A method and system for positioning a handling robot in a mine

Abstract

The present invention discloses a method and system for positioning a handling robot in a mine, which belongs to the field of underground positioning technology. A UWB positioning base station unit is installed according to the underground tunnel conditions, and multiple positioning tags are installed on the bracket handling robot to be positioned. The multiple positioning tags of the bracket handling robot receive and return base station signals, and the delay of the positioning tag receiving signal is calculated and measured by improving the DS-TWR ranging algorithm. In the present invention, the ranging error caused by signal conflict is further reduced by improving the DS-TWR ranging algorithm. Unlike the traditional DS-TWR ranging algorithm, the improved DS-TWR ranging algorithm selects a fixed time to transmit and feedback signals when sending and receiving signals. Unlike the traditional DS-TWR ranging algorithm, the feedback signal is transmitted after a delay of a period of time according to the received signal. The improved DS-TWR algorithm avoids the time conflict of the tag or base station receiving and transmitting signals at a certain moment, and reduces the accidental error of ranging.

Description

Technical Field

[0001] The invention belongs to the technical field of underground mine positioning, and in particular relates to a positioning method and system for a transport robot in a mine. Background Art

[0002] The mine support handling robot is mainly a special equipment used to transport unit hydraulic supports for reinforced support or advanced support. The support handling robot is a crawler underground working equipment with the advantages of simple and flexible operating procedures, low labor intensity of workers, little damage to the roof, and high safety.

[0003] The existing underground support handling robot needs to be accurately positioned. The existing positioning method based on DS-TWR technology requires several base stations to perform collaborative positioning. For example, the Chinese invention patent with the invention publication number: CN111536967A discloses a multi-sensor fusion greenhouse inspection robot tracking method based on EKF. The present invention first obtains the distance information from three base stations with known coordinates to the robot in real time based on the DS-TWR ranging technology through the UWB ranging module, and at the same time obtains the acceleration and heading angle of the robot in real time through the MPU6050 carried by the robot. Based on the least squares method, the three-sided positioning model is used to obtain the initial observation value of the robot coordinates from the three distance values, and the Taylor algorithm is used to perform iterative correction at the observation point. The corrected coordinate observation value, the real-time measured robot acceleration and heading angle are simultaneously transmitted to the CTRV motion model, and the sensor data is fused and processed using the extended Kalman filter. The extended Kalman filter (EKF) result is used as the current position output of the robot to obtain a multi-sensor fusion greenhouse inspection robot tracking method. This solution can realize the precise positioning of the greenhouse inspection robot in an indoor environment;

[0004] In an underground environment, the installation and debugging of multiple base stations are quite complicated, and the base stations require external power supplies. The wiring cost is high during the actual project implementation, and there is a delay and interference between base stations due to mine tunnel layout problems, resulting in poor ranging and positioning efficiency.

[0005] Therefore, there is an urgent need for a positioning method that reduces base stations to meet the needs of underground handling robots for positioning in underground mine environments. Summary of the invention

[0006] The purpose of the present invention is to propose a positioning method and system for a transport robot in a mine in order to solve the problems that the installation and debugging of multiple base stations are quite complicated, the base stations require external power supplies, the wiring cost is high during the actual project implementation, and delay interference is easily caused between base stations due to mine tunnel layout problems.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A method for positioning a handling robot in a mine, specifically comprising the following steps:

[0009] Plan and install UWB positioning base station units according to the underground tunnel conditions, and install multiple positioning tags on the robot for transporting the bracket to be positioned;

[0010] By installing a laser radar on the handling robot, the laser radar is operated in the underground tunnel to obtain the road trajectory in front of the robot;

[0011] The multiple positioning tags of the bracket handling robot receive and return base station signals, and the delay of the positioning tag receiving signal is calculated and measured by improving the DS-TWR ranging algorithm;

[0012] The robot position information is solved by the road trajectory obtained by the laser radar and the distance information obtained by the improved DS-TWR ranging algorithm;

[0013] The unique positioning result is obtained through the distance relationship of the tags on the bracket handling robot.

[0014] As a further description of the above technical solution:

[0015] There are multiple positioning tags, and the multiple positioning tags are arranged in an array. The direction of the multiple positioning tag array is consistent with the driving direction of the robot, and the distance between the multiple positioning tags is 0.5m-1m.

[0016] As a further description of the above technical solution:

[0017] The improved DS-TWR ranging algorithm ranging method specifically includes:

[0018] The bracket handling robot performs initial position verification and time synchronization based on the measured data;

[0019] Based on the laser radar, the three-dimensional point cloud of the lane in front of the bracket handling robot is extracted and fitted into the motion trajectory of the bracket handling robot. According to the complexity of the lane, the motion trajectory of different distances will be fitted, and the direction of the motion trajectory is represented as L1, L2....L N , upload it to the positioning server;

[0020] The positioning tag 2 on the bracket handling robot measures the distance R2 by sending and receiving signals with the positioning base station;

[0021] Set the base station coordinates to A(x1, y1), the L1 trajectory equation to f1(x)=0, and the L2 trajectory equation to f2(x)=0;

[0022] The R2 calculation formula is:

[0023] ;

[0024] The fitting trajectory of the bracket handling robot at this time is as follows:

[0025] ;

[0026] Combined L1 and The only coordinate that can be solved is the current position of the bracket handling robot;

[0027] If the fitted trajectory of the bracket handling robot does not match the fitted motion trajectory direction L1, L1 and There may be a situation where the solution is not unique, in which case another positioning tag 1 and positioning tag 3 are activated for auxiliary positioning;

[0028] Specifically, positioning tag 1 and positioning tag 3 obtain distance information R1 and R3 from the positioning base station by sending and receiving signals with the positioning base station;

[0029] After obtaining the distances R1 and R3 between positioning tag 1 and positioning tag 2 and the positioning base station, a unique positioning solution can be obtained by comparing the values ​​of the two. 3， Then select the positioning result close to R1. Similarly, if R3>R 1， The positioning result close to R3 is selected; the sending and receiving signals use a preset fixed timestamp T S1 , T S2 and T S3 Send and receive signals to avoid signal conflicts caused by tags or base stations receiving and transmitting signals at the same time.

[0030] As a further description of the above technical solution:

[0031] The planning and installation of the UWB positioning base station unit according to the underground tunnel conditions specifically includes the following steps:

[0032] Determine the distribution of tunnels in the mine, use drones, lidar and GPS equipment to perform three-dimensional scanning of the mine, obtain detailed data on the terrain, structure and obstacles of the tunnels, measure the width, height, slope and turning radius parameters of the tunnels, and obtain the distribution of tunnels in the mine;

[0033] According to the distribution of tunnels in the mine, the global planning algorithm is used to calculate the preliminary path of the handling robot from the starting point to the end point, and the path planning algorithm of the handling robot is performed to obtain the motion path trajectory of the handling robot;

[0034] Analyze the performance of UWB positioning base station units, analyze the coverage range, signal strength and data transmission rate performance indicators of UWB positioning base station units, determine the area range that the base station can stably cover, and determine the signal transmission interference situation at each location based on the distribution of tunnels in the mine;

[0035] Based on the performance of the UWB positioning base station unit, planning is carried out to ensure that the base station positions within the motion path trajectory of the handling robot are evenly distributed, ensuring that the data transmission between the UWB positioning base station unit and the handling robot meets the designed signal delay standard, and completing the installation of the UWB positioning base station unit in the underground tunnel.

[0036] As a further description of the above technical solution:

[0037] The UWB positioning base station unit is an explosion-proof UWB base station and a POE switch and a storage device connected to the data transmission layer. The UWB positioning base station unit transmits a signal according to a preset timestamp. The positioning tag 2 sends a feedback signal after a delay after receiving the signal at the timestamp. The positioning base station sends a termination signal after a delay after receiving the feedback signal at the timestamp.

[0038] As a further description of the above technical solution:

[0039] A positioning system for a handling robot in a mine, comprising:

[0040] The transport robot obtains the three-dimensional point cloud information of the road ahead through the laser pulses generated by the laser radar installed on the front side of the transport robot;

[0041] Multiple positioning tags, which measure the distance by sending and receiving signals between the positioning tags and the positioning base station to obtain the fitted motion trajectory;

[0042] UWB positioning base station unit, which receives the positioning information sent by the positioning tag through the base station unit and uploads it to the cloud server;

[0043] The positioning server receives the positioning information of the positioning tag through data transmission with the positioning tag, and calculates the position information of the bracket handling robot.

[0044] As a further description of the above technical solution:

[0045] The multiple UWB positioning base stations are arranged in sequence along the underground tunnel.

[0046] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0047] 1. In the present invention, the ranging error caused by signal conflict is further reduced by improving the DS-TWR ranging algorithm. Different from the traditional DS-TWR ranging algorithm, the improved DS-TWR ranging algorithm selects a fixed time to transmit and feedback the signal when transmitting and receiving the signal. Different from the traditional DS-TWR ranging algorithm, the feedback signal is transmitted after a delay of a period of time according to the received signal. The improved DS-TWR algorithm avoids the time conflict of the tag or base station receiving and transmitting the signal at a certain moment, reduces the accidental error of ranging, and improves the ranging stability.

[0048] 2. In the present invention, after obtaining the distribution of underground tunnels, the optimal moving path of the transport robot can be calculated according to the global planning algorithm, which is conducive to judging and analyzing the installation unit of the UWB positioning base station unit based on the analysis of the movement path of the transport robot and the interference conditions of the underground tunnels, and is conducive to reducing the signal interference caused by the signal interaction of the transport robot in the underground tunnels, and improving the positioning and ranging stability of the transport robot in the mine.

[0049] 3. In the present invention, the positioning system designed in the mine can quickly fit the predicted trajectory of the current transport robot after data analysis of the positioning tag through the positioning server, which is beneficial to improve the ranging accuracy, and the signal transmission is time-stamped by the server. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a structural diagram of a positioning method for a transport robot in a mine proposed by the present invention;

[0051] Figure 2 A schematic diagram of sending timestamps for a positioning method of a transport robot in a mine proposed by the present invention;

[0052] Figure 3 The present invention is a flowchart of a method for positioning a transport robot in a mine. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] See also Figure 1 - Figure 3 The present invention provides a technical solution: a positioning method of a handling robot in a mine, which specifically includes the following steps:

[0055] According to the underground tunnel conditions, the UWB positioning base station unit is planned and installed, and multiple positioning tags are installed on the robot for transporting the bracket to be positioned, with the preferred range being 3-5;

[0056] In the embodiment of the present application, the preferred number of positioning tags is three, and the positioning tags are positioning tags that are matched with the UWB (ultra-wideband) positioning base station unit, and are used as devices to work in conjunction with the UWB positioning base station. These positioning tags communicate with the base station by transmitting and receiving UWB signals to achieve high-precision positioning functions. By cooperating with the UWB positioning base station, the positioning tags can send and receive signals in real time. The base station calculates the precise position of the tag by measuring information such as signal transmission time or phase. The UWB positioning base station unit usually includes multiple base stations and matching positioning tags. The base station is responsible for transmitting and receiving UWB signals and communicating with the positioning tags; the positioning tags are worn or affixed to the target to be positioned, and positioning is achieved by sending and receiving signals. In order to adapt to the environment in the mine channel, the UWB positioning base station unit is an explosion-proof unit to ensure the stability of ranging signal transmission.

[0057] Among them, the positioning server is responsible for processing the positioning data from the underground robot to provide accurate location information. It communicates with the UWB positioning base station through a wireless network;

[0058] By installing a laser radar on the handling robot, the laser radar is operated in the underground tunnel to obtain the road trajectory in front of the robot;

[0059] The multiple positioning tags of the bracket handling robot receive and return base station signals, and the delay of the positioning tag receiving signal is calculated and measured by improving the DS-TWR ranging algorithm;

[0060] The robot position information is solved by the road trajectory obtained by the laser radar and the distance information obtained by the improved DS-TWR ranging algorithm;

[0061] Among them, lidar can accurately measure the distance between obstacles and sensors, which is especially important for the narrow and complex environment of mine passages. By obtaining distance information of the surrounding environment in real time, lidar can help mine cars, robots and other equipment to achieve accurate obstacle avoidance.

[0062] The unique positioning result is obtained through the distance relationship of the tags on the bracket handling robot.

[0063] There are multiple positioning tags, and the multiple positioning tags are arranged in an array. The direction of the multiple positioning tag array is consistent with the driving direction of the robot, and the distance between the multiple positioning tags is 0.5m-1m.

[0064] The improved DS-TWR ranging algorithm ranging method specifically includes:

[0065] The bracket handling robot performs initial position verification and time synchronization based on the measured data;

[0066] Based on the laser radar, the three-dimensional point cloud of the lane in front of the bracket handling robot is extracted and fitted into the motion trajectory of the bracket handling robot. According to the complexity of the lane, the motion trajectory of different distances will be fitted, and the direction of the motion trajectory is represented as L1, L2....L N , upload it to the positioning server;

[0067] The positioning tag 2 on the bracket handling robot measures the distance R2 by sending and receiving signals with the positioning base station;

[0068] Set the base station coordinates to A(x1, y1), the L1 trajectory equation to f1(x)=0, and the L2 trajectory equation to f2(x)=0;

[0069] f1(x)=0 is the two-dimensional point cloud information obtained by the laser radar, which is first filtered and then fitted by the least squares method. The lane does not have extremely irregular local trajectories. Let f1(x) be a second-order polynomial Assume that the N two-dimensional point cloud information obtained by the laser radar is a data set P = {p1(c1, d1), p2(c2, d2), ..., pN(c N , d N )};

[0070] The distances between each point cloud data and L1 are denoted as h1, h2, ..., h N , and its calculation formula is as follows:

[0071] where i=1, 2, ..., N

[0072] Then the residual square Q in the least squares method is expressed as:

[0073] The residual square Q is a ternary function of a0, a1, and a2. By finding the minimum value of the residual square Q, the values ​​of a0, a1, and a2 can be obtained, and the fitting curve f1(x)=0 can be determined.

[0074] Among them, the derivation process of the L2 trajectory equation is f2(x)=0 is the same as above;

[0075] The R2 calculation formula is:

[0076] ;

[0077] The fitting trajectory of the bracket handling robot at this time is as follows:

[0078] ;

[0079] Combined L1 and The only coordinate that can be solved is the current position of the bracket handling robot;

[0080] If the fitted trajectory of the bracket handling robot does not match the fitted motion trajectory direction L1, L1 and There may be a situation where the solution is not unique, in which case another positioning tag 1 and positioning tag 3 are activated for auxiliary positioning;

[0081] Specifically, positioning tag 1 and positioning tag 3 obtain the distance information R1 and R3 from the positioning base station by sending and receiving signals with the positioning base station; after obtaining the distance R1 and R3 between positioning tag 1 and positioning tag 2 and the positioning base station, a unique positioning solution can be obtained by comparing the values ​​of the two. If R1>R 3， Then select the positioning result close to R1. Similarly, if R3>R 1， Then select the positioning result close to R3;

[0082] The sending and receiving signals use a preset fixed timestamp T S1 、T S2 and T S3 Send and receive signals to avoid signal conflicts caused by tags or base stations receiving and transmitting signals at the same time;

[0083] like Figure 2 As shown, T S1 、T S2 and T S3 The first timestamp, the second timestamp and the third timestamp are preset respectively. S1 、T S2 and T S3 After sending and receiving the signal, the corresponding timestamp can be obtained by the distance from the positioning tag, such as at the first timestamp T S1 After sending the signal, get the distance information T R11 、T R12 and T R13 ;

[0084] Specifically: By improving the DS-TWR ranging algorithm, the ranging error caused by signal conflict is further reduced. Different from the traditional DS-TWR ranging algorithm, the improved DS-TWR ranging algorithm selects a fixed time to transmit and feedback signals when sending and receiving signals. Unlike the traditional DS-TWR ranging algorithm, which transmits feedback signals after a delay of a period of time according to the received signal, the improved DS-TWR algorithm avoids the time conflict of the tag or base station receiving and transmitting signals at a certain moment, reduces the accidental error of ranging, and improves the ranging stability. Among them, although this method will reduce the ranging frequency, the speed of the underground support handling robot is relatively slow, and the fastest speed can only reach 1m / s. Therefore, the reduction in ranging frequency brought by the improved DS-TWR algorithm will not affect the actual operation too much;

[0085] In another embodiment, it also includes adjusting the efficiency of the process of linearly adjusting the time stamp to perform ranging frequency interval according to the movement speed of the support handling robot according to the neural network algorithm;

[0086] The planning and installation of the UWB positioning base station unit according to the underground tunnel conditions specifically includes the following steps:

[0087] Determine the distribution of tunnels in the mine, use drones, lidar and GPS equipment to perform three-dimensional scanning of the mine, obtain detailed data on the terrain, structure and obstacles of the tunnels, measure the width, height, slope and turning radius parameters of the tunnels, and obtain the distribution of tunnels in the mine;

[0088] According to the distribution of tunnels in the mine, the global planning algorithm is used to calculate the preliminary path of the handling robot from the starting point to the end point, and the path planning algorithm of the handling robot is performed to obtain the motion path trajectory of the handling robot;

[0089] Analyze the performance of UWB positioning base station units, analyze the coverage range, signal strength and data transmission rate performance indicators of UWB positioning base station units, determine the area range that the base station can stably cover, and determine the signal transmission interference situation at each location based on the distribution of tunnels in the mine;

[0090] According to the performance of the UWB positioning base station unit, planning is carried out to make the base station positions in the moving path of the handling robot evenly distributed, to ensure that the data transmission between the UWB positioning base station unit and the handling robot meets the designed signal delay standard, and to complete the installation of the UWB positioning base station unit in the underground tunnel;

[0091] like Figure 2As shown, the UWB positioning base station unit is an explosion-proof UWB base station and a POE switch and a storage device connected to the data transmission layer, and the UWB positioning base station unit transmits a signal according to a preset timestamp, the positioning tag 2 sends a feedback signal after a delay after receiving the signal at the timestamp, and the positioning base station sends a termination signal after a delay after receiving the feedback signal at the timestamp;

[0092] Among them, T S1 、T S2 , T S3 The timestamp of the signal transmitted by the base station and the tag, T R11 ~T R33 The timestamp of the signal received by the base station and the corresponding tag.

[0093] A positioning system for a handling robot in a mine, comprising:

[0094] The transport robot obtains the three-dimensional point cloud information of the road ahead through the laser pulses generated by the laser radar installed on the front side of the transport robot;

[0095] Multiple positioning tags, which measure the distance by sending and receiving signals between the positioning tags and the positioning base station to obtain the fitted motion trajectory;

[0096] UWB positioning base station unit, which receives the positioning information sent by the positioning tag through the base station unit and uploads it to the cloud server;

[0097] The positioning server receives the positioning information of the positioning tag through data transmission with the positioning tag, and calculates the position information of the support handling robot. The multiple UWB positioning base stations are arranged in sequence along the underground tunnel;

[0098] like Figure 3 As shown, the initial position calibration and time synchronization of the stent handling robot at a known position;

[0099] Use laser radar to obtain the three-dimensional point cloud data of the lane in front of the support handling robot and fit it into multiple possible motion trajectories;

[0100] The improved DS-TWR algorithm is used to perform ranging and fusion positioning;

[0101] After positioning is completed, check whether there are multiple solutions. If so, enable multi-label positioning to obtain a unique solution. If not, get the location.

[0102] Furthermore, an embodiment of the present application also provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for positioning a transport robot in a mine as described in the above embodiment is implemented.

[0103] Furthermore, an embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute a method for positioning a transport robot in a mine as described in the above embodiment.

[0104] The present invention is preferably implemented in software, but can also be implemented in hardware or a combination of hardware and software. The present invention can also be implemented as computer-readable code on a computer-readable medium. The computer-readable medium is any data storage device that can store data that can be read by a computer system. Examples of computer-readable media include read-only memory, random access memory, compact disks (CD-ROMs), digital versatile disks (DVDs), magnetic tapes, optical data storage devices, and carrier waves. The computer-readable medium can also be distributed among multiple computer systems connected via a network so that the computer-readable code is stored and executed in a distributed manner;

[0105] In the present invention, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances;

[0106] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0107] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for positioning a handling robot in a mine, characterized in that: The specific steps include: Plan and install UWB positioning base station units according to the underground tunnel conditions, and install multiple positioning tags on the robot for transporting the bracket to be positioned; By installing a laser radar on the handling robot, the robot's front road trajectory can be obtained by running the laser radar in the underground tunnel; The multiple positioning tags of the bracket handling robot receive and return base station signals, and the delay of the positioning tag receiving signal is calculated and measured by improving the DS-TWR ranging algorithm; The robot position information is solved by the road trajectory obtained by the laser radar and the distance information obtained by the improved DS-TWR ranging algorithm; The unique positioning result is obtained through the distance relationship of the tags on the bracket handling robot; The improved DS-TWR ranging algorithm ranging method specifically includes: The bracket handling robot performs initial position verification and time synchronization based on the measured data; Based on the laser radar, the three-dimensional point cloud of the lane in front of the bracket handling robot is extracted and fitted into the motion trajectory of the bracket handling robot. According to the complexity of the lane, the motion trajectory of different distances will be fitted, and the direction of the motion trajectory is represented as L1, L2...., L N , upload it to the positioning server; The positioning tag 2 on the bracket handling robot measures the distance R2 by sending and receiving signals with the positioning base station; Set the base station coordinates to A(x1,y1), where the trajectory calculation equation for the motion trajectory direction of L1 is f1(x)=0, and the trajectory equation for L2 is f2(x)=0; f1(x)=0 is the two-dimensional point cloud information obtained by the laser radar, which is first filtered and then fitted by the least squares method. Let f1(x) be a second-order polynomial ; Assume that the N two-dimensional point cloud information obtained by the laser radar is a data set P = {p1(c1,d1), p2(c2,d2), ..., pN(c N ,d N ); The distances between each point cloud data and L1 are denoted as h1, h2, ..., h N , and its calculation formula is as follows: , where i=1,2,...N, then the residual square Q in the least squares method is expressed as: ; The residual square Q is a ternary function of a0, a1, and a2. By finding the minimum value of the residual square Q, we can obtain the values ​​of a0, a1, and a2, and determine the fitting curve f1(x)=0; the R2 calculation formula is: ； The fitting trajectory of the bracket handling robot at this time is as follows: ； Combined L1 and The unique coordinate is obtained, which is the current position of the bracket handling robot; If the fitted trajectory of the bracket handling robot does not match the fitted motion trajectory direction L1, L1 and There may be a situation where the solution is not unique, in which case another positioning tag 1 and positioning tag 3 are activated for auxiliary positioning; Specifically, positioning tag 1 and positioning tag 3 obtain distance information R1 and R3 from the positioning base station by sending and receiving signals with the positioning base station; After obtaining the distances R1 and R3 between positioning tag 1 and positioning tag 2 and the positioning base station, a unique positioning solution can be obtained by comparing the values ​​of the two. 3， Then select the positioning result close to R1. Similarly, if R3>R 1， Then select the positioning result close to R3; The sending and receiving signals use a preset fixed timestamp T S1 , T S2 and T S3 Send and receive signals, T S1 , T S2 and T S3 The preset first timestamp, second timestamp and third timestamp are respectively used to avoid signal conflicts caused by the tag or base station receiving and transmitting signals at the same time.

2. A method for positioning a handling robot in a mine according to claim 1, characterized in that: There are multiple positioning tags, and the multiple positioning tags are arranged in an array. The direction of the multiple positioning tag array is consistent with the driving direction of the robot, and the distance between the multiple positioning tags is 0.5m-1m.

3. A method for positioning a handling robot in a mine according to claim 1, characterized in that: The planning and installation of the UWB positioning base station unit according to the underground tunnel conditions specifically includes the following steps: Determine the distribution of tunnels in the mine, use drones, lidar and GPS equipment to perform three-dimensional scanning of the mine, obtain detailed data on the terrain, structure and obstacles of the tunnels, measure the width, height, slope and turning radius parameters of the tunnels, and obtain the distribution of tunnels in the mine; According to the distribution of tunnels in the mine, the global planning algorithm is used to calculate the preliminary path of the handling robot from the starting point to the end point, and the path planning algorithm of the handling robot is performed to obtain the motion path trajectory of the handling robot; Analyze the performance of UWB positioning base station units, analyze the coverage range, signal strength and data transmission rate performance indicators of UWB positioning base station units, determine the area range that the base station can stably cover, and determine the signal transmission interference situation at each location based on the distribution of tunnels in the mine; Based on the performance of the UWB positioning base station unit, planning is carried out to ensure that the base station positions within the motion path trajectory of the handling robot are evenly distributed, ensuring that the data transmission between the UWB positioning base station unit and the handling robot meets the designed signal delay standard, and completing the installation of the UWB positioning base station unit in the underground tunnel.

4. A method for positioning a handling robot in a mine according to claim 3, characterized in that: The UWB positioning base station unit is an explosion-proof UWB base station and a POE switch and a storage device connected to the data transmission layer. The UWB positioning base station unit transmits a signal according to a preset timestamp. The positioning tag 2 sends a feedback signal after a delay after receiving the signal at the timestamp. The positioning base station sends a termination signal after a delay after receiving the feedback signal at the timestamp.

5. A positioning system for a handling robot in a mine, applied to the positioning method for a handling robot in a mine as claimed in any one of claims 1 to 4, characterized in that: include: The transport robot obtains the three-dimensional point cloud information of the road ahead through the laser pulses generated by the laser radar installed on the front side of the transport robot; Multiple positioning tags, which measure the distance by sending and receiving signals between the positioning tags and the positioning base station to obtain the fitted motion trajectory; UWB positioning base station unit, which receives the positioning information sent by the positioning tag through the base station unit and uploads it to the cloud server; The positioning server receives the positioning information of the positioning tag through data transmission with the positioning tag, and calculates the position information of the bracket handling robot.

6. A positioning system for a handling robot in a mine according to claim 5, characterized in that: The multiple UWB positioning base stations are arranged in sequence along the underground tunnel.

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