Low-energy-consumption grading and positioning method for coal mine auxiliary transportation vehicle and system thereof

A low-energy-consumption grading and positioning method for a coal mine auxiliary transportation vehicle, comprising following steps:

• S10, determining, according to distribution information of a departure and a destination in the coal mine auxiliary transportation vehicle, an optimal transportation route of the coal mine auxiliary transportation vehicle by utilizing a path planning algorithm, wherein an RFID card reader is arranged at an intersection of a roadway corresponding to the optimal transportation route, and dividing the optimal transportation route into a plurality of locked intervals, wherein a length of each locked interval is a distance between two RFID card readers adjacent to each other;
• S20, setting an RFID tag at front and rear ends of the coal mine auxiliary transportation vehicle, respectively, wherein a distance between the two RFID tags is a length L of the coal mine auxiliary transportation vehicle, and determining, by utilizing the length L of the coal mine auxiliary transportation vehicle and a time T took by each RFID card reader to read the two tags at the front and rear ends of the coal mine auxiliary transportation vehicle, an initial velocity v0 of the coal mine auxiliary transportation vehicle passing through each locked interval;
• S30, constructing, by utilizing the initial velocity v0 of the coal mine auxiliary transportation vehicle passing through each locked interval, a discretization mileage estimation model, to update a real-time position of the coal mine auxiliary transportation vehicle, and obtaining dynamic trajectory information of the coal mine auxiliary transportation vehicle in each locked interval;
• S40, constructing, by utilizing the initial velocity v0 of the coal mine auxiliary transportation vehicle passing through each locked interval and historical statistical information of a time t took by the coal mine auxiliary transportation vehicle passing through each locked interval, a [v0, t] prediction model, and obtaining, through the prediction model, a theoretical time t0 of the coal mine auxiliary transportation vehicle passing through each locked interval;
• S50, comparing an actual time t and the theoretical time t0 of the coal mine auxiliary transportation vehicle passing through each locked interval,
• not starting, when t≤t0, an overtime early-warning and an overtime alarm, and executing a positioning of Step S30 at this time,
• starting, when t0≤t≤1.1t0, the overtime early-warning, and reminding a driver that an overtime occurs and inquiring an operation status, and
• staring, when t>t0, the overtime alarm, acquiring, by a remote server, position information of the coal mine auxiliary vehicle actively, and correcting, by using the position information, the dynamic trajectory information in Step S30, and obtaining a precise dynamic position and trajectory information of the coal mine auxiliary transportation vehicle;
• and
• S60, ending, after the coal mine auxiliary vehicle travels to an endpoint position of the locked interval and a card is read successfully, the overtime alarm, then repeating, when the coal mine auxiliary vehicle enters the next locked interval, Step S30, Step S40 and Step S50.