Synchronous positioning method and synchronous positioning system for underground transportation automatic electric locomotive

Abstract

The invention relates to the technical field of mine transportation automation control, in particular to an underground transportation automation electric locomotive synchronous positioning method and system, and the method comprises the steps: determining a locomotive selection condition based on transportation demand information; determining an initial electric locomotive based on the locomotive selection condition; determining an initial carrying route corresponding to each initial electric locomotive according to the pulse position signal and the transportation position of each initial electric locomotive; a non-power-supply road section in each initial carrying route is recognized, and whether each initial electric locomotive can complete mineral carrying of the corresponding vehicle-mounted carrying amount or not is judged based on the remaining electricity storage amount of each initial electric locomotive and the corresponding non-power-supply road section; and determining the initial electric locomotives capable of completing mineral carrying as transportation electric locomotives, determining at least one target transportation vehicle from the at least one transportation electric locomotive based on the transportation volume, and controlling the at least one target transportation vehicle to carry minerals according to the corresponding target transportation route. According to the invention, the efficiency of carrying minerals by using the electric locomotive is conveniently improved.

Description

Technical Field

[0001] The present application relates to the technical field of mine transportation automation control, and in particular to a synchronous positioning method and a synchronous positioning system for an automated electric locomotive for underground transportation. Background Art

[0002] With the continuous development of science and technology, coal mining technology has made significant progress, thereby improving the output and quality of coal. However, with the advancement of coal mining technology and the increase in safety production needs, higher requirements have been put forward for underground transportation equipment. In order to meet the needs of modern mining, underground transportation equipment needs to be more efficient, safe and reliable. Therefore, advanced transportation equipment such as mining electric locomotives, trackless transportation equipment, belt conveyors, etc. have gradually been applied and promoted. Among them, electric locomotives play a vital role in underground transportation in mines because they have the advantages of zero emissions, low noise and reliable safety performance.

[0003] However, due to the harsh working conditions underground, the noise generated by various mechanical equipment and personnel exchanges, as well as physical obstacles such as brackets and tracks may block or interfere with the transmission and reception of positioning signals, which may lead to reduced accuracy in positioning the electric locomotive, which may affect the efficiency of using the electric locomotive for mineral transportation. Summary of the invention

[0004] In order to improve the efficiency of using electric locomotives for mineral transportation, the present application provides a synchronous positioning method and a synchronous positioning system for an automated electric locomotive for underground transportation.

[0005] In the first aspect, the present application provides a method for synchronous positioning of an automated electric locomotive for underground transportation, which adopts the following technical solution: A method for synchronous positioning of an automated electric locomotive for underground transportation, comprising: Acquire transportation demand information, and determine vehicle selection conditions based on the transportation demand information, wherein the transportation demand information includes transportation location and transportation volume, and the vehicle selection conditions include vehicle selection area and vehicle load; Determining an initial electric locomotive based on the vehicle selection conditions, and acquiring a corresponding pulse position signal from an encoder of each initial electric locomotive; Determining an initial transport route corresponding to each initial electric locomotive according to the pulse position signal of each initial electric locomotive and the transport position; Identify the non-powered section in each initial transportation route, and determine whether each initial electric locomotive can complete the transportation of the mineral corresponding to the vehicle transportation volume based on the remaining storage capacity of each initial electric locomotive and the corresponding non-powered section; An initial electric locomotive that can complete mineral transportation is determined as a transport electric locomotive, and at least one target transport vehicle is determined from at least one transport electric locomotive based on the transportation volume, and the at least one target transport vehicle is controlled to transport minerals according to a corresponding target transportation route.

[0006] By adopting the above technical scheme, the vehicle selection conditions are determined by the transportation position and transportation volume, and then the underground electric locomotives are preliminarily screened based on the vehicle selection conditions, so as to reduce the low transportation efficiency or waste of resources caused by improper vehicle selection. By using a high-precision position sensor to locate the position of the initial electric locomotive, it is convenient to reduce the impact of underground noise or environment on the positioning accuracy. Then, based on the precise pulse position signal and transportation position, the initial transportation route of each initial electric locomotive is determined, which helps to avoid unnecessary paths and optimize the transportation path, thereby facilitating the improvement of transportation efficiency. In addition, by identifying the non-power supply section and conducting a secondary screening based on the remaining storage capacity of each initial electric locomotive, it is convenient to avoid transportation interruptions caused by insufficient power, thereby improving the reliability and efficiency of the transportation process.

[0007] In a possible implementation, after determining the initial transport route corresponding to each initial electric locomotive, the method further includes: Matching the initial transport routes corresponding to each initial electric locomotive, determining whether there is an associated electric locomotive group, and the route matching value of the initial transport routes between each initial electric locomotive in the associated electric locomotive group is higher than a preset matching threshold; If yes, determining the average power storage value of the associated electric locomotive group based on the remaining power storage value of each initial electric locomotive in the associated electric locomotive group; Determine the average value of the non-powered section of the associated electric locomotive group based on the non-powered section in the initial transportation route of each initial electric locomotive in the associated electric locomotive group; Based on the average value of the power storage and the average value of the non-power supply section, it is determined whether the associated electric locomotive group can complete the mineral transportation of the corresponding vehicle-borne transportation volume. If so, the at least one target transport vehicle is determined based on the associated electric locomotive group.

[0008] By adopting the above technical scheme, it is convenient to select associated electric locomotive sets that have similar initial transportation routes and can be used for collaborative transportation through route matching. When determining whether each initial electric locomotive in the associated electric locomotive set can complete the transportation, it is not necessary to analyze and judge one by one. Instead, the associated electric locomotive set is regarded as a whole, and multiple initial electric locomotives are combined for analysis, which is convenient for improving the efficiency of determining the target transport vehicle. In addition, since each associated electric locomotive in the associated electric locomotive set can be used for collaborative transportation, it is convenient to reduce the risk of transportation interruption caused by the failure of a single electric locomotive. When encountering non-power supply sections or complex terrain, the associated electric locomotive sets can support each other to improve the efficiency of the transportation process.

[0009] In a possible implementation, during the mineral transportation process based on the associated electric train set, the method further includes: Determine an initial electric locomotive with a remaining power storage capacity lower than the average power storage capacity in the associated electric locomotive group as a potential electric locomotive; The road section type of the current driving section is detected in real time. When the road section type is a non-power supply section, the carrying power of the hidden danger electric locomotive is adjusted based on the hidden danger vehicle transport volume and the remaining storage capacity of the hidden danger electric locomotive.

[0010] By adopting the above technical scheme, the initial electric locomotive whose remaining battery capacity in the associated electric locomotive group is lower than the average battery capacity is determined as a hidden danger electric locomotive, and when it travels to a non-power supply section, the carrying power of the hidden danger electric locomotive is adjusted to avoid transportation interruption or accidents caused by the exhaustion of power of the hidden danger electric locomotive during the mineral transportation process. In addition, the carrying power of the hidden danger electric locomotive is adjusted after comprehensively analyzing the hidden danger transport volume and the remaining battery capacity of the hidden danger electric locomotive, so as to improve the adaptability between the adjusted carrying power and the actual carrying situation of the hidden danger electric locomotive, thereby facilitating the improvement of the safety and reliability of the hidden danger electric locomotive when transporting at a low carrying power.

[0011] In one possible implementation, the method further includes: Acquire the breathing positioning signal of each target transport vehicle during the transportation process, and determine whether there is a target transport vehicle with hidden dangers based on the breathing positioning signal of each target transport vehicle and the target transportation route; If so, obtaining the corresponding transport vehicle communication record of the at least one target transport vehicle within the first preset time period, and determining the communication point position of the hidden danger target transport vehicle within the first preset time period based on the communication records of each transport vehicle; Determine a predicted transport route corresponding to the hidden danger target transport vehicle based on the communication point position of the hidden danger target transport vehicle within the first preset time period; Verify whether the target transport vehicle for hidden danger has a transport deviation based on the predicted transport route and the target transport route; If so, a corrected transport route is determined based on the respiratory positioning information and the target transport route, and the hidden danger target transport vehicle is controlled to return to the target transport route based on the corrected transport route.

[0012] By adopting the above technical scheme, by comparing and analyzing the breathing positioning signal fed back by the target transport vehicle and the corresponding target transportation route, it is convenient to timely discover and judge whether there is a target transport vehicle with hidden dangers, that is, a target transport vehicle that may deviate from the target transportation route. When the target transport vehicle with hidden dangers is first determined, the route is not directly corrected, but the predicted transportation route of the target transport vehicle with hidden dangers is determined by analyzing the communication records between the target transport vehicle with hidden dangers and other target transport vehicles in the past period of time, and the current transportation situation of the target transport vehicle with hidden dangers is obtained indirectly, instead of relying solely on the breathing positioning signal fed back by the target transport vehicle with hidden dangers. If the hidden danger target transport vehicle still deviates from the transportation after verification based on the predicted transportation route, its transportation route is corrected, which is convenient to avoid unnecessary correction operations and reduce resource waste. At the same time, timely transportation route correction can also improve the safety of hidden danger target transport vehicles in the mineral transportation process.

[0013] In one possible implementation, the method further includes: Based on the breathing positioning signal and the preset signal characteristics of each target transport vehicle, determining whether there is a faulty transport vehicle, wherein the faulty transport vehicle is a target transport vehicle whose breathing positioning signal contains the preset signal characteristics; If yes, the fault location of the faulty transport vehicle is obtained, and fault information is determined based on the preset segment downhole image and the fault location, wherein the fault information includes adjacent segments and segment distances; When it is detected that the faulty transport vehicle has been repaired, a positioning instruction is generated based on the fault information, and the faulty transport vehicle after the repair is controlled to return to the original fault point based on the positioning instruction.

[0014] By adopting the above technical solution, the breathing positioning signal of each target transport vehicle is detected in real time, so that the faulty transport vehicle can be identified in time. By using the preset segment underground image and the fault point of the faulty transport vehicle, the environment and conditions of the fault location can be intuitively understood, and accurate fault location information can be provided to relevant maintenance personnel. At the same time, the fault information can also ensure that the faulty transport vehicle can accurately return to the original fault point after maintenance is completed, so as to avoid transportation delays caused by inaccurate positioning.

[0015] In one possible implementation, the method further includes: Acquire at least one fault transport route included in a second preset time period, and determine a target fault route based on the at least one fault transport route; setting a target support area based on the target fault route, determining a support electric locomotive based on the target support area, and determining a carrying range of each support electric locomotive based on the target support area; When it is detected that the target fault route includes a faulty transport vehicle, based on the fault location of the faulty transport vehicle and the current support location corresponding to each support electric locomotive, a target support electric locomotive is determined from the support electric locomotives included in the target support area; The target support electric locomotive is controlled to replace the faulty transport vehicle.

[0016] By adopting the above technical solution, by analyzing the fault transportation routes recorded in the historical time period, it is easy to identify the high-prone sections of the road. By setting up support electric locomotives around the high-prone sections of the road and limiting the transportation range of the support electric locomotives, when a roadblock transport vehicle appears in the high-prone sections, it can be ensured that the target support electric locomotive can quickly and accurately reach the fault point and provide timely support and alternative services, thereby avoiding transportation interruptions caused by faults.

[0017] In a second aspect, the present application provides a synchronous positioning system, which adopts the following technical solution: A synchronous positioning system, the synchronous positioning system comprising: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the above-mentioned method for synchronous positioning of an automated electric locomotive for underground transportation.

[0018] In a third aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium includes: a computer program that can be loaded by a processor and execute the above-mentioned underground transportation automated electric locomotive synchronous positioning method.

[0019] In a fourth aspect, the present application provides a computer program product, which adopts the following technical solution: A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the above-mentioned method for synchronous positioning of an automated electric locomotive for underground transportation is implemented.

[0020] In summary, the present application includes at least one of the following beneficial technical effects: The vehicle selection conditions are determined by the transportation position and transportation volume, and then the underground electric locomotives are preliminarily screened based on the vehicle selection conditions, so as to reduce the low transportation efficiency or waste of resources caused by improper vehicle selection. The position of the initial electric locomotive is located by using a high-precision position sensor to reduce the impact of underground noise or environment on positioning accuracy. The initial transportation route of each initial electric locomotive is determined based on the precise pulse position signal and transportation position, which helps to avoid unnecessary paths and optimize the transportation path, thereby improving the transportation efficiency. In addition, by identifying the non-power supply section and conducting a secondary screening based on the remaining storage capacity of each initial electric locomotive, it is convenient to avoid transportation interruptions due to insufficient power, thereby improving the reliability and efficiency of the transportation process.

[0021] Route matching makes it easy to select associated electric locomotive sets that have similar initial transportation routes and can be used for collaborative transportation. When determining whether each initial electric locomotive in the associated electric locomotive set can complete the transportation, there is no need to analyze and judge one by one. Instead, the associated electric locomotive set is regarded as a whole, and multiple initial electric locomotives are combined for analysis, which is convenient for improving the efficiency of determining the target transport vehicle. In addition, since each associated electric locomotive in the associated electric locomotive set can be used for collaborative transportation, it is convenient to reduce the risk of transportation interruption caused by the failure of a single electric locomotive. When encountering non-power supply sections or complex terrain, the associated electric locomotive sets can support each other and improve the efficiency of the transportation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a flow chart of a method for synchronous positioning of an automated electric locomotive for underground transportation in an embodiment of the present application; Figure 2 It is a schematic diagram of a process of determining a target transport vehicle in an embodiment of the present application; Figure 3 It is a structural diagram of a synchronous positioning system in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following is combined with Figures 1 to 3 This application is described in further detail.

[0024] After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of this application.

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] It should be noted that in the optional embodiments of the present application, the object information and other related data involved, when the embodiments in the present application are applied to specific products or technologies, need to obtain the permission or consent of the object, and the collection, use and processing of the relevant data need to comply with the relevant laws, regulations and standards of the relevant countries and regions. In other words, if the embodiments of the present application involve data related to the object, it needs to be obtained with the authorization and consent of the object, the authorization and consent of the relevant departments, and in compliance with the relevant laws, regulations and standards of the country and region. If personal information is involved in the embodiments, the acquisition of all personal information needs to obtain the consent of the individual. If sensitive information is involved, the separate consent of the information subject needs to be obtained. The embodiments also need to be implemented with the authorization and consent of the object.

[0027] Specifically, the embodiment of the present application provides a method for synchronous positioning of an automated electric locomotive for underground transportation, which is executed by a synchronous positioning system, and the synchronous positioning system can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, and the embodiment of the present application does not limit this.

[0028] refer to Figure 1 , Figure 1 1 is a flow chart of a method for synchronous positioning of an automated electric locomotive for underground transportation in an embodiment of the present application, the method comprising steps S110 to S150, wherein: Step S110: Acquire transportation demand information, and determine vehicle selection conditions based on the transportation demand information. The transportation demand information includes transportation location and transportation volume, and the vehicle selection conditions include vehicle selection area and vehicle load.

[0029] Specifically, the transportation demand information includes the transportation starting position, transportation destination and transportation volume of underground minerals, wherein the transportation destination can be a pit yard, a transfer station or other designated mineral concentration location, and the transportation demand information can be uploaded to the synchronous positioning system by relevant staff. In order to ensure the transportation efficiency of underground minerals, suitable electric locomotives are generally selected from the surrounding area of ​​the minerals to be transported to transport the minerals, that is, it is necessary to determine the vehicle selection area based on the transportation starting position, and the vehicle selection area is composed of the transportation starting position as the center and the vehicle selection distance as the radius, wherein different transportation volumes correspond to different vehicle selection distances, and the vehicle selection distance corresponding to the transportation volume can be determined based on a preset vehicle selection distance mapping relationship, and the preset vehicle selection distance mapping relationship is the corresponding relationship between the transportation volume and the vehicle selection distance, and the larger the transportation volume, the larger the corresponding vehicle selection distance, and the specific content of the preset vehicle selection distance mapping relationship is not specifically limited in the embodiment of the present application, and can be determined by relevant staff based on historical experimental data and uploaded to the synchronous positioning system.

[0030] The vehicle load in the vehicle selection condition is used to characterize the carrying capacity that the electric locomotive needs to have when selecting the electric locomotive to transport the minerals at the starting position of the transportation. The vehicle load corresponds to the transportation volume. The larger the transportation volume, the larger the vehicle load corresponding to the required electric locomotive. For example, when the transportation volume is a, the carrying capacity in the vehicle selection condition can be determined as 1 ton, that is, when the electric locomotive is selected to transport the minerals with a transportation volume of a, the electric locomotive must be able to carry at least 1 ton of minerals at a time; when the transportation volume is b, the carrying capacity in the vehicle selection condition can be determined as 1.5 tons, that is, when the electric locomotive is selected to transport the minerals with a transportation volume of b, the electric locomotive must be able to carry at least 1.5 tons of minerals at a time. Among them, the transportation volume a is less than the transportation volume b, and there is a corresponding relationship between the transportation volume and the vehicle load in the vehicle selection condition. Based on the corresponding relationship, the vehicle load in the vehicle selection condition can be determined according to the transportation volume. The specific content of the corresponding relationship is not specifically limited in the embodiment of the present application.

[0031] Step S120: determining the initial electric locomotive based on the vehicle selection conditions, and acquiring the corresponding pulse position signal from the encoder of each initial electric locomotive.

[0032] Specifically, there may be multiple initial electric locomotives determined based on the vehicle selection conditions, but not all initial electric locomotives are selected for mineral transportation. Each initial electric locomotive is equipped with an encoder, which can generate the parameters such as the rotation speed and rotation angle generated by the initial electric locomotive during operation. When the initial electric locomotive moves, the encoder will start to generate a pulse position signal. Based on the pulse position signal, the current position of each initial electric locomotive can be located, wherein the encoder set in the initial electric locomotive can be an incremental encoder or an absolute encoder. The encoder is generally installed on the drive shaft of the initial electric locomotive, and after installation, necessary calibration operations are generally performed to ensure the rigid connection and measurement accuracy between the encoder and the drive shaft of the initial electric locomotive. The specific encoder is not specifically limited in the embodiment of the present application. Since the encoder has high precision and stability, and the encoder is directly installed on the drive shaft, it can accurately reflect the motion state of the drive shaft in real time. Therefore, when the pulse position signal collected by the encoder is used to locate the current position of the initial electric locomotive, it has higher accuracy. The current position of each initial electric locomotive can be determined based on the pulse position signal corresponding to each initial electric locomotive.

[0033] Step S130: Determine the initial transport route corresponding to each initial electric locomotive according to the pulse position signal and the transport position of each initial electric locomotive.

[0034] Specifically, since the transport position includes the transport start position and the transport destination, the first transport route between the initial electric locomotive and the transport start position can be determined based on the pulse position signal of the initial electric locomotive, the transport start position and the underground map, and the second transport route can be determined based on the transport start position, the transport destination and the underground map. The first transport route and the second transport route together constitute the initial transport route corresponding to the initial electric locomotive. The method for determining the initial transport route is not specifically limited in the embodiment of the present application, and the underground map can be uploaded to the synchronous positioning system in advance by relevant staff. Based on the above method, the initial transport route corresponding to any initial electric locomotive can be determined.

[0035] Step S140: Identify the non-powered sections in each initial transportation route, and determine whether each initial electric locomotive can complete the transportation of minerals of the corresponding vehicle transport volume based on the remaining storage capacity of each initial electric locomotive and the corresponding non-powered section.

[0036] Specifically, the sections of roads underground used for electric locomotives to travel and move include power supply sections and non-power supply sections. The power supply sections are mainly sections that provide power supply to electric locomotives. These sections are usually equipped with electrical equipment and lines to ensure that the electric locomotives can travel normally. When the electric locomotive is in the power supply section, it can obtain electricity from overhead lines through equipment such as pantographs or pantographs, or supply electricity through conductive facilities such as rails; non-power supply sections refer to sections that cannot directly provide power supply to electric locomotives. These sections may not be able to directly supply power to electric locomotives due to their long distance from power supply facilities, complex geological conditions or other reasons. When the electric locomotive is in the non-power supply section, it can be powered by the electric locomotive's own energy storage device, which is generally a battery.

[0037] The non-power supply section in each initial transport route can be identified based on the preset section type classification information, wherein the preset section type classification information includes the section type of each section, and the section type includes the power supply section type and the non-power supply section type. The preset section type classification information can be uploaded to the synchronous positioning system in advance by relevant staff. For any initial electric locomotive, the remaining battery capacity of the initial electric locomotive can be collected by the power collection equipment installed at the initial electric locomotive and then uploaded to the synchronous positioning system. The remaining battery capacity of the initial electric locomotive is mainly used to drive the initial electric locomotive to pass through the non-power supply section. When judging whether each initial electric locomotive can complete the mineral transportation of the corresponding vehicle-borne transportation volume according to the corresponding remaining battery capacity of the initial electric locomotive and the corresponding non-power supply section, the length and slope of the non-power supply section can be first identified, and then the corresponding unit distance energy consumption of the initial electric locomotive when traveling on the non-power supply section can be calculated according to the vehicle-borne transportation volume of the initial electric locomotive on the corresponding non-power supply section. Finally, the total energy consumption required for the initial electric locomotive to travel on the non-power supply section is calculated according to the length of the non-power supply section and the energy consumption per unit distance. If the remaining battery capacity of the initial electric locomotive is greater than the total energy consumption, it indicates that the initial electric locomotive can complete the mineral transportation of the corresponding vehicle-borne transportation volume; if the remaining battery capacity of the initial electric locomotive is not greater than the total energy consumption, it indicates that the initial electric locomotive cannot complete the mineral transportation of the corresponding vehicle-borne transportation volume. Among them, since the non-power supply section may be the first transport route or the second transport route, when calculating the unit distance energy consumption corresponding to the initial electric locomotive, it is necessary to determine the first unit energy consumption corresponding to the first transport route and the second unit energy consumption corresponding to the second transport route, and finally calculate the total energy consumption based on the first unit energy consumption and the second unit energy consumption.

[0038] Step S150: determine the initial electric locomotive that can complete the mineral transportation as the transport electric locomotive, determine at least one target transport vehicle from at least one transport electric locomotive based on the transportation volume, and control the at least one target transport vehicle to transport the mineral according to the corresponding target transportation route.

[0039] Specifically, the initial electric locomotives that cannot complete the transportation of minerals corresponding to the vehicle-borne transportation volume will be eliminated, that is, the remaining at least one target transport vehicle will not encounter transportation interruptions due to insufficient power during the transportation of minerals. Since at least one target transport vehicle is determined after two screenings, the at least one target transport vehicle determined may be able to transport all the minerals to be transported from the transportation starting position to the transportation destination after a single transportation, or may not be able to transport all the minerals to be transported from the transportation starting position to the transportation destination. If all the target transport vehicles are unable to transport all the minerals to be transported after a single transportation, other electric locomotives can be re-screened according to the remaining minerals to be transported to transport the remaining minerals to be transported.

[0040] For the embodiments of the present application, vehicle selection conditions are determined by transport position and transport volume, and then the underground electric locomotives are preliminarily screened based on the vehicle selection conditions, so as to reduce low transport efficiency or waste of resources caused by improper vehicle selection. The position of the initial electric locomotive is located by using a high-precision position sensor, so as to reduce the impact of underground noise or environment on positioning accuracy. Then, based on the precise pulse position signal and transport position, the initial transport route of each initial electric locomotive is determined, which helps to avoid unnecessary paths and optimize the transport path, thereby facilitating the improvement of transport efficiency. In addition, by identifying non-power supply sections and performing secondary screening based on the remaining storage capacity of each initial electric locomotive, it is convenient to avoid transport interruptions due to insufficient power, thereby improving the reliability and efficiency of the transport process.

[0041] Further, in order to improve the efficiency of determining the target transport vehicle, the method provided in the embodiment of the present application further includes steps S210 to S240 after determining the initial transport route corresponding to each initial electric locomotive. Figure 2 As shown, where: Step S210: Match the initial transport route corresponding to each initial electric locomotive, determine whether there is an associated electric locomotive group, and the route matching value of the initial transport route between each initial electric locomotive in the associated electric locomotive group is higher than a preset matching threshold.

[0042] Specifically, since the positions of different initial electric locomotives in the vehicle selection area may be adjacent or not, the initial transport routes corresponding to different initial electric locomotives may be similar. Any two initial transport routes can be route matched, and the associated electric locomotive group is determined based on the route matching value between any two initial transport routes. The route matching value between the initial transport routes corresponding to any two initial electric locomotives in the associated electric locomotive group is higher than the preset matching threshold. The associated locomotive group contains at least two initial electric locomotives, and the specific number is not specifically limited in the embodiment of the present application. The preset matching threshold can be 85% or 90%. The specific value is not specifically limited in the embodiment of the present application and can be determined by relevant staff based on historical experimental data and uploaded to the synchronous positioning system.

[0043] Step S220: If yes, then based on the remaining power storage capacity of each initial electric locomotive in the associated electric locomotive group, determine the average power storage capacity of the associated electric locomotive group.

[0044] Step S230: Determine the average value of the non-powered sections of the associated electric locomotive groups based on the non-powered sections in the initial transportation route of each initial electric locomotive in the associated electric locomotive groups.

[0045] Specifically, when determining whether each initial electric locomotive in an associated electric locomotive set can complete the transportation, it is not necessary to analyze and judge one by one, but to regard the associated electric locomotive set as a whole and conduct a combined analysis on multiple initial electric locomotives, that is, when judging whether each initial electric locomotive in an associated electric locomotive set can complete the mineral transportation of the corresponding vehicle-carrying volume, the method adopted is still to judge by comparing the remaining power storage of the initial electric locomotive with the total energy consumption corresponding to the corresponding non-power supply section. The difference is that it is necessary to first calculate the average power storage corresponding to the associated electric locomotive set based on the remaining power storage of each initial electric locomotive in the associated electric locomotive set, and then calculate the average energy consumption corresponding to the associated electric locomotive set based on the non-power supply section corresponding to each initial electric locomotive in the associated electric locomotive set. When calculating the average energy consumption, the average non-power supply section corresponding to the associated electric locomotive group can be determined based on the non-power supply section included in the initial transport route corresponding to each initial electric locomotive in the associated electric locomotive group, and then the average slope corresponding to the associated electric locomotive group can be determined based on the slope corresponding to each non-power supply section. Finally, the average energy consumption corresponding to the associated electric locomotive group is determined based on the average non-power supply section and the average slope corresponding to the associated electric locomotive group. The specific method can refer to the method of determining the total energy consumption corresponding to each initial electric locomotive in the above embodiment, which will not be repeated here.

[0046] Step S240: Based on the average value of the power storage and the average value of the non-power supply section, determine whether the associated electric locomotive group can complete the mineral transportation of the corresponding vehicle-borne transportation volume, and if so, determine at least one target transportation vehicle based on the associated electric locomotive group.

[0047] Specifically, when the average power storage capacity corresponding to the associated electric locomotive sets is higher than the average energy consumption, it indicates that each initial electric locomotive in the associated electric locomotive sets can participate in mineral transportation as one of the target transport vehicles. In addition, since the associated electric locomotives in the associated electric locomotive sets can cooperate in transportation, it is convenient to reduce the risk of transportation interruption caused by the failure of a single electric locomotive. When encountering non-power supply sections or complex terrain, the associated electric locomotive sets can support each other and improve the efficiency of the transportation process.

[0048] Furthermore, in order to improve the safety of each initial electric locomotive in the associated electric locomotive group when transporting minerals, the process of transporting minerals based on the associated electric locomotive group may further include: The initial electric locomotive whose remaining battery capacity in the associated electric locomotive group is lower than the average battery capacity is determined as the electric locomotive with hidden danger; the section type of the current driving section is detected in real time. When the section type is a non-power supply section, the carrying power of the electric locomotive with hidden danger is adjusted based on the hidden danger vehicle transport volume and remaining battery capacity of the electric locomotive with hidden danger.

[0049] Specifically, if the average power storage corresponding to the associated electric train group is higher than the average energy consumption, it indicates that all the initial electric trains contained in the associated electric train group can be used as one of the target transport vehicles. Since the initial transport routes corresponding to each initial electric train in the associated electric train group are relatively similar, when the associated electric train group is used to transport minerals, at least two initial electric trains contained in the associated electric train group are generally connected and transported together. When at least two initial electric trains in the associated electric train group are connected, a connection request can be generated and sent to the terminal device of the relevant staff to prompt the relevant staff to connect at least two initial electric trains. Since the remaining power storage corresponding to different initial electric trains in the associated electric train group is different, when there is a hidden danger electric train with a remaining power storage lower than the average power storage, it can still be supported by the driving force of other initial electric trains in the associated electric train group to pass through the non-power supply section, thereby ensuring that the hidden danger electric train can complete the transportation of minerals corresponding to the vehicle-loaded transportation volume.

[0050] However, when a motor vehicle with hidden dangers is traveling in a non-powered section, if it continues to travel at the original driving power, the motor vehicle with hidden dangers may exhaust the remaining power before completing the non-powered section. Directly shutting down the motor vehicle with hidden dangers may affect the power distribution and system stability of the entire associated motor vehicle group. Therefore, the carrying power of the motor vehicle with hidden dangers is generally adjusted according to the hidden danger on-board transport volume and the remaining power storage of the motor vehicle with hidden dangers, so as to avoid the motor vehicle with hidden dangers from still traveling at the original carrying power when the power storage is low. The specific implementation process of adjusting the carrying power of the motor vehicle with hidden dangers based on the hidden danger on-board transport volume and the remaining power storage of the motor vehicle with hidden dangers may include: Step 1, setting the remaining battery capacity adjustment coefficient: in order to allow the hidden danger electric locomotive to operate at a higher carrying power when the remaining battery capacity of the hidden danger electric locomotive is high, and to allow the hidden danger electric locomotive to operate at a lower carrying power when the remaining battery capacity is low, and to avoid excessive discharge at the same time, the remaining battery capacity adjustment coefficient Ke can be determined according to the current remaining battery capacity and full power of the hidden danger electric locomotive; Step 2, calculate the adjusted carrying power: multiply the remaining battery capacity adjustment coefficient Ke by the original carrying power of the hidden danger electric locomotive to obtain the adjusted carrying power. The adjusted carrying power should not exceed the original carrying power, and should not be lower than the preset minimum carrying power threshold to ensure that the hidden danger electric locomotive operates normally at a low carrying power.

[0051] By comprehensively analyzing the hazardous transport volume and remaining battery capacity of the hazardous electric locomotive, the carrying power of the hazardous electric locomotive is adjusted to improve the adaptability between the adjusted carrying power and the actual carrying situation of the hazardous electric locomotive, thereby improving the safety and reliability of the hazardous electric locomotive when transporting at low carrying power.

[0052] Furthermore, in order to improve the safety of the potential hazard target transport vehicle during the mineral transportation process, the method provided in the embodiment of the present application further includes: Acquire the breathing positioning signal of each target transport vehicle during the transportation process, and determine whether there is a target transport vehicle with hidden dangers based on the breathing positioning signal of each target transport vehicle and the target transportation route.

[0053] Specifically, the breathing positioning signal can be emitted by the radio frequency signal transmitter loaded on each target transport vehicle, which can be received by the synchronous positioning management system and can also be received by other target transport vehicles to realize communication between target transport vehicles. By analyzing the breathing positioning signal emitted by each target transport vehicle during transportation, it is convenient to judge whether the target transport vehicle is transported according to the corresponding target transportation route. The actual transportation route of each target transport vehicle can be determined by the breathing positioning signal, and the actual transportation route is compared with the corresponding target transportation route. When the route matching value between the actual transportation route and the target transportation route is lower than the preset matching threshold, it indicates that the transportation route of the target transport vehicle has deviated during the transportation of minerals. At this time, the corresponding target transport vehicle can be determined as a target transport vehicle with hidden dangers.

[0054] If so, obtain the corresponding transport vehicle communication record of at least one target transport vehicle within the first preset time period, and determine the communication point position of the hidden danger target transport vehicle within the first preset time period based on the communication record of each transport vehicle; based on the communication point position of the hidden danger target transport vehicle within the first preset time period, determine the predicted transport route corresponding to the hidden danger target transport vehicle.

[0055] Specifically, due to the complex underground environment, such as temperature, humidity, pressure, noise, etc., which may affect the transmission of the breathing positioning signal, when the transport route corresponding to the hidden danger target transport vehicle is analyzed based on the received breathing positioning signal and it is found that there may be deviations, the actual transport route corresponding to the hidden danger target transport vehicle may have deviations or may not have deviations. At this time, in order to verify whether the actual transport route of the hidden danger target transport vehicle has deviated, the communication records between the hidden danger target transport vehicle and other target transport vehicles within a period of time can be further analyzed, and the communication points where the hidden danger target transport vehicle appears within a period of time can be located based on the communication records, and then the transport route of the hidden danger target transport vehicle within the first preset time period can be predicted based on each communication point. In addition to checking the transport route of the hidden danger target transport vehicle by analyzing the breathing positioning signal emitted by the hidden danger target transport vehicle, the predicted transport route obtained based on the communication point can also be used to check the transport route of the hidden danger target transport vehicle.

[0056] The first preset time period may be a period of time before it is determined that there is a target transport vehicle with hidden dangers. The duration corresponding to the first preset time period may be 5 minutes or 8 minutes. The specific duration is not specifically limited in the embodiment of the present application. In addition to being loaded with a radio frequency signal transmitter, each target transport vehicle is also equipped with a receiver. Once the interval distance between the two target transport vehicles is less than the call distance, the two target transport vehicles can communicate with each other.

[0057] Based on the predicted transport route and the target transport route, verify whether the target transport vehicle with hidden dangers has any transport deviation; if so, determine the correct transport route based on the breathing positioning information and the target transport route, and control the target transport vehicle with hidden dangers to return to the target transport route based on the corrected transport route.

[0058] Specifically, if after verification of the predicted transport route, it is still determined that the hidden danger target transport vehicle has a transport route deviation, then it can be characterized that there is no abnormality in the breathing positioning signal sent by the hidden danger target transport vehicle to the synchronous positioning system, and the current position of the hidden danger target transport vehicle can be determined based on the breathing positioning signal sent by the hidden danger target transport vehicle, and then the corrected transport route is determined based on the target transport route and the current position. The corrected transport route is the shortest distance between the current position of the hidden danger target transport vehicle and the corresponding target transport route. Based on the corrected transport route, the hidden danger target transport vehicle can quickly and accurately feedback to the target transport route. If after verification of the predicted transport route, it is determined that the hidden danger target transport vehicle has no transport route deviation, then it can be characterized that the breathing positioning signal sent by the hidden danger target transport vehicle to the synchronous positioning system is inaccurate, and there is no need to generate a corrected transport route.

[0059] When a hidden danger target transport vehicle is identified for the first time, the route is not corrected directly. Instead, the predicted transportation route of the hidden danger target transport vehicle is determined by analyzing the communication records between the hidden danger target transport vehicle and other target transport vehicles in the past period of time, and the current transportation status of the hidden danger target transport vehicle is obtained indirectly, rather than relying solely on the breathing positioning signal fed back by the hidden danger target transport vehicle. If the hidden danger target transport vehicle still has transportation deviations after verification based on the predicted transportation route, its transportation route will be corrected, so as to avoid unnecessary correction operations and reduce waste of resources. At the same time, timely transportation route correction can also improve the safety of hidden danger target transport vehicles during mineral transportation.

[0060] Furthermore, in order to ensure that the faulty transport vehicle can accurately return to the original fault location after the maintenance is completed, the method provided in the embodiment of the present application also includes: Based on the breathing positioning signal and preset signal characteristics of each target transport vehicle, determine whether there is a faulty transport vehicle. The faulty transport vehicle is a target transport vehicle whose breathing positioning signal contains preset signal characteristics. If so, obtain the fault point of the faulty transport vehicle, and determine the fault information based on the preset segment downhole image and the fault point. The fault information includes adjacent segments and segment distances. When it is detected that the faulty transport vehicle has been repaired, generate a positioning instruction based on the fault information, and control the faulty transport vehicle after the repair is completed to return to the original fault point based on the positioning instruction.

[0061] Specifically, a feature recognition algorithm can be used to determine whether the breathing positioning signal contains preset signal features. If so, the target transport vehicle corresponding to the breathing positioning signal containing the preset signal features is determined to be a faulty transport vehicle, wherein the preset signal features include but are not limited to abnormal vibration frequency, abnormal speed change rate, etc. The specific preset signal features are not specifically limited in the embodiments of the present application and can be determined by relevant staff based on historical experimental data and uploaded to the synchronous positioning system.

[0062] If a faulty transport vehicle is detected, it needs to be reported in time so that relevant maintenance personnel can inspect it in time. The preset segment underground image can determine the adjacent segment closest to the fault point, as well as the segment distance between the fault point and the adjacent segment. Based on the fault information, it is convenient to quickly locate the fault point in the actual underground environment. The preset segment underground image contains the underground image and each marked segment. The segment division helps to achieve regional management. The preset segment underground image can be uploaded to the synchronous positioning system by relevant staff according to the regional division results. After the faulty transport vehicle is repaired, it can be put into use directly. The specific place of use can be determined based on the fault information. That is, according to the generated positioning instruction, the faulty transport vehicle can be controlled to automatically drive to the original fault point to avoid affecting the transportation task of the faulty transport vehicle, and it is also convenient to avoid transportation delays caused by inaccurate positioning.

[0063] Furthermore, the technical solution provided by the embodiment of the present application also includes: Acquire at least one fault transport route included in a second preset time period, and determine a target fault route based on the at least one fault transport route; set a target support area based on the target fault route, determine a support locomotive based on the target support area, and determine a transport range of each support locomotive based on the target support area; when it is detected that the target fault route includes a faulty transport vehicle, determine a target support locomotive from the support locomotives included in the target support area based on the fault point of the faulty transport vehicle and the current support point corresponding to each support locomotive; and control the target support locomotive to replace the faulty transport vehicle.

[0064] Specifically, the second preset time period is a period of time before the current moment. The duration corresponding to the second preset time period is not specifically limited in the embodiment of the present application. By analyzing the faulty transport routes with faulty transport vehicles in the historical time period, the target faulty route is determined. The target faulty route is the faulty transport route with the most faulty transport vehicles in the second preset time period, that is, the high-fault section. In order to reduce the impact of the target transport vehicle failure on mineral transportation, additional support electric locomotives can be added around the faulty transport route, so that when a faulty transport vehicle appears in the high-fault section, it can be ensured that the support electric locomotive can quickly reach the fault point.

[0065] The target support area is the surrounding area of ​​the target fault route, which can be extended laterally along the target fault route. Different target fault routes correspond to different target support areas. The more faults a faulty transport vehicle has in the target fault route within the second preset time period, the longer the distance extended laterally when determining the target support area. There is a corresponding relationship between the number of faults and the extension distance. The specific content of the corresponding relationship can be determined by relevant staff based on historical experimental data and uploaded to the synchronous positioning system. The electric locomotive located in the target support area can be determined as a supporting electric locomotive, and the supporting electric locomotive can only carry minerals in the target support area. Once a faulty target transport vehicle appears in the target fault route, the supporting electric locomotive located in the target support area can replace the faulty target transport vehicle in time.

[0066] Since the target fault route may be long, the support points of different supporting electric locomotives in the target support area may also be different. Therefore, when a faulty target transport vehicle appears in the target fault route, the fault point closest to the fault point can be determined based on the fault point and the current support point corresponding to each supporting electric locomotive, and then the supporting electric locomotive corresponding to the fault point is determined as the target supporting electric locomotive, wherein the method of calculating the distance between the fault point and each supporting point based on the fault point and the current support point corresponding to each supporting electric locomotive is not specifically limited in the embodiment of the present application. By controlling the target supporting electric locomotive to replace the faulty target transport vehicle in time, it is convenient to avoid transportation interruption caused by the fault.

[0067] The present application provides a synchronous positioning system, such as Figure 3 As shown, Figure 3 The synchronous positioning system 300 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the synchronous positioning system 300 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the synchronous positioning system 300 does not constitute a limitation on the embodiments of the present application.

[0068] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0069] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3The fact that only one line is used in the diagram does not mean that there is only one bus or only one type of bus.

[0070] The memory 303 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0071] The memory 303 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the contents shown in the above method embodiment.

[0072] The synchronous positioning system includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc. Figure 3 The synchronous positioning system shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0073] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding content in the aforementioned method embodiment.

[0074] An embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method in any of the above embodiments is implemented.

[0075] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0076] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for synchronous positioning of an automated electric locomotive for underground transportation, characterized in that: include: Acquire transportation demand information, and determine vehicle selection conditions based on the transportation demand information, wherein the transportation demand information includes transportation location and transportation volume, and the vehicle selection conditions include vehicle selection area and vehicle load; Determining an initial electric locomotive based on the vehicle selection conditions, and acquiring a corresponding pulse position signal from an encoder of each initial electric locomotive; Determining an initial transport route corresponding to each initial electric locomotive according to the pulse position signal of each initial electric locomotive and the transport position; Identify the non-powered section in each initial transportation route, and determine whether each initial electric locomotive can complete the transportation of the mineral corresponding to the vehicle transportation volume based on the remaining storage capacity of each initial electric locomotive and the corresponding non-powered section; An initial electric locomotive that can complete mineral transportation is determined as a transport electric locomotive, and at least one target transport vehicle is determined from at least one transport electric locomotive based on the transportation volume, and the at least one target transport vehicle is controlled to transport minerals according to a corresponding target transportation route.

2. A method for synchronous positioning of an automated electric locomotive for underground transportation according to claim 1, characterized in that: After determining the initial transport route corresponding to each initial electric locomotive, it also includes: Matching the initial transport routes corresponding to each initial electric locomotive, determining whether there is an associated electric locomotive group, and the route matching value of the initial transport routes between each initial electric locomotive in the associated electric locomotive group is higher than a preset matching threshold; If yes, determining the average power storage value of the associated electric locomotive group based on the remaining power storage value of each initial electric locomotive in the associated electric locomotive group; Determine the average value of the non-powered section of the associated electric locomotive group based on the non-powered section in the initial transportation route of each initial electric locomotive in the associated electric locomotive group; Based on the average value of the power storage and the average value of the non-power supply section, it is determined whether the associated electric locomotive group can complete the mineral transportation of the corresponding vehicle-borne transportation volume. If so, the at least one target transport vehicle is determined based on the associated electric locomotive group.

3. A method for synchronous positioning of an automated electric locomotive for underground transportation according to claim 2, characterized in that: The process of transporting minerals based on the associated electric train set also includes: Determine an initial electric locomotive with a remaining power storage capacity lower than the average power storage capacity in the associated electric locomotive group as a potential electric locomotive; The road section type of the current driving section is detected in real time. When the road section type is a non-power supply section, the carrying power of the hidden danger electric locomotive is adjusted based on the hidden danger vehicle transport volume and the remaining storage capacity of the hidden danger electric locomotive.

4. The method for synchronous positioning of an automated electric locomotive for underground transportation according to claim 1, characterized in that: Also includes: Acquire the breathing positioning signal of each target transport vehicle during the transportation process, and determine whether there is a target transport vehicle with hidden dangers based on the breathing positioning signal of each target transport vehicle and the target transportation route; If so, obtaining the corresponding transport vehicle communication record of the at least one target transport vehicle within the first preset time period, and determining the communication point position of the hidden danger target transport vehicle within the first preset time period based on the communication records of each transport vehicle; Determine a predicted transport route corresponding to the hidden danger target transport vehicle based on the communication point position of the hidden danger target transport vehicle within the first preset time period; Verify whether the target transport vehicle for hidden danger has a transport deviation based on the predicted transport route and the target transport route; If so, a corrected transport route is determined based on the respiratory positioning information and the target transport route, and the hidden danger target transport vehicle is controlled to return to the target transport route based on the corrected transport route.

5. A method for synchronous positioning of an automated electric locomotive for underground transportation according to claim 4, characterized in that: Also includes: Based on the breathing positioning signal and the preset signal characteristics of each target transport vehicle, determining whether there is a faulty transport vehicle, wherein the faulty transport vehicle is a target transport vehicle whose breathing positioning signal contains the preset signal characteristics; If yes, the fault location of the faulty transport vehicle is obtained, and fault information is determined based on the preset segment downhole image and the fault location, wherein the fault information includes adjacent segments and segment distances; When it is detected that the faulty transport vehicle has been repaired, a positioning instruction is generated based on the fault information, and the faulty transport vehicle after the repair is controlled to return to the original fault point based on the positioning instruction.

6. A method for synchronous positioning of an automated electric locomotive for underground transportation according to claim 5, characterized in that: Also includes: Acquire at least one fault transport route included in a second preset time period, and determine a target fault route based on the at least one fault transport route; setting a target support area based on the target fault route, determining a support electric locomotive based on the target support area, and determining a carrying range of each support electric locomotive based on the target support area; When it is detected that the target fault route includes a faulty transport vehicle, based on the fault location of the faulty transport vehicle and the current support location corresponding to each support electric locomotive, a target support electric locomotive is determined from the support electric locomotives included in the target support area; The target support electric locomotive is controlled to replace the faulty transport vehicle.

7. A synchronous positioning system, characterized in that: The synchronous positioning system includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute a method for synchronous positioning of an automated electric locomotive for underground transportation as described in any one of claims 1-6.

8. A computer-readable storage medium, characterized in that: include: A computer program is stored which can be loaded by a processor and execute a method for synchronous positioning of an automated electric locomotive for underground transportation as described in any one of claims 1-6.

9. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, implements the steps of a method for synchronous positioning of an automated electric locomotive for underground transportation according to any one of claims 1-6.

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