Underground Rail Shovel Transport Vehicle Navigation Technology

With the information technology infiltrating into mining industry continuously, the continuous reforms have appeared in mining automation technology, and the study on underground intelligent scooptram is a present research hotspot. The underground intelligent scooptram makes people keep away from poor underground working conditions and decreases the danger of mining. Study on the navigation system is an important content of research on intelligent underground trackless scooptram. How to adapt to the special underground environment and design a reliable and stable navigation system is the crux of the matter.On the basis of the special underground working environment, this paper analyses the design requirements of navigate system and discusses the navigation and localization technology of intelligent scooptram based on the magnetic navigate technology. A design of magnetic orientation system has been decided, the software and hardware circuit design have been completed based on the DSP signal acquisition system, static experiment platform is built for signal acquisition and analysis of magnetic field of the magnetic marker, localization algorithm is verified on the platform. In order to examining the reliability and stability of navigation system, a control model of vehicle direction was built. Magnetic localization system was emulated and analyzed by using MATLAB simulation platform. Environmental disturbance and magnetic disturbance appearing in the mine is analyzed and a method of was proposed to reduce disturbance.The algorithm of magnetic localization is one of the key technologies of magnetic orientation system. Based on the analysis of existing common localization algorithms and the navigate requirements of underground scooptram, this paper analyzed the lateral deviation isoline algorithm based on sequential positioning and designed two kinds of magnetic sensor ruler named HMC1021 and HMC1022 for the algorithm. A more precise lateral positioning has been realized for the scooptram. In hardware circuit, a set - reset circuit is designed for the selected magnetoresistive sensor and ensures the critical sensor's reliability and avoids invalidation. In the static experiment, a lot of magnetic marker signal acquisition experiments have been carried on and the algorithm of magnetic orientation is verified by testing. This paper puts forward corresponding treating methods to make up the defects of magnetic disturbance and positioning algorithms. The simulated results indicate the feasibility of system and acquire a comparative ideal effect.