Title:
SLOPE AND CURVE PASSAGE METHOD FOR UNMANNED RAIL ELECTRIC LOCOMOTIVE IN DEEP LIMITED SPACE
Document Type and Number:
WIPO Patent Application WO/2023/197535
Kind Code:
A1
Abstract:
Disclosed in the present invention is a slope and curve passage method for an unmanned rail electric locomotive in a deep limited space. The method comprises: a rail electric locomotive traveling on an underground roadway at a constant speed, collecting road data during a traveling process in real time by means of a solid-state LIDAR, and feeding the road data back to an industrial control computer, so as to obtain an original three-dimensional point cloud data packet and imu data; then, obtaining ground point cloud data and non-ground point cloud data by means of segmentation using a RANSAC algorithm; according to the collected imu data, calculating the current pose of the solid-state LIDAR, so as to feed back whether the electric locomotive travels on a slope, and then obtain the lengths and positions of an upslope and a downslope, and the electric locomotive accelerating when going upslope and decelerating when going downslope, thereby ensuring that the electric locomotive travels normally at a constant speed; and determining whether there is a curve according to the shape of a wall of the roadway, and calculating the curvature of the curve and the position of the curve. Therefore, an unmanned rail electric locomotive can accurately identify an upslope, a downslope and a curve, thereby ensuring the smooth passage of the unmanned rail electric locomotive in a mine.
Inventors:
ZHU ZHENCAI (CN)
LI HUIJUN (CN)
HE SIKUI (CN)
GAO YONG (CN)
YE BIN (CN)
QIAN JUN (CN)
WANG BAORUI (CN)
YAN WANZI (CN)
ZHANG YIDONG (CN)
CAO GUOHUA (CN)
LI HUIJUN (CN)
HE SIKUI (CN)
GAO YONG (CN)
YE BIN (CN)
QIAN JUN (CN)
WANG BAORUI (CN)
YAN WANZI (CN)
ZHANG YIDONG (CN)
CAO GUOHUA (CN)
Application Number:
PCT/CN2022/121671
Publication Date:
October 19, 2023
Filing Date:
September 27, 2022
Export Citation:
Assignee:
UNIV CHINA MINING (CN)
CHANGZHOU DEVELOPMENT & MFT CENTRE CO LTD (CN)
CHANGZHOU DEVELOPMENT & MFT CENTRE CO LTD (CN)
International Classes:
G05D1/02; G01S17/89
Foreign References:
| CN114690780A | 2022-07-01 | |||
| CN112020597A | 2020-12-01 | |||
| CN108052624A | 2018-05-18 | |||
| CN110667536A | 2020-01-10 | |||
| CN113935428A | 2022-01-14 | |||
| CN104932505A | 2015-09-23 | |||
| CN105843235A | 2016-08-10 | |||
| CN105373689A | 2016-03-02 | |||
| CN109976262A | 2019-07-05 |
Attorney, Agent or Firm:
NANJING JINGWEI PATENT & TRADEMARK AGENCY CO., LTD (CN)
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