Development Of Positioning System And Dispatching Platform For Mine Monorail Crane Auxiliary Transport Locomotive

The monorail crane is an important auxiliary transportation method for mines.It has the characteristics of high safety,strong climbing ability,flexible turning,fast running speed,and not affected by the roadway floor^[1].However,my country's development in the field of mining monorail crane positioning is very slow.At present,RFID positioning is still the mainstay.In engineering applications,the positioning accuracy of RFID is about 10m.Obviously,the accuracy of this positioning method is low,and the improvement of positioning accuracy will inevitably lead to an increase in cost and difficulty of installation.In the mine,if the monorail crane cannot be accurately positioned in real time,it is easy to cause vehicle congestion,crashes,and even serious casualties in severe cases.Therefore,it is very necessary to design a high-precision monorail crane positioning system.In order to solve this problem,this paper designs a mining monorail crane positioning system based on strapdown inertial navigation and RFID technology.The main research contents are as follows:Through reading a large number of documents and actual investigations,the existing mine locomotive positioning system in our country has been studied in depth,and the system design scheme has been formulated according to the actual conditions in the mine.The mining monorail crane positioning system based on strapdown inertial navigation and RFID technology is composed of three parts:on-board machine,WiFi communication network,and upper computer.The on-board machine is installed on the monorail crane,and is mainly used to realize the three functions of data collection,distance measurement calculation,and data transmission;the WiFi communication network is installed in the roadway to transmit the positioning data sent by the on-board machine to the upper computer;After receiving the data from the WiFi communication network,the host computer needs to analyze the data,and uses the analyzed data to display the movement status of the locomotive in real time.The dispatcher can directly monitor and dispatch the locomotive through the host computer.The on-board machine is the most important part of the positioning system.Whether its design is reasonable will directly affect the final positioning accuracy.The functions of the on-board machine include:collecting the inertial data of the locomotive,compensating the acceleration error,measuring the distance of the locomotive,and sending the positioning data.This article uses STM32F103RCT6 as the central controller,and it is equipped with a nine-axis IMU and RFID reader to realize the combined positioning of the monorail crane.Finally,the WiFi communication module sends the positioning data.Accurate acceleration data is required to locate the locomotive based on the principle of strapdown inertial navigation,otherwise a large amount of accumulated error will occur,thereby reducing the positioning accuracy.Therefore,this paper proposes an acceleration error compensation algorithm,which includes zero offset compensation algorithm,scale factor compensation algorithm,peak noise filtering algorithm,steady-state acceleration error compensation algorithm,and speed error compensation algorithm.Accurate acceleration data can be obtained through this algorithm,and the positioning accuracy is improved.The host computer software was written using LabVIEW platform,which can dynamically display the speed,direction,and position of the locomotive in real time,which provides a basis for the dispatcher on the mine to monitor the operating status of the monorail crane in real time.When it establishes a connection with the on-board machine through the WiFi communication network,it will continue to obtain the locomotive's positioning data,including the ranging result,heading angle,and tag number.Using these three data to calculate the latest geographic coordinates of the locomotive can monitor the movement of the locomotive in real time.The function of the system is tested in the experimental field.The experimental results show that the function of each part of the system is normal,and when the locomotive runs in a straight line of 50m,the ranging error is within 3m,and the average cumulative error of every 1m is 0.06m.Compared with RFID positioning,it improves the positioning accuracy and meets the requirements of low cost and high accuracy.