Trackless rubber-tyred vehicle path deviation alarm based on UWB positioning technology

Abstract

The Intelligent Demonstration Coal Mine Acceptance Management Measures （Trial） stipulates that the transportation of type I coal mine trackless rubber-tyred vehicles must have the function of monitoring vehicle running state parameters （over speed, path deviation alarm, motion trajectory, etc. ）. In order to meet the rigid requirements of path deviation alarm in acceptance criteria, a path deviation alarm method for trackless rubber-tyred vehicle based on UWB positioning technology is designed. Firstly, based on graph theory, this method realizes the information structuring of underground roadway network. Secondly, sliding window filtering is performed on the vehicle positioning data output by UWB positioning base station to improve the robustness of the method. Thirdly, the A * search algorithm is used to plan the transportation path, and the weight function and judgment factor are added to the evaluation function of the search algorithm to improve the intelligence of the planning. Finally, the deviation of the current position of the vehicle is judged in real time. The method was tested in Yili No.1 coal mine in Xinjiang. The results show that the functions are running normally, the logical response time is about 25 ms, and the field application is in good condition.

Keywords

• uwb positioning technology
• auxiliary transportation
• trackless rubber-tyred vehicle
• path planning
• a* search algorithm
• sliding window filtering