Volume 48 Issue 5
May  2022
Turn off MathJax
Article Contents
Abstract
References
Related Articles
YANG Li. Research on magnetic tracking and positioning technology for automatic driving in coal mine[J]. Journal of Mine Automation，2022，48(5)：107-111. DOI: 10.13272/j.issn.1671-251x.2021110049
Citation: YANG Li. Research on magnetic tracking and positioning technology for automatic driving in coal mine[J]. Journal of Mine Automation，2022，48(5)：107-111. DOI: 10.13272/j.issn.1671-251x.2021110049
shu

Research on magnetic tracking and positioning technology for automatic driving in coal mine

  • CCTEG Beijing Huayu Engineering Company, Beijing 100120, China

More Information
  • Received Date: November 18, 2021
  • Revised Date: April 29, 2022
  • Available Online: March 04, 2022
    Graphical Abstract
    • Abstract
  • Most auxiliary transportation vehicles in coal mine adopt wireless positioning method, and the dynamic positioning precision is more than 3 m. This method can not meet the requirements of automatic driving vehicles positioning precision in coal mine. The response time of real-time vehicle positioning data is more than 400 ms, which cannot meet the requirements of automatic driving vehicles for real-time acquisition of positioning information. In order to solve the above problems, a magnetic tracking and positioning technology for automatic driving in coal mine is proposed. The magnetic induction antenna device is arranged at a suitable position of the automatic driving vehicle for auxiliary transportation. Several numbered passive induction magnetic nails are arranged on the vehicle driving route. When the induction antenna passes through the passive induction magnetic nails, the passive induction magnetic nails generate pulse signals under the action of the magnetic field of the induction antenna. The specific position of the pulse signal generation position within the magnetic field range of the magnetic induction antenna can be obtained in real time. The positioning information is forwarded by the magnetic induction antenna to vehicle control system through the CAN bus communication interface. According to the relative position of the center point of the magnetic induction antenna and the passive induction magnetic nail, the control system calculates the deviation position between the position of the vehicle's roadway and the center of the driving route through the batch informed tree (BIT*) algorithm. Therefore, the purpose of positioning and tracking is achieved. In order to verify the effectiveness of the magnetic tracking and positioning technology, an industrial test is carried out in Shenmu Zhangjiamao Coal Mine of Shaanxi Coal Group. Magnetic nails are arranged in a single row with equal spacing in conventional sections. According to different application requirements, the combination of 5 rows of 4 magnetic nails and 2 rows of 5 magnetic nails is used to arrange passive induction magnetic nails in mine well,roadway turn and before and after destination of vehicles route. This method realizes the millimeter-level high precision, millisecond-level low latency, and effective tracking and positioning of the automatic driving vehicle. And it enables the automatic driving vehicle to accurately drive to the destination according to the optimal path.
    • FullText(HTML)
    • References (13)
  • [1]
    王国法,杜毅博. 智慧煤矿与智能化开采技术的发展方向[J]. 煤炭科学技术,2019,47(1):1-10.

    WANG Guofa,DU Yibo. Development direction of intelligent coal mine and intelligent mining technology[J]. Coal Science and Technology,2019,47(1):1-10.
    [2]
    王国法,赵国瑞,任怀伟. 智慧煤矿与智能化开采关键核心技术分析[J]. 煤炭学报,2019,44(1):34-41.

    WANG Guofa,ZHAO Guorui,REN Huaiwei. Analysis on key technologies of intelligent coal mine and intelligent mining[J]. Journal of China Coal Society,2019,44(1):34-41.
    [3]
    张彦禄,高英,樊运平,等. 煤矿井下辅助运输的现状与展望[J]. 矿山机械,2011,39(10):6-9.

    ZHANG Yanlu,GAO Ying,FAN Yunping,et al. Current situation and prospects of underground auxiliary transportation in collieries[J]. Mining & Processing Equipment,2011,39(10):6-9.
    [4]
    MEYER-EBERLING J, ROTH M. Method for estimating the range of amotor vehicle: US12915137[P]. 2011-05-12.
    [5]
    鲍文亮. 基于特征地图的煤矿辅助运输车辆定位方法[J]. 煤炭科学技术,2020,48(5):115-119.

    BAO Wenliang. Localization method for auxiliary transport vehicles of coal mine based on feature map[J]. Coal Science and Technology,2020,48(5):115-119.
    [6]
    KESSELS J, ROSCA B, BERGVELD H J. On-line battery identification for electric driving range prediction[C]//2011 IEEE Vehicle Power and Propulsion Conference（VPPC）, Chigago, 2011: 1-6.
    [7]
    王烁. 煤矿用无轨胶轮车发展现状与展望[J]. 煤炭与化工,2016,39(5):22-24.

    WANG Shuo. Development and outlook of mine trackless tyred vehicle[J]. Coal and Chemical Industry,2016,39(5):22-24.
    [8]
    PANDIT S B, KSHATRIYA T K, VAIDYA V G. Motor assistance for a hybrid vehicle based on predicted driving range: US2011008739-0A1[P].2011-02-14.
    [9]
    袁晓明. 煤矿电动无轨运输车辆的关键技术研究[J]. 煤炭科学技术,2011,39(5):80-82.

    YUAN Xiaoming. Research on key technology of mine electric trackless transportation vehicle[J]. Coal Science and Technology,2011,39(5):80-82.
    [10]
    王国法,庞义辉,任怀伟. 煤矿智能化开采模式与技术路径[J]. 采矿与岩层控制工程学报,2020,2(1):1-15.

    WANG Guofa,PANG Yihui,REN Huaiwei. Intelligent coal mining pattern and technological path[J]. Journal of Mining and Strata Control Engineering,2020,2(1):1-15.
    [11]
    张立宽. 改革开放40年我国煤炭工业实现三大科技革命[J]. 中国能源,2018,40(12):9-13. DOI: 10.3969/j.issn.1003-2355.2018.12.002

    ZHANG Likuan. China's coal industry realizes three scientific revolutions during the past 40 years[J]. Energy of China,2018,40(12):9-13. DOI: 10.3969/j.issn.1003-2355.2018.12.002
    [12]
    赵浩, 毛开江, 曲业明, 等. 我国露天煤矿无人驾驶及新能源卡车发展现状与关键技术[J]. 中国煤炭, 2021, 47（4）: 45-50.

    ZHAO Hao, MAO Kaijiang, QU Yeming, et al. Development status and key technology of driverless and new energy trucks in open-pit coal mine in China [J] China Coal, 2021, 47（4）: 45-50.
    [13]
    张智,张磊,苏丽,等. 基于人工离线特征库的室内机器人双目定位[J]. 哈尔滨工程大学学报,2017,38(12):1906-1914.

    ZHANG Zhi,ZHANG Lei,SU Li,et al. Binocular localization of indoor robot based on artificial offline feature-database[J]. Journal of Harbin Engineering University,2017,38(12):1906-1914.
    • Related Articles

  • Related Articles

    [1]LIU Peng, ZHANG Lei, BAO Jiusheng, CHEN Huaxin, WEI Chunji, MA Chuanming, WANG Lei, WANG Xiaolong. DITC control strategy for semi-direct drive system with switched reluctance motor in coal mine belt conveyor[J]. Journal of Mine Automation, 2024, 50(12): 93-102, 127. DOI: 10.13272/j.issn.1671-251x.2024060040
    [2]LI Biao. Speed synchronization control method for multi motor drive system of belt conveyor[J]. Journal of Mine Automation, 2023, 49(5): 112-119. DOI: 10.13272/j.issn.1671-251x.18013
    [3]CHENG Guodong, WU Wei. Multi-motor synchronous control technology of mine belt conveyor[J]. Journal of Mine Automation, 2021, 47(12): 81-86. DOI: 10.13272/j.issn.1671-251x.17831
    [4]GAO Rundong, XIONG Xiaoyan, GUO Hao. Research on three-point driving and control system of long distance belt conveyor[J]. Journal of Mine Automation, 2019, 45(4): 54-58. DOI: 10.13272/j.issn.1671-251x.2018110073
    [5]WANG Dinglong, WANG Ranfeng, LAI Chunli. Design of dual-motor driving control system of belt conveyor[J]. Journal of Mine Automation, 2018, 44(1): 74-78. DOI: 10.13272/j.issn.1671-251x.2018.01.001
    [6]HUANG Zhonghe, WANG Shibo. Driving control strategy of intermediate unloading long distance belt conveyor[J]. Journal of Mine Automation, 2017, 43(7): 48-52. DOI: 10.13272/j.issn.1671-251x.2017.07.010
    [7]XUE Yanbo. Power balance control method of multi-motor driving belt conveyor[J]. Journal of Mine Automation, 2016, 42(3): 74-77. DOI: 10.13272/j.issn.1671-251x.2016.03.017
    [8]YANG Guanghui, AN Qi. Fuzzy control method of power balance of multi-motor driving belt conveyor[J]. Journal of Mine Automation, 2014, 40(3): 69-73. DOI: 10.13272/j.issn.1671-251x.2014.03.019
    [9]YU Fa-shan, HAN Chao-chao, TIAN Xi-fang, LOU Hui-ming. Research of power balance control for multi-motor frequency-conversion drive of belt conveyor[J]. Journal of Mine Automation, 2013, 39(3): 69-73.
    [10]WANG Fu-zhong~, WANG Xiao-dan~, WANG Shan~. Hardware Design of Control System of Belt Conveyor Driven by Multi-motor Based on PLC[J]. Journal of Mine Automation, 2007, 33(1): 37-40.

  • Cited by

    Periodical cited type(6)

    1. 林灿辉，俞佳宝，陈锋，郭恩特，黄锦楠，陈晨炜. 基于单目视觉的输送带料流体积检测方法研究. 电视技术. 2025(01): 37-41 .
    2. 李海龙. 基于机器视觉的煤矿用输送带跑偏检测方法. 矿山机械. 2024(05): 29-33 .
    3. 季现亮，张文杰，王玉强，刘勇，田祖织，付拯. 基于机器视觉的带式输送机高精度煤流检测研究. 工矿自动化. 2024(05): 75-83 . 本站查看
    4. 赵鑫，乔铁柱，冀杰，刘亮亮，武宏旺. 基于RGB-D视觉信息融合的带式输送机煤流量检测方法研究. 煤炭技术. 2024(07): 225-229 .
    5. 陈湘源，薛旭升. 基于线性模型划分的煤流体积测量. 工矿自动化. 2023(07): 35-40+106 . 本站查看
    6. 吴江伟，南柄飞. 工作面刮板输送机煤流状态识别方法. 工矿自动化. 2023(11): 60-66 . 本站查看

    Other cited types(2)

Catalog

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (435) PDF downloads (49) Cited by(8)
    Related

    苏ICP备 05016349号-2

    Supported by: Beijing Renhe Information Technology Co., Ltd. Visits：1172517    Baidu Analytics

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return