CN-121541189-B - Underground mining vehicle position real-time calculation method and system considering UWB delay

CN121541189BCN 121541189 BCN121541189 BCN 121541189BCN-121541189-B

Abstract

The invention discloses a real-time calculation method and a real-time calculation system for a position of a mining vehicle taking UWB delay into consideration, and belongs to the technical field of real-time position identification of the mining vehicle. The method comprises the steps of presetting and installing a plurality of UWB response tags in an underground roadway, wherein each tag has unique ID and pre-stored position information, arranging a UWB positioning base station, a vehicle-mounted positioning task computer and a millimeter wave speed measuring radar on a vehicle, reading the IDs of the UWB response tags around the vehicle and the real-time distance between the UWB response tags and the vehicle through the UWB positioning base station, acquiring the real-time speed of the vehicle through the millimeter wave speed measuring radar, inquiring the pre-stored position information based on the IDs of the UWB response tags, combining the real-time distance and the real-time speed, and acquiring the final vehicle position through the vehicle-mounted positioning task. The invention solves the defect caused by singly using UWB to locate the vehicle.

Inventors

HAO GUODONG
LI XIAOQIAO
ZHAI DEHUA
JIN PENGYU
QIAO JIANLI
ZHANG YAFENG
WU YAN
YAO YANHONG
LI XIAOMING
LI YUAN

Assignees

山西科达自控股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260121

Claims (8)

1. The real-time calculation method for the position of the underground mining vehicle taking UWB delay into consideration is characterized by comprising the following steps of: presetting and installing a plurality of UWB response labels in an underground roadway, wherein each label has a unique ID and pre-stored position information; a UWB positioning base station, a vehicle-mounted positioning task computer and a millimeter wave speed measuring radar are arranged on a vehicle; reading the ID of the UWB response tag around the vehicle and the real-time distance between the ID and the vehicle through the UWB positioning base station; acquiring the real-time speed of the vehicle through the millimeter wave speed measuring radar; Inquiring pre-stored position information based on the ID of the UWB response tag, and acquiring the final vehicle position through the vehicle-mounted positioning task by combining the real-time distance and the real-time speed, wherein the method comprises the following steps: judging whether the traveling direction of the vehicle is a lifting well or a descending well; calculating the motion compensation distance of the vehicle in the delay time according to the UWB data refreshing delay time and the vehicle speed: , wherein: To obtain the time interval between the front and back 2 positioning data; Is that Smooth filtering estimation values of speed sampling values read by millimeter wave radar in a section; Based on the position of the UWB response tag, the distance between the vehicle and the tag and the motion compensation distance, primarily estimating the position of the vehicle; Combining the roadway map topology data, performing through-wall judgment and position correction on the primarily estimated vehicle position, and outputting a final vehicle position; Wherein, the The preliminary estimation of the vehicle position includes at least one of: When the vehicle is positioned on the same side of the two UWB response labels, calculating the position of the vehicle by adopting an extrapolation method; interpolation is used to calculate the vehicle position when the vehicle is between two UWB reply tags.
2. The method for real-time calculation of position of an underground mining vehicle taking into account UWB delay according to claim 1, wherein the road nodes corresponding to one UWB reply tag are represented as: Wherein, the An internal ID representing the UWB reply tag for distinguishing each UWB reply tag; the dynamic variable distance is the current distance from the vehicle and is the UWB measurement result; The distance is the distance from the wellhead and is used for judging the relative position; For the attribute of the adjacent relation in the road network, the relative position judgment and the traversal of the adjacent road network are assisted; longitude, latitude and elevation attributes for this node; for the position of this node in the geodetic coordinate system with the selected point as zero point; reading data for the vehicle-mounted UWB positioning base station; Using Inquiring a database to obtain corresponding UWB node information: ; Wherein D end represents the distance between the UWB node of the ID and the tail end of the down-hole direction of the roadway or the intersection of the roadway, D enntry represents the distance between the UWB node and the inlet; For the attribute of the adjacent relation in the road network, the relative position judgment and the traversal of the adjacent road network are assisted; longitude, latitude and elevation attributes for this node; for the position of this node in the geodetic coordinate system with the selected point as zero point.
3. The method for real-time calculation of a position of an industrial and mining vehicle in consideration of UWB delay according to claim 1, wherein determining whether the traveling direction of the vehicle is ascending or descending comprises: the current vehicle is represented as: Wherein, the Representing a corresponding vehicle number; Indicating whether the corresponding is a lifting well or a descending well; The ID value of the node corresponding to the direction of the vehicle nearest to the upper well is expressed as The distance of the vehicle from this uphole node is expressed as The ID value of the node in the direction of the vehicle going down the well closest to the vehicle is expressed as The distance from this nearest downhole node is expressed as 。
4. The method of real-time calculation of position of an industrial and mining vehicle taking into account UWB delays of claim 1, wherein calculating the vehicle position using extrapolation comprises: , I.e. I.e. Where X car 、Y car is two components of the two-dimensional coordinates of the vehicle, Is a vector representation of coordinates and X (a) ,Y (a) is the two-dimensional coordinates of one of two adjacent UWB transponders, For its vector representation, D a is the distance of the vehicle from this UWB transponder, X (c) ,Y (c) is the two-dimensional coordinates of the other of the two adjacent UWB transponders, For its vector representation, D c is the distance of the vehicle from this UWB transponder.
5. The method of real-time calculation of position of an industrial and mining vehicle taking into account UWB delays of claim 1, wherein calculating the vehicle position using interpolation comprises: I.e. Where X car 、Y car is two components of the two-dimensional coordinates of the vehicle, Is a vector representation of coordinates and X (a) ,Y (a) is the two-dimensional coordinates of one of two adjacent UWB transponders, For its vector representation, D a is the distance of the vehicle from this UWB transponder, X (c) ,Y (c) is the two-dimensional coordinates of the other of the two adjacent UWB transponders, For its vector representation, D c is the distance of the vehicle from this UWB transponder.
6. The method for calculating the position of the underground mining vehicle in real time by considering UWB delay according to claim 1, wherein the through-wall judgment comprises: calculating the distance from the vehicle position to the central line of the roadway; judging whether the vehicle is positioned in the roadway width allowable range or not; and if the wall penetrating is judged, correcting the vehicle position to the nearest tunnel center line or node position.
7. The method for real-time calculation of position of an industrial and mining vehicle taking into account UWB delays according to claim 6, wherein the position correction comprises: If the distance between the vehicle position and the last corrected position is smaller than or equal to a threshold value, the current estimated position is directly adopted; If the current estimated position is greater than the threshold value, interpolation is carried out between the current estimated position and the last corrected position; if wall penetration occurs, the vehicle position is pulled back to the nearest node in the roadway or the center line of the roadway.
8. A system for real-time calculation of position of underground mining vehicle by taking UWB delay into consideration according to any one of claims 1-7, comprising a vehicle action judging module, a speed compensating module, a real-time positioning module; the vehicle action judging module receives the card number of the UWB response tag, the distance of the UWB response tag and the preset position, and judges whether the vehicle ascends or descends; The map motion compensation module acquires UWB positioning and calculates the moving distance of the vehicle in the delay time period according to the speed of the millimeter wave radar and the judged vehicle motion; the real-time positioning module determines the position of the vehicle according to the preset information of the position of the UWB response tag, the position of the vehicle broadcast by the UWB response tag and the compensation distance, and comprises the following steps: judging whether the traveling direction of the vehicle is a lifting well or a descending well; calculating the motion compensation distance of the vehicle in the delay time according to the UWB data refreshing delay time and the vehicle speed: , wherein: To obtain the time interval between the front and back 2 positioning data; Is that Smooth filtering estimation values of speed sampling values read by millimeter wave radar in a section; Based on the position of the UWB response tag, the distance between the vehicle and the tag and the motion compensation distance, primarily estimating the position of the vehicle; Combining the roadway map topology data, performing through-wall judgment and position correction on the primarily estimated vehicle position, and outputting a final vehicle position; Wherein, the The preliminary estimation of the vehicle position includes at least one of: When the vehicle is positioned on the same side of the two UWB response labels, calculating the position of the vehicle by adopting an extrapolation method; interpolation is used to calculate the vehicle position when the vehicle is between two UWB reply tags.

Description

Underground mining vehicle position real-time calculation method and system considering UWB delay Technical Field The invention relates to the technical field of real-time position recognition of underground and mining vehicles, in particular to a real-time position calculation method and system of an underground and mining vehicle considering UWB delay. Background At present, the conventional method for acquiring the real-time position of the underground vehicle mostly uses a UWB personnel positioning system, and directly uses a vehicle-mounted UWB response tag to position the underground vehicle. Namely, the distance between the vehicle-mounted UWB response tag and each UWB positioning base station is read from the fixedly installed UWB positioning base station at each underground position, and the vehicle position is estimated. However, due to the characteristics of UWB and the characteristics of underground communication, the problems that 1, the data refreshing interval of the UWB positioning base station is usually about 900ms, 2, a large amount of UWB positioning base station data is required to be read through an underground ring network, searching, filtering and sorting are performed on certain vehicle information in the read data, the vehicle-mounted sensor data is required to be accessed and read through an underground wireless network, and the whole data refreshing delay can reach 900 ms-1.8 s. In the presence of the above-mentioned delays, the position change caused by the movement of the vehicle during this period is not negligible. Estimated at a vehicle travel speed of 5m/s, there may be a 4.5 m-9 m gap between the actual vehicle position and the UWB system broadcast position. In particular, at the turn, if there is no suitable processing or compensation for the vehicle displacement, the vehicle position calculation may take place in a through-wall behavior. Therefore, how to provide a method and a system for real-time calculation of the position of an underground mining vehicle in consideration of UWB delay is a problem that needs to be solved by those skilled in the art. Disclosure of Invention In view of the above, the invention provides a method and a system for real-time calculation of the position of an underground mining vehicle considering UWB delay, which introduces multiple parameters such as roadway map data, UWB positioning card data, radar speed measurement and the like into the real-time position calculation carried out on the vehicle, and solves the defect caused by single use of UWB for vehicle positioning. In order to achieve the above purpose, the present invention adopts the following technical scheme: a real-time calculation method for the position of an underground mining vehicle considering UWB delay comprises the following steps: presetting and installing a plurality of UWB response labels in an underground roadway, wherein each label has a unique ID and pre-stored position information; a UWB positioning base station, a vehicle-mounted positioning task computer and a millimeter wave speed measuring radar are arranged on a vehicle; reading the ID of the UWB response tag around the vehicle and the real-time distance between the ID and the vehicle through the UWB positioning base station; acquiring the real-time speed of the vehicle through the millimeter wave speed measuring radar; And inquiring pre-stored position information based on the ID of the UWB response tag, and acquiring the final vehicle position through the vehicle-mounted positioning task by combining the real-time distance and the real-time speed. Preferably, the road node corresponding to one UWB reply tag is represented as: Wherein, the An internal ID representing the UWB reply tag for distinguishing each UWB reply tag; the dynamic variable distance is the current distance from the vehicle and is the UWB measurement result; The distance is the distance from the wellhead and is used for judging the relative position; For the attribute of the adjacent relation in the road network, the relative position judgment and the traversal of the adjacent road network are assisted; longitude, latitude and elevation attributes for this node; for the position of this node in the geodetic coordinate system with the selected point as zero point; reading data for the vehicle-mounted UWB positioning base station; Using Inquiring a database to obtain corresponding UWB node information: ; Wherein D end represents the distance between the UWB node of the ID and the tail end of the down-hole direction of the roadway or the intersection of the roadway, D enntry represents the distance between the UWB node and the inlet; For the attribute of the adjacent relation in the road network, the relative position judgment and the traversal of the adjacent road network are assisted; longitude, latitude and elevation attributes for this node; for the position of this node in the geodetic coordinate system with the selected point a