A positioning method and system for a mining monorail crane locomotive

Abstract

The present application relates to the technical field of equipment positioning, and in particular to a positioning method and system for a mining monorail crane locomotive. The mining monorail crane locomotive is provided with a gyroscope and an accelerometer, and the method includes: determining a first reliability value of the gyroscope at the current moment, and determining a second reliability value of the accelerometer at the current moment; obtaining a first attitude angle determined at the current moment according to the angle data of the gyroscope, and obtaining a second attitude angle determined at the current moment according to the acceleration data of the accelerometer; determining a weighting coefficient corresponding to the first attitude angle according to the maximum of the first reliability value and the second reliability value, so as to perform weighted summation of the first attitude angle and the second attitude angle using the weighting coefficient, and obtain the target attitude angle of the mining monorail crane locomotive at the current moment, thereby determining the positioning information of the mining monorail crane locomotive at the current moment. Through the above technical scheme, a more accurate positioning result for the monorail crane locomotive can be obtained.

Description

Technical Field

[0001] The present application relates to the technical field of equipment positioning, and in particular to a positioning method and system for a mining monorail crane locomotive. Background Art

[0002] Mining monorail crane locomotive, also known as monorail crane, is a transportation equipment used in coal mines and other mine tunnels. The running track of the monorail crane is usually made of steel rails or special alloy rails and fixed on the top of the tunnel, so that the mining monorail crane locomotive can travel along the running track driven by the drive device to realize the transportation of personnel, materials and equipment in the mine. The mining monorail crane locomotive has the advantages of simple structure, easy operation, small turning radius and less space occupied.

[0003] In order to facilitate the monitoring of the positioning information of the mining monorail crane locomotive, it is necessary to locate the mining monorail crane locomotive; in order to realize the positioning of the mining monorail crane locomotive. In the related technology, for example, in the Chinese patent application document with the publication number CN111637887A, a mining monorail crane locomotive positioning method based on an inertial module is provided, including: collecting acceleration, angular velocity, and magnetic field strength data, and using a dynamic Kalman filter algorithm to solve the attitude angle; using the attitude angle to solve the attitude matrix; combining the attitude matrix and the acceleration data, using the direction cosine matrix method to filter out the gravity component in the acceleration data; using the integral method to perform a single integration of the acceleration to obtain the real-time running speed of the locomotive; using the integral method to perform a single integration of the obtained speed to obtain the travel distance of the locomotive; using the maximum possible travel distance of the locomotive within 10s as a benchmark, the distance measurement result is compensated to obtain the real-time position of the locomotive.

[0004] However, there may be a deviation between the acquired angular velocity of the monorail crane and the actual angular velocity. This deviation may accumulate over a long period of time and make the positioning result of the monorail crane obtained by using the angular velocity inaccurate. Summary of the invention

[0005] In order to overcome the problem of inaccurate positioning results of monorail crane locomotives in the related art, the present application provides a positioning method and system for a mining monorail crane locomotive.

[0006] According to a first aspect of an embodiment of the present application, a positioning method for a mining monorail crane locomotive is provided. The mining monorail crane locomotive is provided with a gyroscope and an accelerometer, including: determining a first reliability value of the gyroscope at a current moment, and determining a second reliability value of the accelerometer at the current moment; the first reliability value is used to characterize the stability of the angular velocity of the gyroscope in a current time period relative to a previous time period; the second reliability value is used to characterize the stability of the acceleration of the accelerometer in the current time period relative to the previous time period; obtaining a first attitude angle determined at the current moment according to the angle data of the gyroscope, and obtaining a second attitude angle determined at the current moment according to the acceleration data of the accelerometer; determining a weighting coefficient corresponding to the first attitude angle according to the maximum of the first reliability value and the second reliability value, so as to perform weighted summation of the first attitude angle and the second attitude angle using the weighting coefficient to obtain a target attitude angle of the mining monorail crane locomotive at the current moment; and determining the positioning information of the mining monorail crane locomotive at the current moment using multiple target attitude angles of the mining monorail crane locomotive in the current time period.

[0007] In this way, the first reliability value of the gyroscope at the current moment is determined, and the second reliability value of the accelerometer at the current moment is determined. The first reliability value and the second reliability value can respectively represent the stability of the gyroscope and the accelerometer, and the first attitude angle determined according to the angle data of the gyroscope at the current moment is obtained, and the second attitude angle determined according to the acceleration data of the accelerometer at the current moment is obtained. The first reliability and the second reliability can be used to realize the combination of the first attitude angle and the second attitude angle to obtain a more accurate target attitude angle of the mining monorail crane at the current moment. Therefore, a more accurate positioning result of the monorail crane at the current moment can be obtained based on the more accurate attitude angle.

[0008] Optionally, determining a weighting coefficient at a current moment according to the maximum of the first reliability value and the second reliability value includes: ,in, is the weighting coefficient corresponding to the current moment, is the first reliability value, is the second reliability value; S is the attitude stability value at the current moment, and the attitude stability value is used to characterize the speed stability of the mining monorail crane locomotive in the current time period.

[0009] In this way, the weighting coefficient at the current moment is determined according to the maximum of the first reliability value and the second reliability value, so that when the mining monorail crane is in different motion states, the respective advantages of the two sensors, the accelerometer and the gyroscope, can be brought into play, thereby obtaining a target attitude angle that is more matched with the actual attitude angle of the mining monorail crane at the current moment.

[0010] Optionally, the first reliability value of the gyroscope at the current moment is determined in the following manner: , is the first reliability value at the current moment, exp is an exponential function with a natural constant as the base; S is the attitude stability value at the current moment, and the attitude stability value is used to characterize the speed stability of the mining monorail crane locomotive in the current time period; cos is the cosine similarity, is the first vector constructed with the angular velocity of the mining monorail crane locomotive along the jth direction in the current time period as an element, A second vector constructed with the angular velocity of the mining monorail crane vehicle along the j-th direction in the time period before the current time period as an element.

[0011] In this way, the first vector determined according to the angular velocity of the mining monorail crane at different times in the current time period is compared with the second vector determined according to the angular velocity of the mining monorail crane at different times in the time period before the current time period, and the overall speed stability of the monorail crane in the current time period is taken into account, so that the obtained first reliability value can better characterize the reliability of the gyroscope.

[0012] Optionally, the second reliability value of the accelerometer at the current moment is determined in the following manner: , is the second reliability value at the current moment; S is the attitude stability value at the current moment, and the attitude stability value is used to characterize the speed stability of the mining monorail crane locomotive in the current time period; cos is the cosine similarity, The third vector is constructed by taking the acceleration of the mining monorail crane locomotive along the jth direction in the current time period as an element, A fourth vector constructed with the acceleration of the mining monorail crane locomotive along the j-th direction in the time period before the current time period as an element.

[0013] In this way, the third vector determined according to the acceleration of the mining monorail crane at different times in the current time period is compared with the fourth vector determined according to the acceleration of the mining monorail crane at different times in the time period before the current time period, and the overall speed stability of the monorail crane in the current time period is taken into account, so that the obtained second reliability value can better characterize the reliability of the accelerometer.

[0014] Optionally, the attitude stability value at the current moment is determined by: , S is the attitude stability value at the current moment, exp is the exponential function with the natural constant as the base, max is the maximum value, To take the absolute value, is the angular velocity along the jth direction at the current moment, is the average angular velocity along the jth direction in the current time period, is the maximum angular velocity along the jth direction in the current time period, is the acceleration along the jth direction at the current moment, is the average acceleration along the jth direction in the current time period, is the maximum acceleration along the jth direction in the current time period.

[0015] In this way, the angular velocity at the current moment is compared with the average angular velocity in the current time period, and the acceleration at the current moment is compared with the average acceleration in the current time period, and the maximum value is taken for the change of acceleration in different directions, and the maximum value is taken for the change of angular velocity in different directions, so as to more quickly respond to the change of the driving state of the monorail crane at the current moment, thereby more accurately characterizing the stability of the driving state of the monorail crane in the current time period through the attitude stability value.

[0016] Optionally, the attitude stability value at the current moment is determined by: , S is the attitude stability value at the current moment, exp is an exponential function with a natural constant as the base, To take the absolute value, is the angular velocity along the jth direction at the current moment, is the average angular velocity along the jth direction in the current time period, is the maximum angular velocity along the jth direction in the current time period, is the acceleration along the jth direction at the current moment, is the average acceleration along the jth direction in the current time period, is the maximum acceleration along the jth direction in the current time period.

[0017] Optionally, weighted summing the first attitude angle and the second attitude angle by using a weighted coefficient to obtain a target attitude angle of the mining monorail crane at the current moment includes: ,in, is the target attitude angle of the mining monorail crane locomotive at the current moment, is the weighting coefficient at the current moment, is the first attitude angle, is the second attitude angle.

[0018] Optionally, multiple target attitude angles of the mining monorail crane locomotive in the current time period are used to determine the positioning information of the mining monorail crane locomotive at the current moment, including: using multiple target attitude angles of the mining monorail crane locomotive in the current time period and a combined positioning system based on strapdown inertial navigation and radio frequency identification technology to determine the positioning information of the mining monorail crane locomotive at the current moment.

[0019] In this way, since the acquired target attitude angle can more accurately reflect the actual attitude angle of the mining monorail crane locomotive, by utilizing multiple target attitude angles of the monorail crane locomotive in the current time period and a combined positioning system based on strapdown inertial navigation and radio frequency identification technology, more accurate positioning information of the mining monorail crane locomotive at the current moment can be determined.

[0020] Optionally, an RFID reader is provided on the mining monorail crane locomotive, and different RFID electronic tags are provided at different positions on the driving path of the mining monorail crane locomotive, and the RFID electronic tags carry the location information of the location; multiple target attitude angles of the mining monorail crane locomotive in the current time period and a combined positioning system based on strapdown inertial navigation and radio frequency identification technology are used to determine the positioning information of the mining monorail crane locomotive at the current moment, including: taking the location information carried by the RFID electronic tag most recently identified by the RFID reader / writer as the initial position of the mining monorail crane locomotive, and taking the time at the initial position as the initial time; determining the positioning information of the mining monorail crane locomotive at the current moment based on the target attitude angle and acceleration information of the mining monorail crane locomotive in the time period from the initial time to the current time.

[0021] According to a second aspect of an embodiment of the present application, a positioning system for a mining monorail crane locomotive is provided, comprising: a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the steps of the positioning method for a mining monorail crane locomotive provided in the first aspect of the present application are implemented.

[0022] The technical solution provided by the embodiments of the present application may include the following beneficial effects: determining a first reliability value of the gyroscope at the current moment, and determining a second reliability value of the accelerometer at the current moment, the first reliability value and the second reliability value can respectively represent the stability of the gyroscope and the accelerometer, obtaining a first attitude angle determined at the current moment according to the angle data of the gyroscope, and obtaining a second attitude angle determined at the current moment according to the acceleration data of the accelerometer, and being able to utilize the first reliability and the second reliability to realize a combination of the first attitude angle and the second attitude angle to obtain a more accurate target attitude angle of the mining monorail crane locomotive at the current moment, therefore, a more accurate positioning result of the monorail crane locomotive at the current moment can be obtained based on the more accurate attitude angle.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0025] Figure 1 is a flow chart of a method for positioning a mining monorail crane locomotive according to an exemplary embodiment;

[0026] Figure 2 It is a schematic structural diagram of a positioning system for a mining monorail crane locomotive according to an exemplary embodiment. DETAILED DESCRIPTION

[0027] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0028] First, the application scenario of the embodiment of the present application is briefly introduced. In the application scenario of the present application, in order to realize the positioning of the mining monorail crane locomotive, the angular velocity information of the monorail crane locomotive can be obtained by the gyroscope provided on the mining monorail crane locomotive, and then combined with the acquired acceleration of the mining monorail crane locomotive, the positioning of the monorail crane locomotive in the underground tunnel can be realized.

[0029] However, when the angular velocity information obtained by the gyroscope is integrated to obtain the angular displacement, the gyroscope may contain noise and deviation, so that the deviation between the obtained angular displacement and the actual angular displacement of the monorail crane gradually increases with the accumulation of time, thereby causing inaccurate positioning of the monorail crane in the underground tunnel.

[0030] In view of the above technical problems, the present application provides a positioning method and system for a mining monorail crane locomotive. Figure 1 is a flow chart of a method for positioning a mining monorail crane locomotive according to an exemplary embodiment. Figure 1 As shown, the method includes the following steps.

[0031] In step S101 , a first reliability value of the gyroscope at the current moment is determined, and a second reliability value of the accelerometer at the current moment is determined.

[0032] A gyroscope and an accelerometer may be provided on the mining monorail locomotive, and the angular velocity data of the mining monorail locomotive may be obtained through the gyroscope, and the acceleration data of the mining monorail locomotive may be obtained through the accelerometer; the gyroscope and the accelerometer may be provided at the same position on the mining monorail locomotive, and the position information of the gyroscope and the accelerometer at the current moment may be used as the position information of the mining monorail locomotive at the current moment, so as to realize the positioning of the mining monorail locomotive; wherein, the accelerometer and the gyroscope may be integrated in the same IMU (Inertial Measurement Unit), for example.

[0033] In order to ensure the safety of personnel, materials and equipment transported by the mining monorail crane locomotive, and at the same time ensure the safety of the mining monorail crane locomotive itself, the mining monorail crane locomotive usually travels at a relatively stable speed when traveling along the track.

[0034] For example, a mining monorail crane locomotive accelerates with a lower acceleration, or decelerates with a lower acceleration, or travels at a constant speed along the track when reaching a specified speed. Therefore, the stability of the motion state of the monorail crane locomotive can be determined by the angular velocity information obtained by the gyroscope and the acceleration information obtained by the accelerometer; wherein, the lower acceleration can refer to an acceleration that is less than a preset acceleration threshold, and the preset acceleration threshold can be, for example, 4.9 meters per second squared.

[0035] The first reliability value is used to characterize the stability of the angular velocity of the gyroscope in the current time period relative to the previous time period; the larger the first reliability value is, the higher the stability of the angular velocity of the gyroscope in the current time period relative to the previous time period, and the lower the probability that the angular velocity obtained by the gyroscope has a deviation; on the contrary, the smaller the first reliability value is, the lower the stability of the angular velocity of the gyroscope in the current time period relative to the previous time period, and the higher the probability that the angular velocity obtained by the gyroscope has a deviation.

[0036] Here, the second reliability value is used to characterize the stability of the acceleration of the accelerometer in the current time period relative to the previous time period; the larger the second reliability value, the higher the stability of the acceleration of the accelerometer in the current time period relative to the previous time period, and the lower the probability that the acceleration obtained by the accelerometer has a deviation; on the contrary, the smaller the second reliability value, the lower the stability of the acceleration of the accelerometer in the current time period relative to the previous time period, and the higher the probability that the acceleration obtained by the accelerometer has a deviation.

[0037] The current time period refers to the time period of the current moment and multiple moments before the current moment; the length of the current time period is the same as the length of the time period before the current time period, and the lengths of the current time period and the time period before the current moment are both equal to the preset length. The preset length can be set according to actual needs, for example, the preset length can be between 2 seconds and 10 seconds.

[0038] For example, when the current time is 12:00:00, the current time period may refer to the time period from 11:59:50 to 12:00:00, and the time period before the current time period may refer to the time period from 11:59:40 to 11:59:50.

[0039] In step S102, a first attitude angle determined at the current moment according to the angle data of the gyroscope is obtained, and a second attitude angle determined at the current moment according to the acceleration data of the accelerometer is obtained.

[0040] The attitude angle can reflect the orientation of an object relative to a spatial coordinate system. The spatial coordinate system may include three coordinate axes: the horizontal axis, the vertical axis, and the vertical axis. The attitude angle may be composed of a pitch angle, a roll angle, and a yaw angle.

[0041] Among them, the pitch angle refers to the angle of rotation of the object relative to the horizontal axis of the spatial coordinate system, the roll angle refers to the angle of rotation of the object relative to the vertical axis of the spatial coordinate system, and the yaw angle refers to the angle of rotation of the object relative to the vertical axis of the spatial coordinate system; the attitude angle can be determined by Euler angles, rotation matrices, quaternions, etc., which will not be repeated here.

[0042] The initial attitude angle of the gyroscope at the installation position on the mining monorail crane locomotive can be obtained. By integrating the angular velocity obtained by the gyroscope, the angular displacement information of the gyroscope at the installation position on the mining monorail crane locomotive relative to the initial attitude angle at the current moment can be determined, thereby obtaining the attitude angle of the gyroscope at the installation position on the mining monorail crane locomotive at the current moment.

[0043] When the gyroscope is installed on the mining monorail crane locomotive, the angular relationship between the attitude angle of the gyroscope and the overall attitude of the mining monorail crane locomotive is fixed. The first attitude angle of the mining monorail crane locomotive at the current moment can be obtained based on the angular relationship between the attitude angle of the gyroscope and the overall attitude of the mining monorail crane locomotive and the attitude angle of the installation position of the gyroscope on the mining monorail crane locomotive at the current moment; among them, the angular relationship between the attitude angle of the gyroscope and the overall attitude of the mining monorail crane locomotive can be obtained by pre-calibrating the accelerometer and the mining monorail crane locomotive.

[0044] The initial attitude angle of the accelerometer at the installation position on the mining monorail crane locomotive can be obtained. By integrating the acceleration obtained by the accelerometer, the displacement information of the accelerometer at the installation position on the mining monorail crane locomotive relative to the initial attitude angle at the current moment can be determined, thereby obtaining the attitude angle of the accelerometer at the installation position on the mining monorail crane locomotive at the current moment.

[0045] When the accelerometer is installed on the mining monorail crane locomotive, the angular relationship between the attitude angle of the accelerometer and the overall attitude of the mining monorail crane locomotive is fixed. According to the angular relationship between the attitude angle of the accelerometer and the overall attitude of the mining monorail crane locomotive, and the attitude angle of the installation position of the accelerometer on the mining monorail crane locomotive at the current moment, the second attitude angle of the mining monorail crane locomotive at the current moment can be obtained; wherein, the angular relationship between the attitude angle of the accelerometer and the overall attitude of the mining monorail crane locomotive can be obtained by pre-calibrating the accelerometer and the mining monorail crane locomotive.

[0046] Acquiring a first attitude angle determined by the angle data of the gyroscope at the current moment, and acquiring a second attitude angle determined by the acceleration data of the accelerometer at the current moment, helps to fuse the data obtained by the gyroscope and the accelerometer, and combine the two advantages of the gyroscope's high short-term accuracy and the accelerometer's high long-term accuracy, thereby obtaining a more accurate attitude angle for the mining monorail crane locomotive.

[0047] In step S103, the weighting coefficient corresponding to the first attitude angle is determined according to the maximum of the first reliability value and the second reliability value, and the first attitude angle and the second attitude angle are weighted summed using the weighting coefficient to obtain the target attitude angle of the mining monorail crane at the current moment.

[0048] Since the first reliability value can characterize the stability of the angular velocity of the gyroscope in the current time period relative to the previous time period, the second reliability value is used to characterize the stability of the acceleration of the accelerometer in the current time period relative to the previous time period, and the weighting coefficient at the current moment is determined according to the maximum of the first reliability value and the second reliability value, the weighting coefficient can be obtained by utilizing the data obtained by the sensors with higher stability in the gyroscope and the accelerometer, so that a more reliable weighting coefficient can be determined, thereby determining a more accurate target attitude angle.

[0049] The first attitude angle and the second attitude angle are weighted and summed using the weighting coefficient to obtain the target attitude angle of the mining monorail crane at the current moment. Since the weighting coefficient is determined based on the maximum of the first reliability value and the second reliability value, the data obtained by the sensor with higher reliability can play a greater role when the data collected by the accelerometer and the gyroscope are fused. Therefore, the target attitude angle of the mining monorail crane at the current moment can be more consistent with the actual attitude angle of the mining monorail crane at the current moment.

[0050] In one embodiment, determining the weighting coefficient at the current moment according to the maximum of the first reliability value and the second reliability value includes: ,in, is the weighting coefficient corresponding to the current moment, is the first reliability value, is the second reliability value; S is the attitude stability value at the current moment, and the attitude stability value is used to characterize the speed stability of the mining monorail crane locomotive in the current time period.

[0051] When performing weighted averaging on the first attitude angle and the second attitude angle, the weight of the first attitude angle is equal to the determined weight coefficient, and the weight of the second attitude angle is equal to 1 minus the determined weight coefficient; the larger the value of the weight coefficient at the current moment, the larger the weight corresponding to the first attitude angle at the current moment when performing weighted averaging on the first attitude angle and the second attitude angle.

[0052] The first reliability value and the second reliability value are in the range of 0 to 1, so that the base term in the calculation formula of the weighting coefficient is in the range of 0 to 1; the attitude stability value is in the range of 0 to 1. Due to the existence of 1 in the exponential term of the weighting coefficient, it can be ensured that the exponential term in the calculation formula of the weighting coefficient is greater than 1. Therefore, in the calculation formula of the weighting coefficient, an exponential term greater than 1 can be used to perform exponential operations on the base term in the range of 0 to 1.

[0053] The attitude stability value can characterize the speed stability of the mining monorail locomotive in the current time period. The larger the attitude stability value, the higher the speed stability of the mining monorail locomotive in the current time period. The gyroscope is better at capturing the dynamic changes of the monorail locomotive, so when the monorail locomotive moves at a higher speed, the angular velocity obtained by the gyroscope has a higher reference value for determining the attitude of the monorail locomotive. Therefore, the larger the attitude stability value at the current moment, the lower the reference value of the attitude angle determined according to the angular velocity data of the gyroscope.

[0054] In the calculation formula of the weighted coefficient at the current moment, the larger the attitude stability value at the current moment, the larger the value of the exponential term of the exponential operation on the base term less than 1, so that the value of the obtained weighted coefficient is smaller, and the weighted coefficient is used to characterize the contribution of the first attitude angle to the weighted average. Therefore, when the reference value of the angular velocity obtained by the gyroscope is lower, the weight of the first attitude angle determined according to the angular velocity data of the gyroscope can be reduced to obtain a more accurate attitude angle.

[0055] When the monorail locomotive is in a stable driving state, compared with the gyroscope installed on the monorail locomotive, the acceleration information obtained by the accelerometer can provide a more valuable reference for determining the attitude angle, and the larger the attitude stability value at the current moment, the more stable the running state of the vehicle is. Therefore, the larger the attitude stability value at the current moment, the smaller weighting coefficient can be determined through the calculation formula of the weighting coefficient in the embodiment of the present application, thereby reducing the contribution of the first attitude angle determined according to the angular velocity data of the gyroscope to the weighted averaging process, thereby increasing the contribution of the second attitude angle determined according to the acceleration data of the accelerometer to the weighted averaging process.

[0056] When the first reliability value at the current moment is greater than or equal to the second reliability value, it means that the monorail locomotive is in an operating state where the angular velocity data obtained by the gyroscope is more valuable for reference, and the maximum of the first reliability and the second reliability is equal to the first reliability; the larger the first reliability value is, the larger the value of the base term involved in the exponential operation in the calculation formula of the weighted coefficient is, and a larger weighted coefficient can be obtained, thereby increasing the contribution of the first attitude angle to the weighted averaging process, so as to obtain a more accurate target attitude angle at the current moment.

[0057] When the first reliability value at the current moment is less than the second reliability value, it means that the monorail locomotive is in an operating state where the acceleration data obtained by the accelerometer is more valuable for reference, and the maximum of the first reliability value and the second reliability value is equal to the second reliability; the larger the second reliability value is, the smaller the value of the base term involved in the exponential operation in the calculation formula of the weighted coefficient is, and a smaller weighted coefficient can be obtained, thereby reducing the contribution of the first attitude angle to the weighted averaging process, thereby increasing the contribution of the second attitude angle, which is more valuable for reference in determining the attitude angle, to the weighted averaging process, so as to obtain a more accurate target attitude angle at the current moment.

[0058] In this way, the weighting coefficient at the current moment is determined according to the maximum of the first reliability value and the second reliability value, so that when the mining monorail crane is in different motion states, the respective advantages of the two sensors, the accelerometer and the gyroscope, can be brought into play, thereby obtaining a target attitude angle that is more matched with the actual attitude angle of the mining monorail crane at the current moment.

[0059] In one embodiment, the first attitude angle and the second attitude angle are weighted and summed using a weighted coefficient to obtain a target attitude angle of the mining monorail crane at the current moment, including: ,in, is the target attitude angle of the mining monorail crane locomotive at the current moment, is the weighting coefficient at the current moment, is the first attitude angle, is the second attitude angle.

[0060] Here, since the weighting coefficient at the current moment is equal to the weight of the first attitude angle in the weighted averaging process, and the weighting coefficient is determined based on the maximum of the first reliability value and the second reliability value, the weighting coefficient can better match the operating status of the mining monorail crane at the current moment, so that it can not only take into account the fusion of the data obtained by the accelerometer and the gyroscope, but also determine the contribution of the data obtained by the two different sensors to the weighted averaging process according to the operating status of the monorail crane at the current moment, thereby obtaining a more accurate target attitude angle.

[0061] In step S104, the positioning information of the mining monorail crane at the current moment is determined by using a plurality of target attitude angles of the mining monorail crane in the current time period.

[0062] By referring to the process of acquiring the target attitude angle of the mining monorail crane locomotive at the current moment, multiple target attitude angles of the mining monorail crane locomotive at multiple moments in the current time period can be obtained respectively; when the multiple target attitude angles of the mining monorail crane locomotive in the current time period are determined, the positioning information of the mining monorail crane locomotive at the current moment can be determined according to the multiple target attitude angles of the mining monorail crane locomotive in the current time period.

[0063] For example, the initial position of the mining monorail crane at the initial moment can be combined with the different target attitude angles of the mining monorail crane at different moments in the current time period to determine the positioning information of the mining monorail crane at the current moment. In this way, since the attitude angle used to determine the positioning information is more accurate, more accurate positioning information can be obtained.

[0064] In one embodiment, multiple target attitude angles of the mining monorail crane locomotive in the current time period are used to determine the positioning information of the mining monorail crane locomotive at the current moment, including: using multiple target attitude angles of the mining monorail crane locomotive in the current time period, and a combined positioning system based on strapdown inertial navigation and radio frequency identification technology to determine the positioning information of the mining monorail crane locomotive at the current moment.

[0065] When the strapdown inertial navigation system is working, as the positioning time increases, the existing positioning errors may gradually accumulate. The more accurate attitude angle of the mining monorail crane locomotive obtained in the embodiment of the present application can avoid the possible deviations of the strapdown inertial navigation system; by cooperating with the radio frequency identification technology, the periodic correction of the positioning information can be achieved, thereby obtaining a more accurate positioning result for the mining monorail crane locomotive.

[0066] For example, multiple RFID (Radio-Frequency Identification) electronic tags can be set at different positions on the track of a mining monorail crane locomotive, or multiple RFID electronic tags can be set at different positions on both sides of the track of a mining monorail crane locomotive. The RFID electronic tags carry location information of the installation location. When a vehicle passes by these RFID electronic tags carrying location information, the location information carried in the RFID electronic tags can be read through the set RFID identifier.

[0067] When the RFID electronic tag is not identified, the target attitude angle of the mining monorail crane at different times obtained by the embodiment of the present application can be used to locate the monorail crane when the mining monorail crane is located between two RFID electronic tags, in conjunction with the strapdown inertial navigation system, so that the monorail crane can be positioned more accurately when the monorail crane is traveling at different positions on the track.

[0068] In this way, since the acquired target attitude angle can more accurately reflect the actual attitude angle of the mining monorail crane locomotive, by utilizing multiple target attitude angles of the monorail crane locomotive in the current time period and a combined positioning system based on strapdown inertial navigation and radio frequency identification technology, more accurate positioning information of the mining monorail crane locomotive at the current moment can be determined.

[0069] In one embodiment, an RFID reader is provided on a mining monorail crane locomotive, and different RFID electronic tags are provided at different positions on the driving path of the mining monorail crane locomotive, and the RFID electronic tags carry the location information of the location; multiple target attitude angles of the mining monorail crane locomotive in the current time period and a combined positioning system based on strapdown inertial navigation and radio frequency identification technology are used to determine the positioning information of the mining monorail crane locomotive at the current moment, including: taking the location information carried by the RFID electronic tag most recently identified by the RFID reader as the initial position of the mining monorail crane locomotive, and taking the time at the initial position as the initial time; determining the positioning information of the mining monorail crane locomotive at the current moment according to the target attitude angle and acceleration information of the mining monorail crane locomotive in the time period from the initial time to the current time.

[0070] In this way, since the location information carried by the RFID electronic tag is pre-calibrated, by using the location information carried by the RFID electronic tag most recently identified by the RFID reader as the initial position of the mining monorail crane, it can be ensured that the initial position obtained by the monorail crane is accurate, and by setting multiple RFID electronic tags at different positions on the driving path of the monorail crane, it is possible to achieve periodic updates of a more accurate initial position during the driving process of the monorail crane.

[0071] Through the positioning method for a mining monorail crane provided in an embodiment of the present application, a first reliability value of the gyroscope at the current moment is determined, and a second reliability value of the accelerometer at the current moment is determined, the first reliability value and the second reliability value can respectively represent the stability of the gyroscope and the accelerometer, and a first attitude angle determined at the current moment according to the angle data of the gyroscope is obtained, and a second attitude angle determined at the current moment according to the acceleration data of the accelerometer is obtained, and the first reliability and the second reliability can be used to realize the combination of the first attitude angle and the second attitude angle to obtain a more accurate target attitude angle of the mining monorail crane at the current moment, and therefore, a more accurate positioning result of the monorail crane at the current moment can be obtained based on the more accurate attitude angle.

[0072] Referring to the process of obtaining the positioning result of the monorail locomotive at the current moment in the embodiment of the present application, multiple sensor groups can be respectively set at different positions on the monorail locomotive. The same sensor group includes accelerometers and gyroscopes to achieve more accurate position information acquisition of multiple positions on the monorail locomotive, so as to better monitor the position information of the monorail locomotive.

[0073] In one embodiment, the first reliability value of the gyroscope at the current moment is determined by: , is the first reliability value at the current moment, exp is an exponential function with a natural constant as the base; S is the attitude stability value at the current moment, and the attitude stability value is used to characterize the speed stability of the mining monorail crane locomotive in the current time period; cos is the cosine similarity, is the first vector constructed with the angular velocity of the mining monorail crane locomotive along the jth direction in the current time period as an element, A second vector constructed with the angular velocity of the mining monorail crane vehicle along the j-th direction in the time period before the current time period as an element.

[0074] The attitude stability value is used to characterize the speed stability of the mining monorail locomotive in the current time period. Since the gyroscope is better at capturing the angular velocity data of the monorail locomotive in a dynamic motion state, the higher the speed stability of the mining monorail locomotive in the current time period, the more likely it is that there will be noise data in the angular velocity data obtained by the gyroscope, and the angular velocity data obtained by the gyroscope has a lower reference value for determining the attitude angle of the monorail locomotive.

[0075] Since the value range of cosine similarity is between -1 and 1, by adding 1 to the calculated result of cosine similarity and then dividing by 2, the cosine similarity can be processed to the range of 0 to 1, so as to compare the cosine similarities at different times; wherein, the calculation process of the cosine similarity between two vectors of the same length will not be repeated here.

[0076] The first vector constructed with the angular velocity of the mining monorail crane along the j-th direction in the current time period as an element may sequentially include multiple angular velocities of the mining monorail crane along the j-th direction at different times in the current time period; the second vector constructed with the acceleration of the mining monorail crane along the j-th direction in the current time period as an element may sequentially include multiple angular velocities of the mining monorail crane along the j-th direction at different times in a time period before the current time period.

[0077] The noise data that may exist in the angular velocity obtained by the gyroscope is random. If the cosine similarity between the first vector and the second vector corresponding to the two time periods is larger, it means that the consistency of the angular velocity obtained by the gyroscope in different time periods or at different times is higher, and the probability of noise data existing in the angular velocity data obtained by the gyroscope is lower.

[0078] In this way, the first vector determined according to the angular velocity of the mining monorail crane at different times in the current time period is compared with the second vector determined according to the angular velocity of the mining monorail crane at different times in the time period before the current time period, and the overall speed stability of the monorail crane in the current time period is taken into account, so that the obtained first reliability value can better characterize the reliability of the gyroscope.

[0079] In one embodiment, the second reliability value of the accelerometer at the current moment is determined by: , is the second reliability value at the current moment; S is the attitude stability value at the current moment, and the attitude stability value is used to characterize the speed stability of the mining monorail crane locomotive in the current time period; cos is the cosine similarity, The third vector is constructed by taking the acceleration of the mining monorail crane locomotive along the jth direction in the current time period as an element, A fourth vector constructed with the acceleration of the mining monorail crane locomotive along the j-th direction in the time period before the current time period as an element.

[0080] The attitude stability value is used to characterize the speed stability of the mining monorail crane locomotive in the current time period. Since the accelerometer is better at capturing the acceleration data of the monorail crane locomotive in a steady state, the higher the speed stability of the mining monorail crane locomotive in the current time period, the lower the probability of noise data existing in the acceleration data obtained by the accelerometer, and the acceleration data obtained by the accelerometer has a higher reference value for determining the attitude angle of the monorail crane locomotive.

[0081] The third vector constructed with the acceleration of the mining monorail crane along the j-th direction in the current time period as an element may sequentially include multiple accelerations of the mining monorail crane along the j-th direction at different times in the current time period; the fourth vector constructed with the acceleration of the mining monorail crane along the j-th direction in the current time period as an element may sequentially include multiple accelerations of the mining monorail crane along the j-th direction at different times in the time period before the current time period.

[0082] The noise data that may exist in the acceleration obtained by the accelerometer is random. If the cosine similarity between the third vector and the fourth vector corresponding to the two time periods is larger, it means that the acceleration obtained by the accelerometer in different time periods or at different times is more consistent, and the probability of noise data existing in the acceleration data obtained by the accelerometer is lower.

[0083] In this way, the third vector determined according to the acceleration of the mining monorail crane at different times in the current time period is compared with the fourth vector determined according to the acceleration of the mining monorail crane at different times in the time period before the current time period, and the overall speed stability of the monorail crane in the current time period is taken into account, so that the obtained second reliability value can better characterize the reliability of the accelerometer.

[0084] In one embodiment, the attitude stability value at the current moment is determined by: , S is the attitude stability value at the current moment, exp is the exponential function with the natural constant as the base, max is the maximum value, To take the absolute value, is the angular velocity along the jth direction at the current moment, is the average angular velocity along the jth direction in the current time period, is the maximum angular velocity along the jth direction in the current time period, is the acceleration along the jth direction at the current moment, is the average acceleration along the jth direction in the current time period, is the maximum acceleration along the jth direction in the current time period.

[0085] By dividing the difference between the current angular velocity and the average angular velocity in the current time period by the maximum angular velocity in the current time period, the dimension corresponding to the angular velocity can be eliminated during the comparison of the angular velocities, so as to consider both the acceleration and the angular velocity.

[0086] Using the maximum function to highlight the maximum changes in the three directions (j=1, 2, 3) can more sensitively capture the changes of the monorail locomotive in a certain direction, so as to more accurately characterize the stability of the driving state of the monorail locomotive in the current time period through the attitude stability value.

[0087] In this way, the angular velocity at the current moment is compared with the average angular velocity in the current time period, and the acceleration at the current moment is compared with the average acceleration in the current time period, and the maximum value is taken for the change of acceleration in different directions, and the maximum value is taken for the change of angular velocity in different directions, so as to more quickly respond to the change of the driving state of the monorail crane at the current moment, thereby more accurately characterizing the stability of the driving state of the monorail crane in the current time period through the attitude stability value.

[0088] In another embodiment, the attitude stability value at the current moment is determined by: , S is the attitude stability value at the current moment, exp is an exponential function with a natural constant as the base, To take the absolute value, is the angular velocity along the jth direction at the current moment, is the average angular velocity along the jth direction in the current time period, is the maximum angular velocity along the jth direction in the current time period, is the acceleration along the jth direction at the current moment, is the average acceleration along the jth direction in the current time period, is the maximum acceleration along the jth direction in the current time period.

[0089] Using the average value to integrate the changes in the angular velocity or acceleration of the monorail locomotive in three directions can more comprehensively reflect the overall changes in the motion state of the monorail locomotive, so as to more comprehensively characterize the stability of the driving state of the monorail locomotive in the current time period through the attitude stability value.

[0090] In this way, the angular velocity at the current moment is compared with the average angular velocity in the current time period, and the acceleration at the current moment is compared with the average acceleration in the current time period, and the average value of the acceleration changes in different directions is taken, as well as the average value of the angular velocity changes in different directions. This can more comprehensively reflect the changes in the driving state of the monorail locomotive at the current moment, thereby more comprehensively characterizing the stability of the driving state of the monorail locomotive in the current time period through the attitude stability value.

[0091] Figure 2 FIG. 1 is a schematic diagram of a positioning system 1000 for a mining monorail crane according to an exemplary embodiment. Figure 2 The positioning system 1000 of the mining monorail crane locomotive includes: a processor 1100 and a memory 1200, wherein the memory 1200 stores computer program instructions, and when the computer program instructions are executed by the processor 1100, all or part of the steps of the positioning method of the mining monorail crane locomotive in the present application are implemented.

[0092] It should be understood that the features of some embodiments of the various applications described herein may be combined with each other, unless specifically stated otherwise.

[0093] Although terms such as "first", "second", and "third" may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Instead, these terms are only used to distinguish one component, part, region, layer, or section from another component, part, region, layer, or section. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section.

[0094] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description herein, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0095] In addition, the word "exemplary" is used herein to mean serving as an example, instance, or diagram. Any aspect or design described herein as "exemplary" is not necessarily to be understood as being advantageous over other aspects or designs. Instead, the use of the word exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or".

[0096] Likewise, although the present application has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. With particular regard to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise noted, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if not structurally equivalent to the disclosed structures.

[0097] Additionally, while particular features of the present application may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and advantageous for any given or particular application.

[0098] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application, and the specification and embodiments are only considered as exemplary.

[0099] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A positioning method for a mining monorail crane locomotive, wherein the mining monorail crane locomotive is provided with a gyroscope and an accelerometer, characterized in that: The method comprises: Determine the first reliability value of the gyroscope at the current moment: , is the first reliability value at the current moment, exp is an exponential function with a natural constant as the base; S is the attitude stability value at the current moment, and the attitude stability value is used to characterize the speed stability of the mining monorail crane locomotive in the current time period; cos is the cosine similarity, is the first vector constructed with the angular velocity of the mining monorail crane locomotive along the jth direction in the current time period as an element, A second vector constructed by taking the angular velocity of the mining monorail crane vehicle along the j-th direction in the time period before the current time period as an element; Determine the second reliability value of the accelerometer at the current moment: , is the second reliability value at the current moment, The third vector is constructed by taking the acceleration of the mining monorail crane locomotive along the jth direction in the current time period as an element, A fourth vector constructed by taking the acceleration of the mining monorail crane vehicle along the jth direction in the previous time period of the current time period as an element; the first reliability value is used to characterize the stability of the angular velocity of the gyroscope in the current time period relative to the previous time period; the second reliability value is used to characterize the stability of the acceleration of the accelerometer in the current time period relative to the previous time period; Obtaining a first attitude angle determined at the current moment according to the angle data of the gyroscope, and obtaining a second attitude angle determined at the current moment according to the acceleration data of the accelerometer; Determining a weighting coefficient corresponding to the first attitude angle according to the maximum of the first reliability value and the second reliability value includes: , is the weighting coefficient corresponding to the current moment; The first attitude angle and the second attitude angle are weighted and summed using the weighted coefficient to obtain the target attitude angle of the mining monorail crane at the current moment; The positioning information of the mining monorail crane at the current moment is determined by using multiple target attitude angles of the mining monorail crane in the current time period.

2. The method for positioning a mining monorail crane locomotive according to claim 1, characterized in that: The attitude stability value at the current moment is determined by: , S is the attitude stability value at the current moment, exp is the exponential function with the natural constant as the base, max is the maximum value, To take the absolute value, is the angular velocity along the jth direction at the current moment, is the average angular velocity along the jth direction in the current time period, is the maximum angular velocity along the jth direction in the current time period, is the acceleration along the jth direction at the current moment, is the average acceleration along the jth direction in the current time period, is the maximum acceleration along the jth direction in the current time period.

3. The method for positioning a mining monorail crane locomotive according to claim 1, characterized in that: The attitude stability value at the current moment is determined by: , S is the attitude stability value at the current moment, exp is an exponential function with a natural constant as the base, To take the absolute value, is the angular velocity along the jth direction at the current moment, is the average angular velocity along the jth direction in the current time period, is the maximum angular velocity along the jth direction in the current time period, is the acceleration along the jth direction at the current moment, is the average acceleration along the jth direction in the current time period, is the maximum acceleration along the jth direction in the current time period.

4. The method for positioning a mining monorail crane locomotive according to claim 1, characterized in that: The first attitude angle and the second attitude angle are weighted and summed using the weighted coefficient to obtain the target attitude angle of the mining monorail crane at the current moment, including: ,in, is the target attitude angle of the mining monorail crane locomotive at the current moment, is the weighting coefficient at the current moment, is the first attitude angle, is the second attitude angle.

5. The method for positioning a mining monorail crane locomotive according to claim 1, characterized in that: Using multiple target attitude angles of the mining monorail crane locomotive in the current time period, the positioning information of the mining monorail crane locomotive at the current moment is determined, including: The positioning information of the mining monorail crane at the current moment is determined by using multiple target attitude angles of the mining monorail crane in the current time period and a combined positioning system based on strapdown inertial navigation and radio frequency identification technology.

6. The method for positioning a mining monorail crane locomotive according to claim 5, characterized in that: The mining monorail crane is equipped with an RFID reader / writer. Different RFID electronic tags are set at different positions on the driving path of the mining monorail crane. The RFID electronic tags carry the location information of the location. Using multiple target attitude angles of the mining monorail crane in the current time period and a combined positioning system based on strapdown inertial navigation and radio frequency identification technology, the positioning information of the mining monorail crane at the current moment is determined, including: The location information carried by the RFID electronic tag recognized by the RFID reader / writer the most recently is used as the initial location of the mining monorail crane locomotive, and the time at the initial location is used as the initial time; The positioning information of the mining monorail crane at the current moment is determined according to the target attitude angle and acceleration information of the mining monorail crane during the time period from the initial moment to the current moment.

7. A positioning system for a mining monorail crane locomotive, characterized in that: include: A processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, a positioning method for a mining monorail crane locomotive according to any one of claims 1 to 6 is implemented.

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