基于UWB定位技术的无轨胶轮车路径偏离报警

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

《智能化示范煤矿验收管理办法(试行)》中规定I类煤矿无轨胶轮车运输须具有车辆运行状态参数监测(超速、路径偏离报警、运动轨迹等)功能。为了满足验收标准中关于路径偏离报警的硬性要求,设计了一种基于UWB定位技术的无轨胶轮车路径偏离报警方法。基于图论理论,实现井下巷道路网信息结构化;对UWB定位基站输出的车辆定位数据执行滑动窗口滤波,提高方法的鲁棒性;采用A*搜索算法对运输路径进行规划,并在搜索算法的估价函数中新增权重函数和判断因子,提高规划的智能性;最后,对车辆当前位置的偏离情况进行实时判断。在新疆伊犁一矿的试验结果表明:各项功能运行正常,逻辑响应时间约为25 ms,现场应用状况良好。

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.