CN-122015829-A - High-precision positioning method and system for coal transporting shuttle car

CN122015829ACN 122015829 ACN122015829 ACN 122015829ACN-122015829-A

Abstract

The application relates to a high-precision positioning method and a high-precision positioning system for a coal conveying shuttle car, which relate to the technical field of vehicle positioning and comprise the following steps of constructing environmental structure reference information based on roadway structure data acquired by a laser scanning device arranged on the shuttle car; the method comprises the steps of estimating reliability of ranging signals collected by an ultra-wideband ranging device arranged on a shuttle car in real time, selecting a positioning strategy of the shuttle car between a first positioning mode and a second positioning mode, calculating motion parameters collected by an inertia measuring device arranged on the shuttle car to obtain a current pose of the shuttle car when the first positioning mode is selected, correcting the current pose based on the ranging signals, outputting a positioning result, obtaining the current pose when the second positioning mode is selected, inquiring environment structure reference information to obtain reference characteristics corresponding to the current pose, adjusting the current pose based on the reference characteristics, and outputting the positioning result. The application can ensure the positioning precision and the operation safety of the coal conveying shuttle car under the complex working condition.

Inventors

LIU XIAOLONG
YANG LEI
SUN LEI
LIU XIAOMING
HAN CHONGCHONG

Assignees

海纳美腾智能制造(山东)有限公司

Dates

Publication Date: 20260512
Application Date: 20260224

Claims (10)

1. The high-precision positioning method of the coal conveying shuttle car is characterized by comprising the following steps of: constructing environmental structure reference information based on roadway structure data acquired by a laser scanning device arranged on a shuttle car; the reliability of a ranging signal acquired by an ultra-wideband ranging device arranged on a shuttle car is evaluated in real time, and an evaluation result is obtained; Selecting a positioning strategy of the shuttle car between a first positioning mode and a second positioning mode according to the evaluation result; when a first positioning mode is selected, calculating motion parameters acquired by an inertial measurement device arranged on the shuttle car to obtain the current pose of the shuttle car, correcting the current pose based on the ranging signal, and outputting a positioning result; And when a second positioning mode is selected, acquiring the current pose, inquiring the environmental structure reference information to obtain a reference feature corresponding to the current pose, adjusting the current pose based on the reference feature, and outputting a positioning result.
2. The high-precision positioning method of a coal transportation shuttle car according to claim 1, wherein the step of constructing the environmental structure reference information based on the roadway structure data collected by the laser scanning device installed on the shuttle car comprises the steps of: identifying and extracting a plurality of reference features distributed at different structural parts of a roadway area based on roadway structure data acquired by a laser scanning device arranged on a shuttle car; and constructing environmental structure reference information based on the reference features.
3. The high-precision positioning method of a coal transportation shuttle car according to claim 2, wherein the step of identifying and extracting a plurality of reference features distributed at different structural parts of a roadway area based on roadway structure data collected by a laser scanning device installed on the shuttle car comprises the steps of: based on a laser scanning device arranged on the shuttle car, scanning the same roadway area for multiple times to obtain roadway structure data; based on the roadway structure data, identifying and extracting geometric features distributed at different structural parts of a roadway area; Calculating the position deviation of the geometric feature in a plurality of scans; and judging the geometric characteristic of which the position deviation is smaller than a preset stability threshold value as a stability characteristic.
4. The method for positioning a coal transportation shuttle car with high precision according to claim 1, wherein the step of evaluating the reliability of the ranging signal collected by the ultra-wideband ranging device installed on the shuttle car in real time, and obtaining the evaluation result comprises: The method comprises the steps that based on motion prediction of a shuttle car by an inertial measurement device arranged on the shuttle car, a predicted position range of the shuttle car after a preset short time is obtained; Calculating an expected ranging range of a located anchor point based on known coordinates of the located anchor point and the predicted position range, the located anchor point being pre-deployed within a roadway and used for communication with an ultra-wideband ranging device mounted on a shuttle car; obtaining a real-time ranging value based on the ranging signal acquired by the ultra-wideband ranging device in the preset short time; and comparing the real-time ranging value with the expected ranging range to obtain an evaluation result of the reliability of the ranging signal.
5. The method for positioning a coal handling shuttle with high accuracy as claimed in claim 4, wherein the step of comparing the real-time ranging value with the expected ranging range to obtain the evaluation result of the reliability of the ranging signal comprises: if the real-time ranging value is within the expected ranging range, determining that the evaluation result of the reliability of the ranging signal is reliable; And if the real-time ranging value exceeds the expected ranging range, judging that the evaluation result of the reliability of the ranging signal is unreliable.
6. The method of claim 5, wherein the step of selecting the positioning strategy of the shuttle between the first positioning mode and the second positioning mode according to the evaluation result comprises: Acquiring evaluation results of a plurality of ranging signals corresponding to a plurality of positioning anchor points; if the proportion of the determined reliable ranging signal is larger than or equal to the preset determination proportion, the positioning strategy of the shuttle car is a first positioning mode, and the working frequency of the ultra-wideband ranging device is adjusted to be a preset first frequency; If the proportion of the determined reliable ranging signal is smaller than the determination proportion, the positioning strategy of the shuttle car is a second positioning mode, and the working frequency of the ultra-wideband ranging device is adjusted to a preset second frequency, wherein the second frequency is lower than the first frequency.
7. The method for positioning a coal transportation shuttle car with high precision according to claim 5, wherein when the first positioning mode is selected, calculating a current pose of the shuttle car from motion parameters collected by an inertial measurement device mounted on the shuttle car, correcting the current pose based on the ranging signal, and outputting a positioning result comprises: calculating the motion parameters acquired by an inertia measurement device arranged on the shuttle car to obtain the current pose of the shuttle car; Based on the ranging signal, obtaining a pose correction amount for correcting the current pose; and correcting the current pose according to the pose correction amount, and outputting a positioning result.
8. The high-precision positioning method of a shuttle car according to claim 7, wherein the step of obtaining the pose correction amount for correcting the current pose based on the ranging signal comprises: according to the evaluation result, distributing a plurality of fusion weights of the ranging signals corresponding to a plurality of positioning anchor points; Based on the fusion weight and pre-stored coordinates of a plurality of positioning anchor points, carrying out weighted positioning calculation on a plurality of ranging signals to obtain an estimated pose of the shuttle car; and calculating the pose deviation of the current pose and the estimated pose to obtain the pose correction amount.
9. The high-precision positioning method of a shuttle car according to claim 1, wherein when the second positioning mode is selected, the steps of obtaining the current pose, querying the environmental structure reference information to obtain a reference feature corresponding to the current pose, adjusting the current pose based on the reference feature, and outputting a positioning result include: Acquiring the current pose, and determining a space query range according to the current pose; Selecting reference features positioned in the space query range from the environment structure reference information; Calculating the geometric deviation of the current pose and the reference feature; If the geometric deviation exceeds a preset deviation range, calculating a geometric correction proportional to the geometric deviation, wherein the geometric correction is equal to the product of the geometric deviation and a preset correction ratio, and the correction ratio is smaller than 1; And adjusting the current pose based on the geometric correction amount, and outputting a positioning result.
10. The utility model provides a fortune coal shuttle high accuracy positioning system which characterized in that includes: The environment information construction module is used for constructing environment structure reference information based on roadway structure data acquired by a laser scanning device arranged on the shuttle car; the ranging signal evaluation module is used for evaluating the reliability of the ranging signal acquired by the ultra-wideband ranging device arranged on the shuttle car in real time to obtain an evaluation result; the positioning strategy adjustment module is used for selecting the positioning strategy of the shuttle car between a first positioning mode and a second positioning mode according to the evaluation result; The internal perception positioning module is used for calculating the motion parameters acquired by the inertial measurement device arranged on the shuttle car to obtain the current pose of the shuttle car when the first positioning mode is selected, correcting the current pose based on the ranging signal and outputting a positioning result; And the external auxiliary positioning module is used for acquiring the current pose when the second positioning mode is selected, inquiring the environmental structure reference information to obtain a reference feature corresponding to the current pose, adjusting the current pose based on the reference feature, and outputting a positioning result.

Description

High-precision positioning method and system for coal transporting shuttle car Technical Field The application relates to the technical field of vehicle positioning, in particular to a high-precision positioning method and system for a coal shuttle car. Background In unmanned transportation systems of underground coal mines, coal transport shuttles rely on Inertial Measurement Units (IMUs) and Ultra Wideband (UWB) positioning systems to achieve high-precision autonomous operation. The IMU provides continuous dead reckoning, and the UWB system performs periodic correction on the accumulated error of the IMU by measuring the distance between the vehicle and the fixed anchor point in the roadway, so that the positioning accuracy is guaranteed together. However, the harsh and dynamically changing environment downhole severely constrains the reliability of UWB systems. First, soot attachment and humid environments cause signal attenuation and propagation path changes, introducing systematic ranging errors. Second, the strong electromagnetic interference generated by the operation of large equipment may cause erroneous signals of the UWB receiver, resulting in instantaneous huge ranging bias or data loss. More complex, when a plurality of shuttle cars cooperatively work, UWB signals conflict with each other in a narrow roadway, so that the effective analysis is difficult, and the quality and the quantity of available ranging data are further reduced. The comprehensive effects of the environmental degradation, electromagnetic interference and multi-car signal collision lead the UWB ranging data quality to be drastically reduced and extremely unstable. When the control system continuously uses the unreliable UWB data to correct the IMU, the inherent drift of the IMU cannot be suppressed, but instead, error correction is introduced, so that serious deviation and even divergence of the vehicle positioning estimation occur. The autonomous running safety of the shuttle car is directly threatened, the path deviation, the tunnel wall collision and the multi-car interaction risk are easily caused, and the efficiency and the reliability of the transportation system are seriously restricted. Disclosure of Invention The application provides a high-precision positioning method and a high-precision positioning system for a coal conveying shuttle car, and aims to solve the technical problems that in the prior art, the ultra-wideband ranging system is unstable in operation due to factors such as downhole environment degradation, electromagnetic interference, multi-car signal conflict and the like, so that the positioning precision is reduced, and the autonomous running safety and efficiency of a vehicle are affected. In a first aspect, the application provides a high-precision positioning method for a coal shuttle car, which comprises the following steps: constructing environmental structure reference information based on roadway structure data acquired by a laser scanning device arranged on a shuttle car; the reliability of a ranging signal acquired by an ultra-wideband ranging device arranged on a shuttle car is evaluated in real time, and an evaluation result is obtained; Selecting a positioning strategy of the shuttle car between a first positioning mode and a second positioning mode according to the evaluation result; when a first positioning mode is selected, calculating motion parameters acquired by an inertial measurement device arranged on the shuttle car to obtain the current pose of the shuttle car, correcting the current pose based on the ranging signal, and outputting a positioning result; And when a second positioning mode is selected, acquiring the current pose, inquiring the environmental structure reference information to obtain a reference feature corresponding to the current pose, adjusting the current pose based on the reference feature, and outputting a positioning result. In some embodiments of the present application, the step of constructing the environmental structure reference information based on the roadway structure data collected by the laser scanning device installed on the shuttle car includes: identifying and extracting a plurality of reference features distributed at different structural parts of a roadway area based on roadway structure data acquired by a laser scanning device arranged on a shuttle car; and constructing environmental structure reference information based on the reference features. In some embodiments of the present application, the step of identifying and extracting a plurality of reference features distributed at different structural parts of the roadway area based on roadway structure data collected by a laser scanning device installed on the shuttle car includes: based on a laser scanning device arranged on the shuttle car, scanning the same roadway area for multiple times to obtain roadway structure data; based on the roadway structure data, identifying and extracting geome