Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Auxiliary transportation robot positioning method and system in dynamic complex mine environment

A robot positioning and auxiliary transportation technology, which is applied in the direction of instruments, earthwork drilling, wellbore/well components, etc., can solve the problems of measurement loss, high cost, and affecting positioning accuracy, so as to reduce positioning errors and achieve high positioning accuracy , The effect of low positioning cost

Active Publication Date: 2022-07-22
CHINA UNIV OF MINING & TECH
View PDF0 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in underground coal mines, factors such as high temperature, high humidity, high dust, and low ambient illumination seriously affect the work of the camera, and wrong positioning information is obtained, so the practicability is not high.
[0006] (3) Lidar-based positioning technology for auxiliary transport robots. This method uses the principle of trilateration to determine the position of the auxiliary transport robot. However, it is greatly affected by the environment, which affects the positioning accuracy, and the system is complex and expensive, so it is not applicable Auxiliary transport robot localization in complex mine environment
However, for complex mine conditions, the obtained measurement information may be incorrect, and measurement loss may occur, which seriously reduces the robustness and accuracy of the positioning system

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Auxiliary transportation robot positioning method and system in dynamic complex mine environment
  • Auxiliary transportation robot positioning method and system in dynamic complex mine environment
  • Auxiliary transportation robot positioning method and system in dynamic complex mine environment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0032] The present invention will be further described below in conjunction with the accompanying drawings.

[0033] like figure 1 and figure 2 As shown, the present invention is a high-precision and robust positioning method of an auxiliary transport robot in a strong interference mine environment. First, the distance from the auxiliary transport robot 7 to the UWB anchor point (the coordinates of the UWB anchor point are known) is measured, and then the distance value is compared with The IMU acceleration information provided by the IMU is fused using the extended Kalman filter principle to obtain the high-precision and robust position information of the assisted transport robot 7, which includes the following steps:

[0034] 1) Obtain the UWB distance information between the auxiliary transportation robot 7 and the UWB anchor point whose coordinates are known, and the IMU acceleration information of the auxiliary transportation robot 7; the UWB distance information is use...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method and system for positioning an auxiliary transport robot in a dynamic and complex mine environment. By obtaining the acceleration information and UWB distance measurement information of the auxiliary transport robot, the robot position estimation is obtained by using extended Kalman filtering. When the UWB measurement is not lost , using extended Kalman filter to fuse UWB and IMU information, and to detect outliers in UWB measurement. If the UWB measurement is abnormal, the extended Kalman filter is improved by modifying the innovation covariance matrix to improve the positioning accuracy. When the UWB measurement is lost, set constraints on the system state vector, and use the Lagrange multiplier method to constrain the state estimate to update the position estimate, and then obtain the positioning information; The UWB measurement is constructed, and the abnormal value is detected and corrected to obtain the positioning information of the auxiliary transport robot. The invention has high robustness and accurate positioning.

Description

technical field [0001] The invention relates to a positioning method and system, in particular to a positioning method and system for an auxiliary transport robot in a dynamic and complex mine environment, belonging to the technical field of underground positioning. Background technique [0002] With the development of the automation of coal mine equipment, the precise positioning of auxiliary transport robots will play an important role in the future of less or unmanned mining, which can not only reduce the labor intensity and danger of coal miners, but also improve production efficiency. Existing distance-based localization methods basically rely on the assumption that the environment is relatively static, which enables accurate range localization. However, factors such as metal equipment, main transport vehicles, obstructions, environmental noise, etc. can significantly affect the propagation of radio frequency in coal mines. In this case, inaccurate ranging information ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20E21B47/09
CPCG01C21/1652G01C21/20E21B47/09
Inventor 陈朋朋沈刚张奎元高守婉朱真才
Owner CHINA UNIV OF MINING & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products