchical positioning method for coal mine auxiliary transportation vehicles according to the embodiments of the present invention, optionally, in the step S10, the path planning algorithm includes:

[0018] First, using the distribution of origin and destination, combined with the lane map, determine all feasible transportation routes Line i ;

[0019] Then, using the distribution and coding information of each RFID reader in the lane, the distance x between each two readers is determined in advance. i ;

[0020] Then, calculate the total mileage S of each transport route i ;

[0021] Finally, compare the total mileage of each transportation route to get the minimum total mileage S min , and its corresponding transportation route is the optimal transportation route.

[0022] According to the low-energy consumption hierarchical positioning method for coal mine auxiliary transportation vehicles in an embodiment of the present invention, optionally, the coding information of the RFID reader includes the number of the RFID reader, location information, and distance information between the RFID reader and its adjacent readers.

[0023] According to the low-energy consumption graded positioning method for coal mine auxiliary transport vehicles according to an embodiment of the present invention, optionally, the initial speed v0 in step S20 is determined by the following formula: v0=L / T.

[0024] According to the low-energy consumption hierarchical positioning method for coal mine auxiliary transport vehicles according to an embodiment of the present invention, optionally, in step S30, the discretized mileage estimation model is x=v0t+w(t), where w(t) is model noise.

[0025] According to the low-energy consumption hierarchical positioning method for coal mine auxiliary transportation vehicles in an embodiment of the present invention, optionally, the w(t) is determined by the following formula: w(t)=kt; wherein k is the complexity.

[0026] According to the low-energy consumption hierarchical positioning method for coal mine auxiliary transport vehicles according to an embodiment of the present invention, optionally,

[0027] When the coal mine auxiliary transport vehicle is in an uphill state, k=-0.5v0;

[0028] When the coal mine auxiliary transport vehicle is in a downhill state, k=0.5v0;

[0029] When the coal mine auxiliary transport vehicle is driving on a flat road, k=0;

[0030] When the coal mine auxiliary transport vehicle is in the parking waiting or loading and unloading state, k=-v0.

[0031] According to the low-energy consumption graded positioning method for coal mine auxiliary transport vehicles according to an embodiment of the present invention, optionally, in step S40, the [v0, t] prediction model is established through machine learning or deep learning using historical statistical information of v0 and t.

[0032] According to the low-energy consumption graded positioning method for a coal mine auxiliary transport vehicle according to an embodiment of the present invention, optionally, in step S50, the timeout warning and the timeout alarm are performed by an explosion-proof mobile phone terminal installed in the cab of the coal mine auxiliary transport vehicle;

[0033] When a timeout warning is issued, the remote server reminds the driver through the explosion-proof mobile terminal and asks the driver;

[0034] When a timeout alarm is triggered, the remote server actively obtains the location information of the explosion-proof mobile phone terminal, thereby determining the precise location information of the coal mine auxiliary transport vehicle.

[0035] According to another aspect of the present invention, a low-energy consumption graded positioning system for a coal mine auxiliary transport vehicle is provided. The low-energy consumption graded positioning method for a coal mine auxiliary transport vehicle according to the present invention includes:

[0036] RFID card readers are installed at the entrance of the main lane and at the intersections of each lane branch;

[0037] There are two RFID tags, which are set at the front and rear ends of the coal mine auxiliary transportation vehicle;

[0038] An explosion-proof mobile phone terminal, which is installed in the cab of a coal mine auxiliary transport vehicle;

[0039] The wireless base station is set on one side of the main lane and lane branches and is used for wireless signal transmission.

[0040] Beneficial effects

[0041] Compared with the prior art, the present invention has at least the following beneficial effects:

[0042] The underground tunnels in coal mines are long and narrow with multiple branches. Compared with the traditional auxiliary transport vehicle interval positioning, the position estimation in the method of the present invention realizes the fusion of hardware interval positioning and software processing precise positioning. At the same time, the present invention also has a precise positioning wake-up mechanism, which has higher positioning accuracy.

[0043] The precise positioning technology for auxiliary transport vehicles in coal mines has the disadvantages of high cost, difficulty in power supply, and frequent battery replacement. However, the position estimation and precise positioning wake-up mechanism in the method of the present invention can realize on-demand positioning. The precise positioning device does not need to work in real time, which effectively reduces the energy consumption and cost of the positioning system and extends the standby time of the explosion-proof mobile phone terminal.

[0044] Compared with the traditional interval positioning and precise positioning fusion technology that combines wired power supply and mobile power supply, the present invention provides interval positioning under wired power supply and "precise positioning" under computer-side interval position estimation under wired power supply, which overcomes the problems of long-term mobile power supply and frequent replacement of traditional solutions, and sets up a precise positioning wake-up mechanism after the "precise positioning" under estimation fails, thereby achieving dynamic on-demand positioning of the position of coal mine auxiliary transportation vehicles.

[0045] The timeout alarm abnormal state of the present invention can be replaced by an emergency situation of a distribution vehicle, which effectively improves the utilization rate of the lanes and realizes the efficient scheduling of material distribution vehicles and the processing of abnormal states.

[0046] The low-energy consumption graded positioning system for coal mine auxiliary transport vehicles of the present invention utilizes the structural characteristics of the tunnel and the existing wireless base stations and RFID card readers in the mine, and cooperates with the position estimation and timeout alarm strategies in the method of the present invention to realize on-demand positioning of material distribution vehicles, thereby reducing the energy consumption and cost of the positioning system, ensuring the rough positioning of the material distribution vehicles within the interval and the precise positioning in emergency situations, and the timeout alarm abnormal state can be replaced by the emergency situation of the distribution vehicle, effectively improving the utilization rate of the tunnel, realizing the efficient scheduling of material distribution vehicles and the handling of abnormal conditions, and being simple, easy, convenient and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0048] Figure 1 Shown is a flow chart of the method of the present invention;

[0049] Figure 2 A schematic diagram of the univariate linear regression method in Example 1 is shown;

[0050] Figure 3 Shown is a schematic diagram of the system of the present invention;

[0051] Figure 4 A schematic diagram of transport route determination in Example 3 is shown;

[0052] Figure 5 A schematic diagram of obtaining the initial speed within the locking interval in Example 3 is shown;

[0053] Figure 6 A schematic diagram of a dynamic trajectory generated by the mileage estimation model in Example 3 is shown;

[0054] Reference numerals:

[0055] 1. RFID card reader; 2. Wireless base station; 3. Explosion-proof mobile phone terminal; 4. Coal mine auxiliary transport vehicle; 5. Main tunnel; 6. Branch tunnel. DETAILED DESCRIPTION

[0056] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0057] Unless otherwise defined, technical or scientific terms used herein shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0058] In view of the defects of low accuracy, high positioning cost and high energy consumption in existing underground vehicle positioning schemes, the present invention proposes a low-energy consumption hierarchical positioning method and system for coal mine auxiliary transport vehicles. Based on the distinct structural characteristics of coal mine underground tunnels, in order to prevent accidents such as coal mine auxiliary transport vehicles occupying the road for a long time, loss of positioning information and traffic jams, the distribution of departure and destination of coal mine auxiliary transport vehicles is used, and a path planning algorithm is used to determine the optimal transport route and the distribution and coding information of RFID readers on the transport route. Then, the entire route is divided into various locked sections, and RFID readers are arranged at the fork in each tunnel. By installing By installing tags, the initial speed and position information of the vehicle passing through each interval can be determined, and the rough dynamic trajectory information of the vehicle within the interval can be obtained using the discretized displacement formula; based on the historical information of the vehicle's speed at the starting point of the interval and the time it takes for the vehicle to pass through the interval, a prediction model is established to obtain the theoretical time it takes for the vehicle to pass through each interval. If the actual time it takes for the vehicle to pass through the interval exceeds a certain threshold of the theoretical time, a timeout alarm is triggered. The real-time position of the vehicle is obtained through the explosion-proof mobile phone terminal carried by the coal mine auxiliary transportation vehicle and the existing wireless base station underground. The above dynamic trajectory information is corrected to achieve on-demand, low-energy positioning of material distribution vehicles.

[0059] Example 1

[0060] The low energy consumption graded positioning method for coal mine auxiliary transport vehicles in this embodiment is as follows: Figure 1 As shown, the following steps are included.

[0061] S10:

[0062] According to the distribution information of the origin and destination of coal mine auxiliary transportation vehicles, the path planning algorithm is used to determine the optimal transportation route of coal mine auxiliary transportation vehicles. RFID readers are set at the roadway bifurcations corresponding to the optimal transportation route, and the optimal transportation route is divided into multiple locking intervals. The length of each locking interval is the length between two adjacent RFID readers.

[0063] The path planning algorithm specifically includes:

[0064] First, using the distribution of origin and destination, combined with the lane map, determine all feasible transportation routes Line i ;

[0065] Then, using the distribution and coding information of each RFID reader in the lane, the distance x between each two readers is determined in advance. i ;

[0066] Then, calculate the total mileage S of each transport route i ;

[0067] Finally, compare the total mileage of each transportation route to get the minimum total mileage S min , and its corresponding transportation route is the optimal transportation route.

[0068] The coded information of the RFID reader includes the number of the RFID reader, the location information and the distance information between the RFID reader and the adjacent readers.

[0069] S20:

[0070] An RFID tag is set at the head and tail of the coal mine auxiliary transport vehicle respectively. The distance between the two RFID tags is the length L of the coal mine auxiliary transport vehicle. The length L of the coal mine auxiliary transport vehicle and the time T taken by each RFID reader to read the two tags at the head and tail of the coal mine auxiliary transport vehicle are used to determine the initial speed v0 of the coal mine auxiliary transport vehicle through each locked section.

[0071] The initial speed v0 is the speed of the coal mine auxiliary transport vehicle when it just enters the starting point of a certain locked section. The initial speed v0 is equal to the ratio of the length L of the coal mine auxiliary transport vehicle to the time T used by the RFID reader to read the first and last two RFID tags of the coal mine auxiliary transport vehicle, that is, v0=L / T.

[0072] S30:

[0073] Using the initial speed v0 of the coal mine auxiliary transport vehicle passing through each closed section, a discretized mileage estimation model is established to update the real-time position of the coal mine auxiliary transport vehicle and obtain the dynamic trajectory information of the coal mine auxiliary transport vehicle in each closed section.

[0074] The discretized mileage estimation model is x=v0t+w(t), where w(t) is the model noise. As time goes by, the mileage will also increase, and the rough dynamic trajectory information of the coal mine auxiliary transportation vehicle in the closed area can be obtained.

[0075] Furthermore, w(t) is determined by the following formula: w(t)=kt; where k is the complexity. The determination of w(t) requires analyzing the road surface conditions during the travel of the coal mine auxiliary transport vehicle, and comprehensively considering factors such as the travel speed of the coal mine auxiliary transport vehicle, the road slope, and the road surface quality. The complexity is then used to characterize the vehicle's travel conditions. The complexity calibrated in this embodiment is as follows:

[0076] When the coal mine auxiliary transport vehicle is in an uphill state, k=-0.5v0;

[0077] When the coal mine auxiliary transport vehicle is in a downhill state, k=0.5v0;

[0078] When the coal mine auxiliary transport vehicle is driving on a flat road, k=0;

[0079] When the coal mine auxiliary transport vehicle is in the parking waiting or loading and unloading state, k=-v0.

[0080] S40:

[0081] Using the historical statistical information of the initial speed v0 of the coal mine auxiliary transport vehicle passing through each locked section and the time t taken by the coal mine auxiliary transport vehicle to pass through each locked section, a [v0, t] prediction model is established. Through the prediction model, the theoretical time t0 of the coal mine auxiliary transport vehicle passing through each locked section is obtained.

[0082] [v0, t] prediction model is a mapping relationship between v0 and t, that is, [v 01 、v 02 …, t1, t2, …], using the historical statistical information of v0 and t, according to the prediction model, the input value is the initial speed v0 of the vehicle entering the locking interval, and the output is the theoretical time t0 for the vehicle to pass through the locking interval.

[0083] The prediction model can be established by machine learning, deep learning and other methods. In this embodiment, the prediction model is established by a univariate linear regression method:

[0084] The main task of univariate regression is to estimate one variable from the other variable. The variable being estimated is called the dependent variable, set as Y, and the estimated variable is called the independent variable, set as X.

[0085] Regression analysis is to find a mathematical model Y=f(X) so that the estimation of Y from X can be calculated using a function. When the form of Y=f(X) is a straight line equation, it is called a linear regression, such as Figure 2 As shown, in this embodiment, the equation is expressed as t=Av0+B. According to the least squares method, the value of the regression coefficient A and the constant term B can be determined from the sample data. After A and B are determined, if there is an observed value v0, an estimated value of t0 can be obtained.

[0086] S50:

[0087] Compare the actual time \(t\) and the theoretical time \(t_0\) for the coal mine auxiliary transportation vehicle to pass through each locking interval.

[0088] If \(t\leq t_0\), do not start the overtime warning and overtime alarm. At this time, perform the positioning in step S30.

[0089] If \(t_0 < t\leq1.1t_0\), start the overtime warning to remind the driver that the time limit has been exceeded and inquire about the running status.

[0090] [[ID=1,4]]If \(t > t_0\), start the overtime alarm. The remote server actively obtains the position information of the coal mine auxiliary transportation vehicle and uses this position information to correct the dynamic trajectory information in step S30 to obtain the accurate dynamic position and trajectory information of the coal mine auxiliary transportation vehicle.

[0091] The overtime warning and overtime alarm are carried out through the explosion-proof mobile phone terminal set in the cab of the coal mine auxiliary transportation vehicle;

[0092] When carrying out the overtime warning, the remote server reminds the driver through the explosion-proof mobile phone terminal that the time limit has been exceeded in this interval and inquires about the driver's running status;

[0093] When carrying out the overtime alarm, the remote server actively obtains the position information of the explosion-proof mobile phone terminal. The explosion-proof mobile phone terminal and the existing wireless base stations underground form a dynamic network. Using wireless positioning technology, the explosion-proof mobile phone terminal can be accurately positioned, so as to determine the accurate position information of the coal mine auxiliary transportation vehicle. The remote server feeds back the real-time accurate position of the coal mine auxiliary transportation vehicle obtained to the dynamic trajectory information in the locking interval obtained in S30, corrects and updates its position, and takes the positioning information of the explosion-proof mobile phone terminal as the standard until the coal mine auxiliary transportation vehicle enters the next locking interval.

[0094] Furthermore, in this embodiment, the trigger threshold of the supermarket alarm is set to 0.1 times the theoretical time \(t_0\), which can improve the compatibility and flexibility of this method.

[0095] Furthermore, the trigger condition of the overtime alarm in this embodiment is not limited to being triggered after exceeding the theoretical time. When vehicle failures, abnormal loading and unloading, or abnormal driver conditions occur, the overtime alarm is also started.

[0096] S60:

[0097] When the coal mine auxiliary transportation vehicle travels to the end position of this locking interval and the card reading is successful, the overtime alarm stops. After that, the coal mine auxiliary transportation vehicle enters the next locking interval and steps S30, step S40, and step S50 are executed again.

[0098] When the coal mine auxiliary transport vehicle passes the end position of the locked section, the RFID card reader arranged at the position will identify the tag installed on the coal mine auxiliary transport vehicle and feed back the coding information of the RFID card reader to the remote server. The position information will be used as the starting point for the coal mine auxiliary transport vehicle to locate in the next locked section. This cycle will be repeated until the coal mine auxiliary transport vehicle reaches the destination and the positioning is completed.

[0099] The low-energy hierarchical positioning method for coal mine auxiliary transport vehicles in this embodiment determines the optimal transport route and arranges FID card readers at the forks of each lane, divides the entire transport route into various locked sections for positioning, and combines mileage estimation models, theoretical time prediction models, timeout warning / alarm strategies, and wireless positioning technology to achieve on-demand, low-energy positioning of coal mine auxiliary transport vehicles.

[0100] Example 2

[0101] The low energy consumption graded positioning system for coal mine auxiliary transport vehicles of this embodiment is based on the low energy consumption graded positioning method for coal mine auxiliary transport vehicles of embodiment 1, such as Figure 3 As shown, including:

[0102] RFID card reader 1, which is installed at the entrance of the main lane 5 and the intersection of each lane branch 6;

[0103] There are two RFID tags, which are respectively set at the front and rear ends of the coal mine auxiliary transport vehicle 4;

[0104] An explosion-proof mobile phone terminal 3 is installed in the cab of a coal mine auxiliary transport vehicle 4;

[0105] The wireless base station 2 is arranged on one side of the main tunnel 5 and the tunnel branch 6 and is used for wireless signal transmission. The wireless base station 2 and the explosion-proof mobile phone terminal 3 can be dynamically networked.

[0106] Example 3

[0107] This embodiment is based on the solution of Example 2, and improves the structure of underground tunnels and coal mine auxiliary transport vehicles. RFID card readers, RFID tags, explosion-proof mobile phone terminals and wireless base stations are configured in appropriate positions. A prepared positioning system is used to perform the positioning method of Example 1 when the coal mine auxiliary transport vehicle transports materials.

[0108] When executing step S10, the optimal transportation route of the coal mine auxiliary transportation vehicle is determined using a path planning algorithm, such as Figure 4 As shown in the figure, after determining the optimal transport route, the entire route is converted into each blocking section for interval positioning. Figure 4 Taking the middle route I as an example, the interlocking sections are: ①-②, ②-③, ③-⑤, ⑤-⑦.

[0109] When executing step S20, an RFID tag is set at the front and rear of the coal mine auxiliary transport vehicle, and the distance between the two RFID tags is the length L of the coal mine auxiliary transport vehicle. Figure 5 As shown, according to the formula v0=L / T, the initial speed v0 of the coal mine auxiliary transport vehicle passing through each locked section is determined.

[0110] When executing step S30, the dynamic trajectory diagram generated by the mileage estimation model is as follows Figure 6 As shown in the figure, the initial speed v0 of the coal mine auxiliary transport vehicle entering each locked section is used, and the actual road conditions and other factors are comprehensively considered. The discretized mileage estimation model x=v0t+w(t) is used, where w(t) is the noise of the model. As time goes by, the mileage will also increase accordingly, and the dynamic trajectory information of the coal mine auxiliary transport vehicle in the locked section can be obtained.

[0111] The examples described in the present invention are merely descriptions of the preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by engineers and technicians in this field should fall within the scope of protection of the present invention.

Claims

1. A low-energy consumption hierarchical positioning method for coal mine auxiliary transport vehicles, characterized in that: It includes the following steps: S10. According to the distribution information of the starting and destination points of the coal mine auxiliary transportation vehicles, use the path planning algorithm to determine the optimal transportation route of the coal mine auxiliary transportation vehicles. RFID card readers are set at the roadway bifurcation intersections corresponding to the optimal transportation route, and the optimal transportation route is divided into multiple locking intervals. The length of each locking interval is the length between two adjacent RFID card readers; S20. Set an RFID tag at both the head and tail of the coal mine auxiliary transportation vehicle respectively. The distance between the two RFID tags is the length L of the coal mine auxiliary transportation vehicle. Use the length L of the coal mine auxiliary transportation vehicle and the time T taken by each RFID card reader to read the first and last two tags of the coal mine auxiliary transportation vehicle to determine the initial speed v0 of the coal mine auxiliary transportation vehicle passing through each locking interval; S30. Use the initial speed v0 of the coal mine auxiliary transportation vehicle passing through each locking interval to establish a discretized mileage estimation model, perform real-time position update of the coal mine auxiliary transportation vehicle, and obtain the dynamic trajectory information of the coal mine auxiliary transportation vehicle within each locking interval; S40. Use the initial speed v0 of the coal mine auxiliary transportation vehicle passing through each locking interval and the historical statistical information of the time t taken by the coal mine auxiliary transportation vehicle to pass through each locking interval to establish a [v0, t] prediction model. Through the prediction model, obtain the theoretical time t0 for the coal mine auxiliary transportation vehicle to pass through each locking interval; S50. Compare the actual time t and the theoretical time t0 for the coal mine auxiliary transportation vehicle to pass through each locking interval, If t ≤ t0, do not start the overtime warning and overtime alarm. At this time, perform the positioning in step S30. If t0 < t ≤ 1.1t0, start the overtime warning to remind the driver that the time limit has been exceeded and ask about the running status. If t > t0, start the overtime alarm. The remote server actively obtains the position information of the coal mine auxiliary transportation vehicle, and uses this position information to correct the dynamic trajectory information in step S30 to obtain the accurate dynamic position and trajectory information of the coal mine auxiliary transportation vehicle; S60. When the coal mine auxiliary transportation vehicle travels to the end position of this locking interval and reads the card successfully, the overtime alarm stops. Then the coal mine auxiliary transportation vehicle enters the next locking interval and repeats steps S30, step S40, and step S50.

2. A low-energy consumption hierarchical positioning method for coal mine auxiliary transport vehicles according to claim 1, characterized in that: In the above step S10, the path planning algorithm includes: First, using the distribution of origin and destination, combined with the lane map, determine all feasible transportation routes Line i ; Then, using the distribution and coding information of each RFID reader in the lane, the distance x between each two readers is determined in advance. i ; Then, calculate the total mileage S of each transport route i ; Finally, compare the total mileage of each transportation route to get the minimum total mileage S min , and its corresponding transportation route is the optimal transportation route.

3. A low-energy consumption hierarchical positioning method for coal mine auxiliary transport vehicles according to claim 2, characterized in that: The coding information of the RFID card reader includes the number, position information of the RFID card reader, and the distance information between it and the adjacent card reader.

4. The low-energy consumption hierarchical positioning method for coal mine auxiliary transport vehicles according to claim 1, characterized in that: In the above step S20, the initial speed v0 is determined by the following formula: v0 = L / T.

5. The low-energy consumption hierarchical positioning method for coal mine auxiliary transport vehicles according to claim 1, characterized in that: In the above step S30, the discretized mileage estimation model is x = v0t + w(t), where w(t) is the model noise.

6. A low-energy consumption hierarchical positioning method for coal mine auxiliary transport vehicles according to claim 5, characterized in that: The w(t) is determined by the following formula: w(t) = kt; where k is the complexity.

7. According to the method for low-energy consumption hierarchical positioning of a coal mine auxiliary transportation vehicle described in claim 6, it is characterized in that: When the coal mine auxiliary transportation vehicle is in an uphill state, k = -0.5v0; When the coal mine auxiliary transportation vehicle is in a downhill state, k = 0.5v0; When the coal mine auxiliary transportation vehicle is in a flat road driving state, k = 0; When the coal mine auxiliary transport vehicle is in the parking waiting or loading and unloading state, k=-v0.

8. The low-energy consumption hierarchical positioning method for coal mine auxiliary transport vehicles according to claim 1, characterized in that: In step S40, the [v0, t] prediction model is established by machine learning or deep learning using historical statistical information of v0 and t.

9. The low-energy consumption hierarchical positioning method for coal mine auxiliary transport vehicles according to claim 1, characterized in that: In step S50, the timeout warning and timeout alarm are performed by an explosion-proof mobile phone terminal installed in the cab of the coal mine auxiliary transportation vehicle; When a timeout warning is issued, the remote server reminds the driver through the explosion-proof mobile terminal and asks the driver; When a timeout alarm is triggered, the remote server actively obtains the location information of the explosion-proof mobile phone terminal, thereby determining the precise location information of the coal mine auxiliary transport vehicle.

10. A low-energy consumption hierarchical positioning system for coal mine auxiliary transport vehicles, characterized in that: A low-energy consumption hierarchical positioning method for a coal mine auxiliary transport vehicle according to any one of claims 1 to 9, comprising: An RFID card reader (1) is provided at the entrance of the main lane (5) and at the intersection of each lane branch (6); There are two RFID tags, which are respectively set at the front and rear ends of the coal mine auxiliary transport vehicle (4); An explosion-proof mobile phone terminal (3) is installed in the cab of a coal mine auxiliary transport vehicle (4); A wireless base station (2) is arranged on one side of the main lane (5) and the lane branch (6) and is used for wireless signal transmission.

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