煤矿安全2024，Vol.55Issue(12)：243-249,7.DOI:10.13347/j.cnki.mkaq.20240014
基于精确定位技术的煤矿井下小型车避让预警方法
Avoidance warning method for small vehicles in coal mine based on precise positioning technology
摘要
Abstract
In view of the complex underground environment of coal mine and the limited vision of large vehicle drivers,small and large trackless rubber-tyred vehicles are prone to collision accidents during driving;an avoidance early warning method for small vehicles in underground coal mines based on precise positioning technology is proposed.Firstly,a spatial retrieval based on the cur-rent vehicle location is used to screen out suspicious objects.Then,the inertial characteristics of the vehicle are used to further screen out the potential targets.Thirdly,the weight function is introduced into the A * algorithm to obtain the improved evaluation function.By executing the global path planning algorithm,the trajectory path between the current vehicle and the target object is solved.Fi-nally,by comparing the trajectory path distance and the warning threshold,it is judged whether it is necessary to avoid the warning reminder.The experimental results of this method in a certain mine show that the functions of the method are running normally,and the logical response time is about 26 ms.关键词
煤矿辅助运输/无轨胶轮车/路径规划/精确定位/避让预警/A*算法Key words
coal mine auxiliary transportation/trackless rubber-tyred vehicle/path planning/precise positioning/avoiding early warning/A* algorithm分类
矿业与冶金引用本文复制引用
韩燕南,高文,贺耀宜..基于精确定位技术的煤矿井下小型车避让预警方法[J].煤矿安全,2024,55(12):243-249,7.基金项目
天地(常州)自动化股份有限公司科研资助项目(2023TY4010) （常州）
