High-precision positioning system for underground monorail hoist in coal mine and positioning method thereof

A high-precision positioning system for an underground monorail hoist in a coal mine, comprising:

• a gear-type displacement measuring device and a plurality of coordinate positioning units uniformly distributed on an I-beam track,
• wherein the gear-type displacement measuring device includes two gear carriers symmetrically arranged on both sides of the I-beam track, and the two gear carriers are fixedly connected with each other;
• each of the gear carriers is provided with a positioning wheel and a plurality of travelling wheels, the travelling wheels are travelling on an upper end surface of a bottom plate of the I-beam track, and the positioning wheel is in engagement transmission with a rack at a lower end of the bottom plate of the I-beam track;
• the gear carriers are further provided with an installation bracket and a connecting seat configured to connect the monorail hoist, and the installation bracket is provided with an inertial measuring unit and a single-chip microcomputer that are electrically connected with each other;
• the positioning wheel is provided with a rotation angle sensor configured to detect a rotation angle of the positioning wheel, and the rotation angle sensor is electrically connected to the single-chip microcomputer;
• and
• a headstock at each end of the monorail hoist is provided with a respective coordinate updating unit capable of transmitting a signal to a coordinate positioning unit, and the coordinate updating unit is electrically connected to the single-chip microcomputer.