Positioning method and device, positioning system, mining equipment and readable storage medium

Abstract

The invention discloses a positioning method and device, a positioning system, mining equipment and a readable storage medium, and relates to the technical field of engineering equipment. The positioning method is used for determining the position of mining equipment in a roadway through the positioning system, and the positioning system comprises a spherical target arranged on the top wall of the roadway; the multiple laser radars are used for being arranged on mining equipment, and the positioning method comprises the steps that the multiple laser radars are controlled to scan a roadway, and a first point cloud in the roadway is obtained; determining a second point cloud of the surface of the spherical target according to the first point cloud; determining a first coordinate of the center of the spherical target in the first coordinate system according to the second point cloud; converting the first coordinate into a second coordinate in a second coordinate system; each coordinate value in the second coordinates is negative, and third coordinates in the third coordinate system are generated. According to the positioning method provided by the invention, the positioning accuracy of the mining equipment in the roadway can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering equipment, and in particular to a positioning method, a positioning device, a positioning system, mining equipment and a readable storage medium. Background Art

[0002] In the related art, the TBM is usually positioned in the tunnel by an inertial navigation system or by real-time positioning and map construction. Then, the inertial navigation system will have cumulative errors in the positioning process, causing the positioning results to shift over time. The complex environment in the tunnel will make it difficult to obtain effective feature points during the real-time positioning and map construction process, resulting in inaccurate positioning. Summary of the invention

[0003] The present invention aims at at least solving the technical problem in the prior art that the positioning of a roadheader in a tunnel is not accurate enough.

[0004] To this end, a first aspect of the present invention proposes a positioning method.

[0005] A second aspect of the present invention provides a positioning device.

[0006] A third aspect of the present invention provides a positioning system.

[0007] A fourth aspect of the present invention provides a mining device.

[0008] A fifth aspect of the present invention provides a readable storage medium.

[0009] In view of this, a first aspect of the present invention proposes a positioning method, which is used to determine the position of mining equipment in a tunnel through a positioning system, the positioning system comprising a spherical target, which is used to be set on the top wall of the tunnel; a plurality of laser radars, which are used to be set on the mining equipment, and the positioning method comprises: controlling the plurality of laser radars to scan the tunnel to obtain a first point cloud in the tunnel; determining a second point cloud of the surface of the spherical target according to the first point cloud; determining a first coordinate of the center of the spherical target in a first coordinate system according to the second point cloud; wherein the origin of the first coordinate system is the optical center of the first laser radar among the plurality of laser radars, and the first The x-axis direction of the coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel; the first coordinate is converted into a second coordinate in the second coordinate system; wherein the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the tunnel, and the z-axis direction of the second coordinate system is the height direction of the tunnel; each coordinate value in the second coordinate is negative to generate a third coordinate in the third coordinate system; wherein the origin of the third coordinate system is the center of the spherical target, the x-axis direction of the third coordinate system is the extension direction of the tunnel, and the z-axis direction of the third coordinate system is the height direction of the tunnel.

[0010] The positioning method provided by the present invention can be used to locate mining equipment in a tunnel through a positioning system, that is, to determine the position of the mining equipment in the tunnel through the positioning system. The positioning system includes a spherical target and multiple laser radars. The spherical target is set on the top wall of the tunnel.

[0011] Multiple laser radars can be used to scan the environment in the tunnel, so as to determine the relative position between the mining equipment and the spherical target through scanning, and then based on the position of the spherical target in the tunnel, the position of the mining equipment in the tunnel is determined through coordinate conversion to complete the positioning of the mining equipment.

[0012] Specifically, in the process of positioning mining equipment, multiple laser radars are first controlled to scan the tunnel, so as to obtain the first point cloud in the tunnel. Then, based on the first point cloud scanned by each laser radar, the second point cloud of the surface of the spherical target is determined. It can be understood that, usually, the environment in the tunnel is relatively complex, and the first point cloud in the tunnel is obtained by multiple laser radars respectively, and then the second point cloud of the surface of the spherical target is determined based on the multiple first point clouds. That is, in the process of determining the second point cloud of the surface of the spherical target, it is obtained by segmenting the point cloud through multiple laser radars, thereby improving the accuracy of obtaining the second point cloud of the surface of the spherical target. Compared with the method of using an inertial navigation system to position the tunnel boring machine during the movement of the tunnel boring machine in the related art, the cumulative error in the positioning process can be reduced.

[0013] Furthermore, after determining the second point cloud of the surface of the spherical target, the first coordinate of the center line of the spherical target in the first coordinate system can be determined according to the second point cloud. The origin of the first coordinate system is the optical center of the first laser radar among the multiple laser radars, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel. That is, the first coordinate system is a mining equipment coordinate system based on the mining equipment. The first laser radar is one of the multiple laser radars. For example, when the number of laser radars is three, the three laser radars are respectively arranged in the middle part and the left and right sides of the mining equipment, wherein the laser radar located in the middle part can be used as the first laser radar.

[0014] After acquiring the second point cloud, the first coordinate of the center of the spherical target in the first coordinate system can be determined based on the positional relationship between each point of the second point cloud and each laser radar, and the positional relationship between any two laser radars.

[0015] Furthermore, after the first coordinate is determined, the first coordinate is converted into a second coordinate in a second coordinate system. The origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the tunnel, and the z-axis direction of the second coordinate system is the height direction of the tunnel. That is, the second coordinate system is a tunnel coordinate system with the mining equipment as the carrier, and the second coordinate of the center of the spherical target in the second coordinate system can reflect the position of the spherical target in the tunnel coordinate system with the mining equipment as the carrier.

[0016] Furthermore, by taking the negative value of each coordinate in the second coordinate, the third coordinate in the third coordinate system can be generated. Among them, the origin of the third coordinate system is the center of the spherical target, the x-axis direction of the third coordinate system is the extension direction of the roadway, and the z-axis direction of the third coordinate system is the height direction of the roadway. That is, the third coordinate system is a roadway coordinate system with the spherical target as the carrier. At the same time, since the spherical target is set on the top wall of the roadway, that is, the spherical target will not move relative to the roadway, therefore, the third coordinate system is a roadway coordinate system with the roadway as the reference.

[0017] It can be understood that the second coordinate of the center of the spherical target in the second coordinate system can reflect the position of the spherical target in the tunnel coordinate system with the mining equipment as the carrier, and the direction of each coordinate axis of the third coordinate is opposite to the direction of each coordinate axis of the second coordinate system. Therefore, by negating each coordinate value of the second coordinate, the second coordinate can be converted into the third coordinate in the third coordinate system, that is, the third coordinate can reflect the position of the mining equipment relative to the center of the spherical target. The third coordinate system is a tunnel coordinate system with the spherical target as the carrier, so the third coordinate can reflect the position of the mining equipment in the tunnel, thereby determining the position of the mining equipment in the tunnel.

[0018] The positioning method provided by the present invention scans the tunnel through multiple laser radars arranged on the mining equipment, thereby determining the second point cloud of the surface of the spherical target, and determining the first coordinate of the spherical target in the first coordinate system based on the second point cloud. Then, by means of coordinate conversion, the first coordinate of the center of the spherical target in the first coordinate system is converted into the second coordinate in the second coordinate system, and each coordinate value of the second coordinate is inverted, thereby converting the second coordinate into the third coordinate in the third coordinate system, and the position of the mining equipment in the tunnel can be determined. In the process of determining the second point cloud of the surface of the spherical target, it is obtained by point cloud segmentation through multiple laser radars, so that the accuracy of obtaining the second point cloud of the surface of the spherical target can be improved. Compared with the related art of using an inertial navigation system and real-time positioning and map construction to determine the position of the mining equipment, it can effectively reduce the cumulative error and improve the accuracy of positioning.

[0019] In addition, the positioning method in the above technical solution provided by the present invention may also have the following additional technical features:

[0020] In some technical solutions, optionally, based on the first point cloud, a second point cloud of the surface of the spherical target is determined, including: obtaining the fourth coordinate of the first point cloud obtained by each laser radar scan in a fourth coordinate system; wherein the fourth coordinate system is a coordinate system with the optical center of the laser radar as the origin; converting the fourth coordinate into a fifth coordinate in the second coordinate system; according to the fifth coordinate, filtering the first point cloud to generate a third point cloud; and generating a second point cloud based on the third point cloud corresponding to each laser radar.

[0021] In this technical solution, since the first point cloud is obtained by scanning multiple spherical targets separately, in the process of determining the second point cloud of the spherical target surface, the first point cloud obtained by scanning each laser radar can be processed separately, and then the first point cloud of each laser radar that has been processed separately can be merged to obtain the second point cloud of the spherical target surface.

[0022] Specifically, first, the fourth coordinates of the first point cloud obtained by each laser radar scan in the fourth coordinate system are obtained respectively. The fourth coordinate system is a coordinate system with the optical center of the laser radar as the origin. After the laser radar scans and obtains the first point cloud, the fourth coordinates of the first point cloud in the fourth coordinate system can be determined according to the relative position between each point in the first point cloud and the laser radar.

[0023] Further, the fourth coordinate of the first point cloud in the fourth coordinate system is converted to the fifth coordinate in the second coordinate system. It can be understood that the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the lane, and the z-axis direction of the second coordinate system is the height direction of the lane. Therefore, according to the relative position relationship between each laser radar and the first laser radar, the fourth coordinate of the first point cloud in the fourth coordinate system can be converted to the fifth coordinate in the second coordinate system.

[0024] Further, according to the fifth coordinate, the first point cloud is filtered to generate a third point cloud. It can be understood that the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the tunnel, and the z-axis direction of the second coordinate system is the height direction of the tunnel. Therefore, according to the fifth coordinate, the positional relationship between the first point cloud and the side walls and top walls of the tunnel can be determined. Moreover, in addition to the point cloud of the spherical target surface, the first point cloud also includes point clouds of the top and side walls of the tunnel. Therefore, according to the fifth coordinate, the first point cloud is filtered, and the point clouds of the top and side walls of the tunnel can be removed, and only the point cloud of the spherical target surface is retained, that is, the second point cloud of the surface of the spherical target is obtained, thereby completing the determination of the second point cloud.

[0025] In some technical schemes, optionally, the first point cloud is filtered according to the fifth coordinate to generate a third point cloud, including: filtering the first point cloud according to the fifth coordinate and the distance between the origin of the second coordinate system and the side wall of the tunnel and the top wall of the tunnel to generate a fourth point cloud; preprocessing the fourth point cloud and projecting the fourth point cloud into the first plane; fitting the fourth point cloud into a circle in the first plane according to the first fitting algorithm; filtering the fourth point cloud according to the radius of the spherical target to generate a third point cloud.

[0026] In this technical solution, in the process of filtering the first point cloud, first, according to the fifth coordinate and the distance between the origin of the second coordinate system and the side wall and the top wall of the tunnel, the first point cloud is filtered. It can be understood that the fifth coordinate is the coordinate of the first point cloud in the second coordinate system, and the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the tunnel, and the z-axis direction of the second coordinate system is the height direction of the tunnel. Through the fifth coordinate of the first point cloud in the second coordinate system, it can be reflected which points in the fifth point cloud are points on the surface of the spherical target and which points are points on the top wall and side wall of the tunnel, and then the points on the top wall and the side wall of the tunnel are removed to generate the fourth point cloud, so that only the points on the surface of the spherical target are retained.

[0027] Further, the fourth point cloud is preprocessed so that the fourth point cloud is projected into the first plane, and the fourth point cloud is fitted into a circle in the first plane according to the first fitting algorithm. It is understandable that, based on the shape of the spherical target, in the process of preprocessing the fourth point cloud, the fourth point cloud can be firstly projected into the first plane, and then the fourth point cloud projected into the first plane is fitted into a circle, and then the third point cloud in the fourth point cloud that meets the radius of the spherical target can be determined by observing the fitted circular fourth point cloud. That is, according to the radius of the spherical target, the point cloud in the fourth point cloud that has a large difference with the radius of the spherical target is removed, that is, the point cloud that has no reference value is removed, and only the point cloud that has a small difference with the radius of the spherical target and the third point cloud whose radius is within the radius of the spherical target are retained.

[0028] In some technical solutions, optionally, the fourth point cloud is preprocessed and the fourth point cloud is projected into the first plane, including: clustering each point in the fourth point cloud according to a first clustering algorithm; fitting the fourth point cloud according to a second fitting algorithm to generate a first plane; and projecting the clustered fourth point cloud into the first plane.

[0029] In this technical solution, during the preprocessing of the fourth point cloud, each point in the fourth point cloud can be clustered according to the first clustering algorithm, and then the fourth point cloud can be fitted using the second fitting algorithm to generate the first plane. Finally, the clustered fourth point cloud is projected onto the first plane.

[0030] In some technical solutions, optionally, a second point cloud is generated based on the third point cloud corresponding to each lidar, including: merging multiple third point clouds into the second coordinate system according to the first transformation matrix between the fourth coordinate system and the second coordinate system to generate a fifth point cloud; clustering the fifth point cloud according to the second clustering algorithm; fitting the clustered fifth point cloud into a sphere according to the third fitting algorithm; filtering the fifth point cloud according to a preset algorithm to generate a second point cloud.

[0031] In this technical solution, after the third point cloud is generated, that is, after the third point cloud of the surface of the spherical target scanned by each laser radar is generated, the third point clouds corresponding to all laser radars need to be merged to generate a second point cloud of the spherical target surface.

[0032] Specifically, first, according to the first conversion matrix between the fourth coordinate system and the second coordinate system, multiple third point clouds are merged into the second coordinate system to generate a fifth point cloud. It can be understood that the fourth coordinate system is a coordinate system with the optical center of the laser radar as the origin, the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the lane, and the z-axis direction of the second coordinate system is the height direction of the lane. Therefore, according to the relative position relationship between the optical center of each laser radar and the optical center of the first laser radar, the first conversion matrix between the fourth coordinate system and the second coordinate system can be obtained, and then according to the first conversion matrix, the third point cloud corresponding to each laser radar can be merged into the second coordinate system to generate the fifth point cloud.

[0033] Further, according to the second clustering algorithm, the fifth point cloud corresponding to each laser radar is clustered, and finally, according to the third fitting algorithm, all the clustered fifth point clouds are fitted, so that the clustered fifth point clouds are fitted into a sphere;

[0034] Finally, according to the preset algorithm, the fifth point cloud is filtered, the points in the spherical fifth point cloud that are closest to the spherical target radius are retained, and the points in the fifth point cloud that are significantly different from the spherical radius are filtered, thus generating the second point cloud of the spherical target surface.

[0035] In some technical solutions, optionally, based on the second point cloud, the first coordinate of the center of the spherical target in the first coordinate system is determined, including: based on the position of the laser radar on the mining equipment, determining the second transformation matrix between the fourth coordinate system and the first coordinate system; based on the second transformation matrix, converting the fourth coordinate into the first coordinate.

[0036] In this technical solution, since the second point cloud is obtained directly by scanning the laser radar, the coordinates of each second point cloud in the coordinate system based on the corresponding laser radar can be directly determined, that is, the coordinates of the second point cloud in the corresponding fourth coordinate system can be determined.

[0037] Furthermore, in the process of determining the first coordinate of the center of the spherical target in the first coordinate system, the second conversion matrix between the fourth coordinate system and the first coordinate system is first determined according to the position of each laser radar on the mining equipment. It can be understood that the origin of the first coordinate system is the optical center of the first laser radar among the multiple laser radars, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel. Therefore, according to the relative position relationship between the optical center of each laser radar and the optical center of the first laser radar, the second conversion matrix between the fourth coordinate system and the first coordinate system can be obtained, and then according to the second conversion matrix, the coordinates of the second point cloud are converted into coordinates, and then, according to the radius of the spherical target, the first coordinate of the center of the spherical target in the first coordinate system can be determined.

[0038] In some technical schemes, optionally, the positioning system also includes an inertial navigation device, which converts the first coordinate into a second coordinate in a second coordinate system, including: determining a third conversion matrix between the first coordinate system and the fifth coordinate system according to the relative position between the inertial navigation device and the first laser radar; wherein the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel; determining a fourth conversion matrix between the fifth coordinate system and the sixth coordinate system according to the posture of the inertial navigation device; wherein the sixth coordinate system is the northeast celestial coordinate system; obtaining a fifth conversion matrix between the sixth coordinate system and the second coordinate system; converting the first coordinate according to the third conversion matrix, the fourth conversion matrix and the fifth conversion matrix to generate a second coordinate.

[0039] In this technical solution, the positioning system also includes an inertial navigation device. In the process of converting the first coordinate of the spherical target in the first coordinate system into the second coordinate in the second coordinate system, first, the third conversion matrix between the first coordinate system and the fifth coordinate system can be determined according to the relative position between the inertial navigation device and the first laser radar. It can be understood that the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel. At the same time, the origin of the first coordinate system is the optical center of the first laser radar, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel. Therefore, according to the relative position between the center of the inertial navigation device and the center of the first laser radar, the third conversion matrix between the first coordinate system and the fifth coordinate system can be determined.

[0040] Further, according to the position and posture of the inertial navigation device on the mining equipment, the fourth conversion matrix between the fifth coordinate system and the sixth coordinate system can be determined. Among them, the sixth coordinate system is the northeast celestial coordinate system, that is, the origin of the sixth coordinate system is the center of the inertial navigation device, the x-axis direction of the sixth coordinate system is due east, the y-axis direction of the sixth coordinate system is due north, and the z-axis direction of the sixth coordinate system is vertically upward. At the same time, the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel. Therefore, according to the position and posture of the inertial navigation device on the mining equipment, the fourth conversion matrix between the fifth coordinate system and the sixth coordinate system can be determined.

[0041] Further, the fifth conversion matrix between the sixth coordinate system and the second coordinate system is obtained. Among them, the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the lane, the z-axis direction of the second coordinate system is the height direction of the lane, the origin of the sixth coordinate system is the center of the inertial navigation device, the x-axis direction of the sixth coordinate system is due east, the y-axis direction of the sixth coordinate system is due north, and the z-axis direction of the sixth coordinate system is vertically upward. Therefore, the fifth conversion matrix between the sixth coordinate system and the fifth coordinate system can be directly obtained.

[0042] Finally, according to the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix, the first coordinate of the midline point of the spherical target in the first coordinate system can be transformed into the second coordinate in the second coordinate system.

[0043] In some technical schemes, optionally, the mining equipment includes a main body, the main body includes a bearing surface, multiple laser radars are arranged on the bearing surface, and the multiple laser radars are controlled to scan the tunnel. Before obtaining the first point cloud in the tunnel, the positioning method also includes: adjusting the pitch angle of each laser radar to a preset angle; wherein the pitch angle of the laser radar is the angle between the laser line located at the bottom of the multiple laser lines emitted by the laser radar and the bearing surface. When the pitch angle of the laser radar is the preset angle, among the multiple intersections formed by the multiple laser lines emitted by the multiple laser radars and the second plane, the distance between two adjacent intersections is the smallest.

[0044] In this technical solution, before controlling multiple laser radars to scan the tunnel, the pitch angle of each laser radar can be adjusted first, so that among the multiple intersection points formed by the laser lines emitted by the multiple laser radars and the second plane, the distance between two adjacent intersection points is minimized, that is, the distribution of the multiple laser lines is the densest, so that the second point cloud on the surface of the spherical target formed by the multiple laser radars when scanning the spherical target is the densest, thereby improving the accuracy of the coordinates of the center of the spherical target.

[0045] Specifically, the mining equipment includes a body, the body includes a bearing surface, and multiple laser radars are arranged on the bearing surface. The pitch angle of the laser radar may refer to the angle between the laser line located at the bottom of the multiple laser lines emitted by the laser radar and the bearing surface of the body of the mining equipment. In addition, it can be understood that the pitch angle of the laser radar is used to reflect the angle of the laser line emitted by the laser radar relative to the bearing surface. Therefore, the pitch angle can also be set to the angle between the central axis of the conical area formed by the laser line emitted by the laser radar and the bearing surface.

[0046] When the pitch angle of the laser radar is a preset angle, the distance between two adjacent intersections formed by the laser lines emitted by the multiple laser radars and the second plane can be minimized, that is, the multiple laser lines emitted by the multiple laser radars are the densest.

[0047] In some technical solutions, optionally, before adjusting the pitch angle of each laser radar to a preset angle, the positioning method also includes: controlling each laser radar to emit a laser line toward the second plane; obtaining the distance between the intersection of two adjacent laser lines and the second plane; traversing the pitch angle of each laser radar, and determining the preset angle corresponding to the shortest distance between two adjacent intersections among multiple intersections between the multiple laser lines and the second plane.

[0048] In this technical solution, before adjusting the pitch angle of each laser radar, multiple laser radars can be controlled to emit laser lines toward the second plane, so that the preset angle is determined according to the intersection points between the multiple laser lines and the second plane.

[0049] Furthermore, each pitch angle of the laser radar is traversed to determine the angle corresponding to the case where the distance between the intersection points of two adjacent laser lines and the second plane is the shortest, which is the preset angle. That is, the pitch angles of the laser radar are adjusted to different angles respectively, and at each angle, the z-axis coordinate of the intersection point between each laser line and the second plane in the first coordinate system is determined, and then the angle corresponding to the case where the distance between two adjacent intersection points is the shortest is determined, and the angle is determined as the preset angle.

[0050] According to a second aspect of the present invention, a positioning device is proposed, and the positioning device is used to determine the position of mining equipment in a tunnel through a positioning system, and the positioning system includes a spherical target, which is used to be set on the top wall of the tunnel; multiple laser radars, which are used to be set on the mining equipment, and the positioning device includes: a control unit, which is used to control the multiple laser radars to scan the tunnel and obtain a first point cloud in the tunnel; a determination unit, which is used to determine a second point cloud of the surface of the spherical target based on the first point cloud; and determine a first coordinate of the center of the spherical target in a first coordinate system based on the second point cloud; wherein the origin of the first coordinate system is the optical center of the first laser radar among the multiple laser radars, and the first The x-axis direction of the coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel; the conversion unit is used to convert the first coordinate into a second coordinate in the second coordinate system; wherein the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the tunnel, and the z-axis direction of the second coordinate system is the height direction of the tunnel; the conversion unit is also used to negate each coordinate value in the second coordinate to generate a third coordinate in a third coordinate system; wherein the origin of the third coordinate system is the center of the spherical target, the x-axis direction of the third coordinate system is the extension direction of the tunnel, and the z-axis direction of the third coordinate system is the height direction of the tunnel.

[0051] The positioning device provided by the present invention scans the tunnel through multiple laser radars arranged on the mining equipment, thereby determining the second point cloud of the surface of the spherical target, and determining the first coordinate of the spherical target in the first coordinate system based on the second point cloud. Then, by means of coordinate conversion, the first coordinate of the center of the spherical target in the first coordinate system is converted into the second coordinate in the second coordinate system, and each coordinate value of the second coordinate is inverted, thereby converting the second coordinate into the third coordinate in the third coordinate system, and the position of the mining equipment in the tunnel can be determined. In the process of determining the second point cloud of the surface of the spherical target, it is obtained by point cloud segmentation through multiple laser radars, so that the accuracy of obtaining the second point cloud of the surface of the spherical target can be improved. Compared with the related art of using an inertial navigation system and real-time positioning and map construction to determine the position of the mining equipment, it can effectively reduce the cumulative error and improve the accuracy of positioning.

[0052] In some technical schemes, optionally, the determination unit is specifically used to: obtain the fourth coordinate of the first point cloud obtained by each laser radar scan in a fourth coordinate system; wherein the fourth coordinate system is a coordinate system with the optical center of the laser radar as the origin; convert the fourth coordinate into a fifth coordinate in the second coordinate system; according to the fifth coordinate, filter the first point cloud to generate a third point cloud; and generate a second point cloud according to the third point cloud corresponding to each laser radar.

[0053] Furthermore, the determination unit is also used to: filter the first point cloud according to the fifth coordinate and the distance between the origin of the second coordinate system and the side wall and the top wall of the tunnel to generate a fourth point cloud; pre-process the fourth point cloud and project the fourth point cloud into the first plane; fit the fourth point cloud into a circle in the first plane according to the first fitting algorithm; filter the fourth point cloud according to the radius of the spherical target to generate a third point cloud.

[0054] Furthermore, the determination unit is also used to: cluster each point in the fourth point cloud according to the first clustering algorithm; fit the fourth point cloud according to the second fitting algorithm to generate a first plane; and project the clustered fourth point cloud into the first plane.

[0055] Furthermore, the determination unit is also used to: merge multiple third point clouds into the second coordinate system according to the first transformation matrix between the fourth coordinate system and the second coordinate system to generate a fifth point cloud; cluster the fifth point cloud according to the second clustering algorithm; fit the clustered fifth point cloud into a sphere according to the third fitting algorithm; filter the fifth point cloud according to a preset algorithm to generate a second point cloud.

[0056] Furthermore, the determination unit is also used to: determine a second conversion matrix between the fourth coordinate system and the first coordinate system according to the position of the laser radar on the mining equipment; and convert the fourth coordinate into the first coordinate according to the second conversion matrix.

[0057] Furthermore, the positioning system also includes an inertial navigation device, and the conversion unit is specifically used to: determine a third conversion matrix between the first coordinate system and the fifth coordinate system according to the relative position between the inertial navigation device and the first laser radar; wherein the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel; determine a fourth conversion matrix between the fifth coordinate system and the sixth coordinate system according to the position and posture of the inertial navigation device; wherein the sixth coordinate system is the northeast celestial coordinate system; obtain a fifth conversion matrix between the sixth coordinate system and the second coordinate system; and convert the first coordinate according to the third conversion matrix, the fourth conversion matrix and the fifth conversion matrix to generate a second coordinate.

[0058] Furthermore, the mining equipment includes a main body, the main body includes a bearing surface, and multiple laser radars are arranged on the bearing surface. The control unit is also used to: adjust the pitch angle of each laser radar to a preset angle; wherein the pitch angle of the laser radar is the angle between the laser line located at the bottom of the multiple laser lines emitted by the laser radar and the bearing surface. When the pitch angle of the laser radar is the preset angle, among the multiple intersections formed by the multiple laser lines emitted by the multiple laser radars and the second plane, the distance between two adjacent intersections is the smallest.

[0059] Furthermore, the control unit is also used to: control each laser radar to emit a laser line toward the second plane; obtain the distance between the intersection of two adjacent laser lines and the second plane; traverse the pitch angles of each laser radar to determine the preset angle corresponding to the shortest distance between the intersection of two adjacent laser lines and the second plane.

[0060] According to a third aspect of the present application, a positioning system is proposed, comprising a processor and a memory, wherein the memory stores programs or instructions that can be executed on the processor, and when the programs or instructions are executed by the processor, the steps of the positioning method of the first aspect are implemented.

[0061] According to a fourth aspect of the present application, a mining device is proposed, comprising: a positioning system as described in the third aspect.

[0062] According to a fifth aspect of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the positioning method of the first aspect are implemented.

[0063] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0065] Figure 1 A schematic diagram showing a flow chart of a positioning method according to an embodiment of the present invention is shown;

[0066] Figure 2 A schematic diagram of the structure of a spherical target in an embodiment of the present invention is shown;

[0067] Figure 3 A flowchart showing a coordinate conversion process of a center point of a spherical target in an embodiment of the present invention is shown;

[0068] Figure 4 A schematic diagram of the structure of a laser radar emitting a laser line according to an embodiment of the present invention is shown;

[0069] Figure 5 A schematic diagram of a second point cloud in an embodiment of the present invention is shown;

[0070] Figure 6 A structural block diagram of a positioning device according to an embodiment of the present invention is shown;

[0071] Figure 7 A structural block diagram of a positioning system according to another embodiment of the present invention is shown.

[0072] Reference numerals:

[0073] 112 lead screw, 114 nut, 116 spherical target, 200 positioning device, 202 control unit, 204 determination unit, 206 conversion unit, 300 positioning system, 302 processor, 304 memory. DETAILED DESCRIPTION

[0074] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0075] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0076] Refer to the following Figures 1 to 7 A positioning method, an apparatus, a positioning system, mining equipment and a readable storage medium according to some embodiments of the present invention are described.

[0077] like Figure 1 As shown, according to one embodiment of the present invention, a positioning method is proposed, the positioning method is used to determine the position of mining equipment in a tunnel through a positioning system, the positioning system includes a spherical target, which is used to be set on the top wall of the tunnel; multiple laser radars, which are used to be set on the mining equipment, and the positioning method includes:

[0078] S102, controlling multiple laser radars to scan the lane to obtain a first point cloud in the lane;

[0079] S104, determining a second point cloud of the surface of the spherical target according to the first point cloud;

[0080] S106, determining a first coordinate of the center of the spherical target in the first coordinate system according to the second point cloud;

[0081] The origin of the first coordinate system is the optical center of the first laser radar among the multiple laser radars, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel;

[0082] S108, converting the first coordinate into a second coordinate in a second coordinate system;

[0083] The origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the lane, and the z-axis direction of the second coordinate system is the height direction of the lane;

[0084] S110, negating each coordinate value in the second coordinate to generate a third coordinate in a third coordinate system;

[0085] The origin of the third coordinate system is the center of the spherical target, the x-axis direction of the third coordinate system is the extension direction of the tunnel, and the z-axis direction of the third coordinate system is the height direction of the tunnel.

[0086] The positioning method provided by the present invention can be used to locate mining equipment in a tunnel through a positioning system, that is, to determine the position of the mining equipment in the tunnel through the positioning system. The positioning system includes a spherical target and a plurality of laser radars. The spherical target is set on the top wall of the tunnel. Specifically, the spherical target can be suspended on the top wall of the tunnel through a screw nut structure. For example, Figure 2 As shown, the nut 114 is sleeved on the screw 112, and the two ends of the screw 112 are hung on the wire mesh on the top wall of the tunnel, and then the spherical target 116 is hung on the nut 114 by the steel wire. By adjusting the nut 114, the position of the spherical target 116 can be adjusted. For example, the nut 114 can be adjusted so that the spherical target 116 is located at the center position between the two sides of the tunnel, so as to determine the position of the spherical target 116 in the tunnel.

[0087] In addition, the position of the spherical target can also be adjusted in other ways, such as setting the spherical target by using a slide rail, or driving the spherical target by using a motor to adjust the position of the spherical target.

[0088] During the positioning process, multiple laser radars are first used to scan the environment in the tunnel, so as to determine the relative position between the mining equipment and the spherical target through scanning. Then, based on the position of the spherical target in the tunnel, the position of the mining equipment in the tunnel is determined through coordinate conversion to complete the positioning of the mining equipment.

[0089] Specifically, in the process of positioning mining equipment, multiple laser radars are first controlled to scan the tunnel, so as to obtain the first point cloud in the tunnel. Then, based on the first point cloud scanned by each laser radar, the second point cloud of the surface of the spherical target is determined. It can be understood that, usually, the environment in the tunnel is relatively complex, and the first point cloud in the tunnel is obtained by multiple laser radars respectively, and then the second point cloud of the surface of the spherical target is determined based on the multiple first point clouds. That is, in the process of determining the second point cloud of the surface of the spherical target, it is obtained by segmenting the point cloud through multiple laser radars, thereby improving the accuracy of obtaining the second point cloud of the surface of the spherical target. Compared with the method of using an inertial navigation system to position the tunnel boring machine during the movement of the tunnel boring machine in the related art, the cumulative error in the positioning process can be reduced.

[0090] Furthermore, after determining the second point cloud of the surface of the spherical target, the first coordinate of the center line of the spherical target in the first coordinate system can be determined according to the second point cloud. The origin of the first coordinate system is the optical center of the first laser radar among the multiple laser radars, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel. That is, the first coordinate system is a mining equipment coordinate system based on the mining equipment. The first laser radar is one of the multiple laser radars. For example, when the number of laser radars is three, the three laser radars are respectively arranged in the middle part and the left and right sides of the mining equipment, wherein the laser radar located in the middle part can be used as the first laser radar.

[0091] After acquiring the second point cloud, the first coordinate of the center of the spherical target in the first coordinate system can be determined based on the positional relationship between each point of the second point cloud and each laser radar, and the positional relationship between any two laser radars.

[0092] Furthermore, after the first coordinate is determined, the first coordinate is converted into a second coordinate in a second coordinate system. The origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the tunnel, and the z-axis direction of the second coordinate system is the height direction of the tunnel. That is, the second coordinate system is a tunnel coordinate system with the mining equipment as the carrier, and the second coordinate of the center of the spherical target in the second coordinate system can reflect the position of the spherical target in the tunnel coordinate system with the mining equipment as the carrier.

[0093] Furthermore, by taking the negative value of each coordinate in the second coordinate, the third coordinate in the third coordinate system can be generated. Among them, the origin of the third coordinate system is the center of the spherical target, the x-axis direction of the third coordinate system is the extension direction of the roadway, and the z-axis direction of the third coordinate system is the height direction of the roadway. That is, the third coordinate system is a roadway coordinate system with the spherical target as the carrier. At the same time, since the spherical target is set on the top wall of the roadway, that is, the spherical target will not move relative to the roadway, therefore, the third coordinate system is a roadway coordinate system with the roadway as the reference.

[0094] It can be understood that the second coordinate of the center of the spherical target in the second coordinate system can reflect the position of the spherical target in the tunnel coordinate system with the mining equipment as the carrier, and the direction of each coordinate axis of the third coordinate is opposite to the direction of each coordinate axis of the second coordinate system. Therefore, by negating each coordinate value of the second coordinate, the second coordinate can be converted into the third coordinate in the third coordinate system, that is, the third coordinate can reflect the position of the mining equipment relative to the center of the spherical target. The third coordinate system is a tunnel coordinate system with the spherical target as the carrier, so the third coordinate can reflect the position of the mining equipment in the tunnel, thereby determining the position of the mining equipment in the tunnel.

[0095] The positioning method provided by the present invention scans the tunnel through multiple laser radars arranged on the mining equipment, thereby determining the second point cloud of the surface of the spherical target, and determining the first coordinate of the spherical target in the first coordinate system based on the second point cloud. Then, by means of coordinate conversion, the first coordinate of the center of the spherical target in the first coordinate system is converted into the second coordinate in the second coordinate system, and each coordinate value of the second coordinate is inverted, thereby converting the second coordinate into the third coordinate in the third coordinate system, and the position of the mining equipment in the tunnel can be determined. In the process of determining the second point cloud of the surface of the spherical target, it is obtained by point cloud segmentation through multiple laser radars, so that the accuracy of obtaining the second point cloud of the surface of the spherical target can be improved. Compared with the related art of using an inertial navigation system and real-time positioning and map construction to determine the position of the mining equipment, it can effectively reduce the cumulative error and improve the accuracy of positioning.

[0096] In some embodiments, optionally, based on the first point cloud, determining a second point cloud of the surface of the spherical target includes: obtaining a fourth coordinate of the first point cloud obtained by each laser radar scan in a fourth coordinate system; wherein the fourth coordinate system is a coordinate system with the optical center of the laser radar as the origin; converting the fourth coordinate into a fifth coordinate in the second coordinate system; according to the fifth coordinate, filtering the first point cloud to generate a third point cloud; and generating a second point cloud according to the third point cloud corresponding to each laser radar.

[0097] In this embodiment, since the first point cloud is obtained by scanning multiple spherical targets separately, in the process of determining the second point cloud of the spherical target surface, the first point cloud obtained by scanning each laser radar can be processed separately, and then the first point cloud of each laser radar that has been processed separately can be merged to obtain the second point cloud of the spherical target surface.

[0098] Specifically, first, the fourth coordinates of the first point cloud obtained by each laser radar scan in the fourth coordinate system are obtained respectively. The fourth coordinate system is a coordinate system with the optical center of the laser radar as the origin. After the laser radar scans and obtains the first point cloud, the fourth coordinates of the first point cloud in the fourth coordinate system can be determined according to the relative position between each point in the first point cloud and the laser radar.

[0099] Further, the fourth coordinate of the first point cloud in the fourth coordinate system is converted to the fifth coordinate in the second coordinate system. It can be understood that the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the lane, and the z-axis direction of the second coordinate system is the height direction of the lane. Therefore, according to the relative position relationship between each laser radar and the first laser radar, the fourth coordinate of the first point cloud in the fourth coordinate system can be converted to the fifth coordinate in the second coordinate system.

[0100] Further, according to the fifth coordinate, the first point cloud is filtered to generate a third point cloud. It can be understood that the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the tunnel, and the z-axis direction of the second coordinate system is the height direction of the tunnel. Therefore, according to the fifth coordinate, the positional relationship between the first point cloud and the side walls and top walls of the tunnel can be determined. Moreover, in addition to the point cloud of the spherical target surface, the first point cloud also includes point clouds of the top and side walls of the tunnel. Therefore, according to the fifth coordinate, the first point cloud is filtered, and the point clouds of the top and side walls of the tunnel can be removed, and only the point cloud of the spherical target surface is retained, that is, the second point cloud of the surface of the spherical target is obtained, thereby completing the determination of the second point cloud.

[0101] In some embodiments, optionally, the first point cloud is filtered according to the fifth coordinate to generate a third point cloud, including: filtering the first point cloud according to the fifth coordinate and the distance between the origin of the second coordinate system and the side wall of the tunnel and the top wall of the tunnel to generate a fourth point cloud; preprocessing the fourth point cloud to project the fourth point cloud into the first plane; fitting the fourth point cloud into a circle in the first plane according to the first fitting algorithm; filtering the fourth point cloud according to the radius of the spherical target to generate a third point cloud.

[0102] In this embodiment, in the process of filtering the first point cloud, first, according to the fifth coordinate and the distance between the origin of the second coordinate system and the side wall and the top wall of the tunnel, the first point cloud is filtered. It can be understood that the fifth coordinate is the coordinate of the first point cloud in the second coordinate system, and the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the tunnel, and the z-axis direction of the second coordinate system is the height direction of the tunnel. Through the fifth coordinate of the first point cloud in the second coordinate system, it can be reflected which points in the fifth point cloud are points on the surface of the spherical target and which points are points on the top wall and side wall of the tunnel, and then the points on the top wall and the side wall of the tunnel are removed to generate the fourth point cloud, so that only the points on the surface of the spherical target are retained.

[0103] Further, the fourth point cloud is preprocessed so that the fourth point cloud is projected into the first plane, and the fourth point cloud is fitted into a circle in the first plane according to the first fitting algorithm. It is understandable that, based on the shape of the spherical target, in the process of preprocessing the fourth point cloud, the fourth point cloud can be firstly projected into the first plane, and then the fourth point cloud projected into the first plane can be fitted into a circle, and then the third point cloud in the fourth point cloud that meets the radius of the spherical target can be determined by observing the fitted circular fourth point cloud. That is, according to the radius of the spherical target, the point cloud in the fourth point cloud that differs greatly from the radius of the spherical target is removed, that is, the point cloud that has no reference value is removed, and only the point cloud that differs less from the radius of the spherical target and the third point cloud whose radius is within the radius of the spherical target are retained.

[0104] Specifically, after fitting the fourth point cloud into a circle in the first plane, point clouds having a radius greater than 1.1 times the radius of the spherical target may be removed, thereby retaining only the third point cloud.

[0105] In some embodiments, the fourth point cloud is preprocessed and the fourth point cloud is projected into the first plane, including: clustering each point in the fourth point cloud according to a first clustering algorithm; fitting the fourth point cloud according to a second fitting algorithm to generate a first plane; and projecting the clustered fourth point cloud into the first plane.

[0106] In this embodiment, during the preprocessing of the fourth point cloud, each point in the fourth point cloud may be clustered according to the first clustering algorithm, and then the fourth point cloud may be fitted using the second fitting algorithm to generate the first plane. Finally, the clustered fourth point cloud may be projected onto the first plane.

[0107] Specifically, the second fitting algorithm may be a singular value decomposition (SVD) algorithm, which decomposes the clustered fourth point cloud by singular value decomposition, and uses the eigenvector corresponding to the minimum eigenvalue obtained after decomposition as the plane normal vector of the first plane to generate the first plane. Finally, the clustered fourth point cloud is projected onto the first plane, and the first fitting algorithm is used to fit the fourth point cloud projected onto the first plane into a circle, and then the fourth point cloud is filtered according to the radius of the fitted circular fourth point cloud to generate the third point cloud.

[0108] In some embodiments, optionally, a second point cloud is generated based on the third point cloud corresponding to each laser radar, including: merging multiple third point clouds into the second coordinate system according to the first transformation matrix between the fourth coordinate system and the second coordinate system to generate a fifth point cloud; clustering the fifth point cloud according to the second clustering algorithm; fitting the clustered fifth point cloud into a sphere according to the third fitting algorithm; filtering the fifth point cloud according to a preset algorithm to generate a second point cloud.

[0109] In this embodiment, after the third point cloud is generated, that is, after the third point cloud of the surface of the spherical target scanned by each laser radar is generated, the third point clouds corresponding to all laser radars need to be merged to generate a second point cloud of the spherical target surface. The generated second point cloud is as follows: Figure 5 shown.

[0110] Specifically, first, according to the first conversion matrix between the fourth coordinate system and the second coordinate system, multiple third point clouds are merged into the second coordinate system to generate a fifth point cloud. It can be understood that the fourth coordinate system is a coordinate system with the optical center of the laser radar as the origin, the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the lane, and the z-axis direction of the second coordinate system is the height direction of the lane. Therefore, according to the relative position relationship between the optical center of each laser radar and the optical center of the first laser radar, the first conversion matrix between the fourth coordinate system and the second coordinate system can be obtained, and then according to the first conversion matrix, the third point cloud corresponding to each laser radar can be merged into the second coordinate system to generate the fifth point cloud.

[0111] Further, according to the second clustering algorithm, the fifth point cloud corresponding to each laser radar is clustered, and finally, according to the third fitting algorithm, all the clustered fifth point clouds are fitted, so that the clustered fifth point clouds are fitted into a sphere;

[0112] Finally, according to the preset algorithm, the fifth point cloud is filtered, the points in the spherical fifth point cloud that are closest to the spherical target radius are retained, and the points in the fifth point cloud that are significantly different from the spherical radius are filtered, thus generating the second point cloud of the spherical target surface.

[0113] Specifically, according to the formula: Calculate the coefficient of each point in the fifth point cloud, so that the points with coefficients less than or equal to 0.02 are retained, and the points with coefficients greater than 0.02 are removed. Where abs represents the absolute value, N is the total number of points in the fifth point cloud, pk is the coordinate of each point in the second coordinate system, center is the coordinate of the center of the spherical fifth point cloud in the second coordinate system, and r is the radius of the spherical fifth point cloud.

[0114] In some embodiments, optionally, based on the second point cloud, determining the first coordinate of the center of the spherical target in the first coordinate system includes: determining a second transformation matrix between a fourth coordinate system and the first coordinate system based on the position of the laser radar on the mining equipment; and converting the fourth coordinate into the first coordinate based on the second transformation matrix.

[0115] In this embodiment, since the second point cloud is obtained directly by scanning the laser radar, the coordinates of each second point cloud in the coordinate system based on the corresponding laser radar can be directly determined, that is, the coordinates of the second point cloud in the corresponding fourth coordinate system can be determined.

[0116] Furthermore, in the process of determining the first coordinate of the center of the spherical target in the first coordinate system, the second conversion matrix between the fourth coordinate system and the first coordinate system is first determined according to the position of each laser radar on the mining equipment. It can be understood that the origin of the first coordinate system is the optical center of the first laser radar among the multiple laser radars, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel. Therefore, according to the relative position relationship between the optical center of each laser radar and the optical center of the first laser radar, the second conversion matrix between the fourth coordinate system and the first coordinate system can be obtained, and then according to the second conversion matrix, the coordinates of the second point cloud are converted into coordinates, and then, according to the radius of the spherical target, the first coordinate of the center of the spherical target in the first coordinate system can be determined.

[0117] In some embodiments, optionally, the positioning system also includes an inertial navigation device, which converts the first coordinate into a second coordinate in a second coordinate system, including: determining a third conversion matrix between the first coordinate system and the fifth coordinate system according to the relative position between the inertial navigation device and the first laser radar; wherein the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel; determining a fourth conversion matrix between the fifth coordinate system and the sixth coordinate system according to the position and posture of the inertial navigation device; wherein the sixth coordinate system is the northeast celestial coordinate system; obtaining a fifth conversion matrix between the sixth coordinate system and the second coordinate system; converting the first coordinate according to the third conversion matrix, the fourth conversion matrix and the fifth conversion matrix to generate a second coordinate.

[0118] In this embodiment, the positioning system also includes an inertial navigation device. In the process of converting the first coordinate of the spherical target in the first coordinate system into the second coordinate in the second coordinate system, first, the third conversion matrix between the first coordinate system and the fifth coordinate system can be determined according to the relative position between the inertial navigation device and the first laser radar. It can be understood that the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel. At the same time, the origin of the first coordinate system is the optical center of the first laser radar, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel. Therefore, according to the relative position between the center of the inertial navigation device and the center of the first laser radar, the third conversion matrix between the first coordinate system and the fifth coordinate system can be determined.

[0119] Further, according to the position and posture of the inertial navigation device on the mining equipment, the fourth conversion matrix between the fifth coordinate system and the sixth coordinate system can be determined. Among them, the sixth coordinate system is the northeast celestial coordinate system, that is, the origin of the sixth coordinate system is the center of the inertial navigation device, the x-axis direction of the sixth coordinate system is due east, the y-axis direction of the sixth coordinate system is due north, and the z-axis direction of the sixth coordinate system is vertically upward. At the same time, the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel. Therefore, according to the position and posture of the inertial navigation device on the mining equipment, the fourth conversion matrix between the fifth coordinate system and the sixth coordinate system can be determined.

[0120] Further, the fifth conversion matrix between the sixth coordinate system and the second coordinate system is obtained. Among them, the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the lane, the z-axis direction of the second coordinate system is the height direction of the lane, the origin of the sixth coordinate system is the center of the inertial navigation device, the x-axis direction of the sixth coordinate system is due east, the y-axis direction of the sixth coordinate system is due north, and the z-axis direction of the sixth coordinate system is vertically upward. Therefore, the fifth conversion matrix between the sixth coordinate system and the fifth coordinate system can be directly obtained.

[0121] Finally, if Figure 3 As shown, according to the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix, the first coordinate of the midline point of the spherical target in the first coordinate system can be transformed into the second coordinate in the second coordinate system.

[0122] In some embodiments, optionally, the mining equipment includes a main body, the main body includes a bearing surface, multiple laser radars are arranged on the bearing surface, and the multiple laser radars are controlled to scan the tunnel. Before obtaining the first point cloud in the tunnel, the positioning method also includes: adjusting the pitch angle of each laser radar to a preset angle; wherein the pitch angle of the laser radar is the angle between the laser line located at the bottom of the multiple laser lines emitted by the laser radar and the bearing surface. When the pitch angle of the laser radar is a preset angle, the distance between two adjacent intersections of the multiple intersections formed by the multiple laser lines emitted by the multiple laser radars and the second plane is the smallest.

[0123] In this embodiment, before controlling multiple laser radars to scan the tunnel, the pitch angle of each laser radar can be adjusted first, so that among the multiple intersection points formed by the laser lines emitted by the multiple laser radars and the second plane, the distance between two adjacent intersection points is minimized, that is, the distribution of the multiple laser lines is the densest, so that the second point cloud on the surface of the spherical target formed by the multiple laser radars when scanning the spherical target is the densest, thereby improving the accuracy of the coordinates of the center of the spherical target.

[0124] Specifically, the mining equipment includes a body, the body includes a bearing surface, and multiple laser radars are arranged on the bearing surface. The pitch angle of the laser radar may refer to the angle between the laser line located at the bottom of the multiple laser lines emitted by the laser radar and the bearing surface of the body of the mining equipment. In addition, it can be understood that the pitch angle of the laser radar is used to reflect the angle of the laser line emitted by the laser radar relative to the bearing surface. Therefore, the pitch angle can also be set to the angle between the central axis of the conical area formed by the laser line emitted by the laser radar and the bearing surface.

[0125] When the pitch angle of the laser radar is a preset angle, the distance between two adjacent intersections formed by the laser lines emitted by the multiple laser radars and the second plane can be minimized, that is, the multiple laser lines emitted by the multiple laser radars are the densest.

[0126] In some embodiments, optionally, before adjusting the pitch angle of each laser radar to a preset angle, the positioning method also includes: controlling each laser radar to emit a laser line toward the second plane; obtaining the distance between the intersection of two adjacent laser lines and the second plane; traversing the pitch angle of each laser radar, and determining the preset angle corresponding to the shortest distance between two adjacent intersections among multiple intersections between the multiple laser lines and the second plane.

[0127] In this embodiment, before adjusting the pitch angle of each laser radar, multiple laser radars can be controlled to emit laser lines toward the second plane, so that the preset angle is determined according to the intersection points between the multiple laser lines and the second plane.

[0128] Specifically, the z-axis coordinate of each intersection point between the plurality of laser lines and the second plane in the first coordinate system may be determined. Specifically, the formula:

[0129]

[0130] The z-axis coordinate of each intersection point in the first coordinate system is determined.

[0131] in, is the z-axis coordinate of each intersection point in the first coordinate system, i is the serial number of the laser radar, j is an integer from 1 to Ni, and Ni is the number of laser lines of the laser radar i. Figure 4 As shown, y i is the y-axis coordinate of the optical center of the laser radar in the first coordinate system, is the angle between the top laser line among the multiple laser lines of the laser radar and the horizontal direction, δ i is the angular resolution of the LiDAR, angle_up i is the pitch angle of the laser radar, dis y is the vertical distance between the optical center of the laser radar and the second plane, z i is the z-axis coordinate of the optical center of the laser radar in the first coordinate system.

[0132] Furthermore, each pitch angle of the laser radar is traversed to determine the angle corresponding to the case where the distance between the intersection points of two adjacent laser lines and the second plane is the shortest, which is the preset angle. That is, the pitch angles of the laser radar are adjusted to different angles respectively, and at each angle, the z-axis coordinate of the intersection point between each laser line and the second plane in the first coordinate system is determined, and then the angle corresponding to the case where the distance between two adjacent intersection points is the shortest is determined, and the angle is determined as the preset angle.

[0133] In a specific embodiment, the positioning system may include three laser radars, which are respectively located in the middle part and both sides of the mining equipment, wherein the laser radar located in the middle part of the mining equipment is the first laser radar, the origin of the first coordinate system is the optical center of the first laser radar, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel. The positioning system includes a spherical target and an inertial navigation system, the spherical target is set on the top wall of the tunnel, and the inertial navigation system is set on the mining equipment.

[0134] Furthermore, the spherical target is hung on the wire mesh on the top wall of the tunnel through a screw nut structure, and then the spherical target is hung on the nut through a steel wire. The nut is adjusted so that the spherical target is located at the center between the two sides of the tunnel.

[0135] Furthermore, the pitch angle of each laser radar is adjusted to a preset angle, so that among the multiple intersection points formed by the laser lines emitted by the multiple laser radars and the second plane, the distance between two adjacent intersection points is minimized, that is, the distribution of the multiple laser lines is the densest. Specifically, the multiple laser radars are controlled to emit laser lines toward the second plane, so that the preset angle is determined according to the intersection points between the multiple laser lines and the second plane.

[0136] Furthermore, three laser radars are controlled to scan the tunnel, thereby obtaining three first point clouds, and then the three first point clouds are filtered based on the coordinates of the three first point clouds in the laser radar coordinate system corresponding thereto, and the point clouds of the top wall, side wall and bottom wall of the tunnel are filtered out, and three filtered first point clouds are obtained, namely pcd11, pcd12 and pcd13. Then, a density-based spatial clustering of applications with noise (DBSCAN) algorithm is used to cluster pcd11, pcd12 and pcd13, and then the three clustered point clouds are projected onto the first plane, and the three point clouds are fitted into a circle using a fitting algorithm, and then based on the radius of the spherical target, the 1.1 point cloud with a radius greater than the radius of the spherical target is filtered out in the three point clouds, and finally three second point clouds are obtained, namely pcd21, pcd22 and pcd23. Furthermore, pcd21, pcd22 and pcd23 are merged into the second coordinate system to generate point cloud pcd3. The origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the lane, and the z-axis direction of the second coordinate system is the height direction of the lane. Then, the point cloud pcd3 is clustered again using the density-based clustering algorithm, and then the point cloud pcd3 is fitted into a sphere using the fitting algorithm.

[0137] Furthermore, according to the formula: Calculate the coefficient of each point in the point cloud pcd3, so that the points with coefficients less than or equal to 0.02 are retained and the points with coefficients greater than 0.02 are removed. Finally, the second point cloud of the spherical target surface is determined. Where N is the total number of points in the point cloud pcd3, p k are the coordinates of each point, center is the radius of the sphere fitted by the point cloud pcd3, and r is the coordinate of the center.

[0138] Further, according to the second point cloud, the first coordinate of the center of the spherical target in the first coordinate system is determined, and according to the relative position between the inertial navigation device of the mining equipment and the first laser radar, the third conversion matrix between the first coordinate system and the fifth coordinate system is determined. It can be understood that the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel. At the same time, the origin of the first coordinate system is the optical center of the first laser radar, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel. Therefore, according to the relative position between the center of the inertial navigation device and the center of the first laser radar, the third conversion matrix between the first coordinate system and the fifth coordinate system can be determined.

[0139] Further, according to the position and posture of the inertial navigation device on the mining equipment, the fourth conversion matrix between the fifth coordinate system and the sixth coordinate system can be determined. Among them, the sixth coordinate system is the northeast celestial coordinate system, that is, the origin of the sixth coordinate system is the center of the inertial navigation device, the x-axis direction of the sixth coordinate system is due east, the y-axis direction of the sixth coordinate system is due north, and the z-axis direction of the sixth coordinate system is vertically upward. At the same time, the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel. Therefore, according to the position and posture of the inertial navigation device on the mining equipment, the fourth conversion matrix between the fifth coordinate system and the sixth coordinate system can be determined.

[0140] Further, the fifth conversion matrix between the sixth coordinate system and the second coordinate system is obtained. Among them, the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the roadway, the z-axis direction of the second coordinate system is the height direction of the roadway, the origin of the sixth coordinate system is the center of the inertial navigation device, the x-axis direction of the sixth coordinate system is due east, the y-axis direction of the sixth coordinate system is due north, and the z-axis direction of the sixth coordinate system is vertically upward, that is, the sixth coordinate system is a northeast celestial coordinate system, or the sixth coordinate system can also be a north-east terrestrial coordinate system. Therefore, the fifth conversion matrix between the sixth coordinate system and the fifth coordinate system can be directly obtained.

[0141] Finally, according to the third transformation matrix, the fourth transformation matrix and the fifth transformation matrix, the first coordinate of the midline point of the spherical target in the first coordinate system can be transformed into the second coordinate in the second coordinate system.

[0142] According to one embodiment of the present invention, Figure 6As shown, a positioning device 200 is proposed, and the positioning device 200 is used to determine the position of mining equipment in a tunnel through a positioning system. The positioning system includes a spherical target, which is used to be set on the top wall of the tunnel; multiple laser radars, which are used to be set on the mining equipment, and the positioning device 200 includes: a control unit 202, which is used to control the multiple laser radars to scan the tunnel and obtain a first point cloud in the tunnel; a determination unit 204, which is used to determine a second point cloud on the surface of the spherical target according to the first point cloud; and determine the first coordinate of the center of the spherical target in the first coordinate system according to the second point cloud; wherein the origin of the first coordinate system is the optical center of the first laser radar among the multiple laser radars, and the first The x-axis direction of the coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel; the conversion unit 206 is used to convert the first coordinate into a second coordinate in the second coordinate system; wherein the origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the tunnel, and the z-axis direction of the second coordinate system is the height direction of the tunnel; the conversion unit 206 is also used to negate each coordinate value in the second coordinate to generate a third coordinate in the third coordinate system; wherein the origin of the third coordinate system is the center of the spherical target, the x-axis direction of the third coordinate system is the extension direction of the tunnel, and the z-axis direction of the third coordinate system is the height direction of the tunnel.

[0143] The positioning device 200 provided by the present invention scans the tunnel through multiple laser radars arranged on the mining equipment, thereby determining the second point cloud of the surface of the spherical target, and determining the first coordinate of the spherical target in the first coordinate system based on the second point cloud. Then, by means of coordinate conversion, the first coordinate of the center of the spherical target in the first coordinate system is converted into the second coordinate in the second coordinate system, and each coordinate value of the second coordinate is inverted, thereby converting the second coordinate into the third coordinate in the third coordinate system, and the position of the mining equipment in the tunnel can be determined. In the process of determining the second point cloud of the surface of the spherical target, it is obtained by point cloud segmentation through multiple laser radars, so that the accuracy of obtaining the second point cloud of the surface of the spherical target can be improved. Compared with the related art of using an inertial navigation system and real-time positioning and map construction to determine the position of the mining equipment, it can effectively reduce the cumulative error and improve the accuracy of positioning.

[0144] In some embodiments, optionally, the determination unit 204 is specifically used to: obtain the fourth coordinate of the first point cloud obtained by each laser radar scan in a fourth coordinate system; wherein the fourth coordinate system is a coordinate system with the optical center of the laser radar as the origin; convert the fourth coordinate into a fifth coordinate in the second coordinate system; according to the fifth coordinate, filter the first point cloud to generate a third point cloud; and generate a second point cloud according to the third point cloud corresponding to each laser radar.

[0145] Furthermore, the determination unit 204 is also used to: filter the first point cloud according to the fifth coordinate and the distance between the origin of the second coordinate system and the side wall and the top wall of the tunnel to generate a fourth point cloud; pre-process the fourth point cloud and project the fourth point cloud into the first plane; fit the fourth point cloud into a circle in the first plane according to the first fitting algorithm; and filter the fourth point cloud according to the diameter of the spherical target to generate a third point cloud.

[0146] Furthermore, the determination unit 204 is also used to: cluster each point in the fourth point cloud according to the first clustering algorithm; fit the fourth point cloud according to the second fitting algorithm to generate a first plane; and project the clustered fourth point cloud into the first plane.

[0147] Furthermore, the determination unit 204 is also used to: merge multiple third point clouds into the second coordinate system according to the first transformation matrix between the fourth coordinate system and the second coordinate system to generate a fifth point cloud; cluster the fifth point cloud according to the second clustering algorithm; fit the clustered fifth point cloud into a sphere according to the third fitting algorithm; filter the fifth point cloud according to a preset algorithm to generate a second point cloud.

[0148] Furthermore, the determination unit 204 is also used to: determine a second conversion matrix between the fourth coordinate system and the first coordinate system according to the position of the laser radar on the mining equipment; and convert the fourth coordinate into the first coordinate according to the second conversion matrix.

[0149] Furthermore, the positioning system also includes an inertial navigation device, and the conversion unit 206 is specifically used to: determine the third conversion matrix between the first coordinate system and the fifth coordinate system according to the relative position between the inertial navigation device and the first laser radar; wherein the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel; determine the fourth conversion matrix between the fifth coordinate system and the sixth coordinate system according to the position and posture of the inertial navigation device; wherein the sixth coordinate system is the northeast celestial coordinate system; obtain the fifth conversion matrix between the sixth coordinate system and the second coordinate system; convert the first coordinate according to the third conversion matrix, the fourth conversion matrix and the fifth conversion matrix to generate the second coordinate.

[0150] Furthermore, the mining equipment includes a main body, the main body includes a bearing surface, and multiple laser radars are arranged on the bearing surface. The control unit 202 is also used to: adjust the pitch angle of each laser radar to a preset angle; wherein the pitch angle of the laser radar is the angle between the laser line located at the bottom of the multiple laser lines emitted by the laser radar and the bearing surface. When the pitch angle of the laser radar is a preset angle, among the multiple intersections formed by the multiple laser lines emitted by the multiple laser radars and the second plane, the distance between two adjacent intersections is the smallest.

[0151] Furthermore, the control unit 202 is also used to: control each laser radar to emit a laser line toward the second plane; obtain the distance between the intersection of two adjacent laser lines and the second plane; traverse the pitch angle of each laser radar to determine the preset angle corresponding to the shortest distance between the intersection of two adjacent laser lines and the second plane.

[0152] According to one embodiment of the present application, Figure 7 As shown, a positioning system 300 is proposed, including a processor 302 and a memory 304, wherein the memory 304 stores programs or instructions that can be run on the processor 302, and when the programs or instructions are executed by the processor 302, the steps of the positioning method in any one of the above embodiments are implemented.

[0153] The positioning system 300 provided by the present invention includes a processor 302 and a memory 304. The memory 304 stores programs or instructions that can be run on the processor 302. When the programs or instructions are executed by the processor 302, the steps of the positioning method such as any one of the above-mentioned positioning methods are implemented. Therefore, the positioning system 300 has all the beneficial effects of the steps of the above-mentioned positioning method, which will not be repeated here.

[0154] According to an embodiment of the present application, a mining device is provided, comprising: a positioning system 300 as in any one of the above embodiments.

[0155] The mining equipment provided by the present invention includes a positioning system 300 as in any one of the above embodiments, so the mining equipment has all the beneficial effects of the above positioning system 300, which will not be described in detail here.

[0156] Specifically, mining equipment may include tunneling machines, bolting machines, conveyors, mining cars, etc.

[0157] According to one embodiment of the present application, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the positioning method in any one of the above embodiments are implemented.

[0158] The readable storage medium provided by the present invention implements the steps of the positioning method as described in any one of the above embodiments when the program or instruction is executed by the processor. Therefore, the readable storage medium has all the beneficial effects of the steps of the above positioning method and will not be repeated here.

[0159] In the present invention, the term "plurality" means at least two or more than two, 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 the specific circumstances.

[0160] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0161] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A positioning method, characterized in that: The positioning method is used to determine the position of mining equipment in a tunnel through a positioning system, the positioning system comprising: a spherical target, which is used to be set on the top wall of the tunnel; a plurality of laser radars, which are used to be set on the mining equipment, and the positioning method comprises: Controlling the plurality of laser radars to scan the lane to obtain a first point cloud in the lane; Determining a second point cloud of the surface of the spherical target based on the first point cloud; Determine a first coordinate of the center of the spherical target in a first coordinate system according to the second point cloud; The origin of the first coordinate system is the optical center of the first laser radar among the plurality of laser radars, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel; converting the first coordinate into a second coordinate in a second coordinate system; The origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the lane, and the z-axis direction of the second coordinate system is the height direction of the lane; Negating each coordinate value in the second coordinate system to generate a third coordinate in a third coordinate system; The origin of the third coordinate system is the center of the spherical target, the x-axis direction of the third coordinate system is the extension direction of the lane, and the z-axis direction of the third coordinate system is the height direction of the lane.

2. The positioning method according to claim 1, characterized in that: Determining a second point cloud of the surface of the spherical target according to the first point cloud includes: Obtaining fourth coordinates of the first point cloud obtained by each laser radar scan in a fourth coordinate system; Wherein, the fourth coordinate system is a coordinate system with the optical center of the laser radar as the origin; converting the fourth coordinate into a fifth coordinate in the second coordinate system; filtering the first point cloud according to the fifth coordinate to generate a third point cloud; The second point cloud is generated according to the third point cloud corresponding to each of the laser radars.

3. The positioning method according to claim 2, characterized in that: The filtering the first point cloud according to the fifth coordinate to generate a third point cloud includes: filtering the first point cloud according to the fifth coordinate and the distance between the origin of the second coordinate system and the side wall of the tunnel and the top wall of the tunnel to generate a fourth point cloud; Preprocessing the fourth point cloud, and projecting the fourth point cloud onto the first plane; According to a first fitting algorithm, fitting the fourth point cloud into a circle in the first plane; The fourth point cloud is filtered according to the radius of the spherical target to generate the third point cloud.

4. The positioning method according to claim 3, characterized in that: The preprocessing of the fourth point cloud to project the fourth point cloud onto the first plane includes: Clustering each point in the fourth point cloud according to a first clustering algorithm; Fitting the fourth point cloud according to a second fitting algorithm to generate the first plane; The clustered fourth point cloud is projected onto the first plane.

5. The positioning method according to claim 2, characterized in that: The step of generating the second point cloud according to the third point cloud corresponding to each of the laser radars comprises: According to a first transformation matrix between the fourth coordinate system and the second coordinate system, merging a plurality of the third point clouds into the second coordinate system to generate a fifth point cloud; Clustering the fifth point cloud according to a second clustering algorithm; According to a third fitting algorithm, the clustered fifth point cloud is fitted into a sphere; The fifth point cloud is filtered according to a preset algorithm to generate the second point cloud.

6. The positioning method according to claim 2, characterized in that: Determining a first coordinate of the center of the spherical target in a first coordinate system according to the second point cloud includes: Determine a second transformation matrix between the fourth coordinate system and the first coordinate system according to the position of the laser radar on the mining equipment; The fourth coordinates are converted into the first coordinates according to the second conversion matrix.

7. The positioning method according to claim 6, characterized in that: The positioning system further includes an inertial navigation device, and the converting the first coordinate into a second coordinate in a second coordinate system includes: Determine a third conversion matrix between the first coordinate system and the fifth coordinate system according to the relative position between the inertial navigation device and the first laser radar; Wherein, the origin of the fifth coordinate system is the center of the inertial navigation device, the x-axis of the fifth coordinate system is the forward direction of the mining equipment, and the z-axis of the fifth coordinate system is the height direction of the tunnel; Determining a fourth transformation matrix between the fifth coordinate system and the sixth coordinate system according to the position and posture of the inertial navigation device; Wherein, the sixth coordinate system is the northeast celestial coordinate system; Acquire a fifth transformation matrix between the sixth coordinate system and the second coordinate system; The first coordinates are transformed according to the third transformation matrix, the fourth transformation matrix, and the fifth transformation matrix to generate the second coordinates.

8. The positioning method according to any one of claims 1 to 7, characterized in that: The mining equipment includes a body, the body includes a bearing surface, a plurality of laser radars are arranged on the bearing surface, and before controlling the plurality of laser radars to scan the tunnel and obtaining a first point cloud in the tunnel, the positioning method further includes: Adjusting the pitch angle of each laser radar to a preset angle; Among them, the pitch angle of the laser radar is the angle between the laser line located at the bottom of the multiple laser lines emitted by the laser radar and the supporting surface. When the pitch angle of the laser radar is the preset angle, among the multiple intersections formed by the multiple laser lines emitted by the multiple laser radars and the second plane, the distance between two adjacent intersections is the smallest.

9. The positioning method according to claim 8, characterized in that: Before adjusting the pitch angle of each laser radar to a preset angle, the positioning method further includes: Controlling each of the laser radars to emit the laser line toward the second plane; Acquire the distance between the intersection points of two adjacent laser lines and the second plane; The pitch angle of each laser radar is traversed to determine the preset angle corresponding to the case where the distance between two adjacent intersection points is the shortest among multiple intersection points between the multiple laser lines and the second plane.

10. A positioning device, characterized in that: The positioning device is used to determine the position of the mining equipment in the tunnel through a positioning system, and the positioning system includes: a spherical target, which is used to be set on the top wall of the tunnel; a plurality of laser radars, which are used to be set on the mining equipment, and the positioning device includes: A control unit, used for controlling the plurality of laser radars to scan the lane and obtain a first point cloud in the lane; a determining unit, configured to determine a second point cloud of the surface of the spherical target according to the first point cloud; and Determine a first coordinate of the center of the spherical target in a first coordinate system according to the second point cloud; The origin of the first coordinate system is the optical center of the first laser radar among the plurality of laser radars, the x-axis direction of the first coordinate system is the forward direction of the mining equipment, and the z-axis direction of the first coordinate system is the height direction of the tunnel; a conversion unit, configured to convert the first coordinate into a second coordinate in a second coordinate system; The origin of the second coordinate system is the optical center of the first laser radar, the x-axis direction of the second coordinate system is the extension direction of the lane, and the z-axis direction of the second coordinate system is the height direction of the lane; The conversion unit is further used to negate each coordinate value in the second coordinate to generate a third coordinate in a third coordinate system; The origin of the third coordinate system is the center of the spherical target, the x-axis direction of the third coordinate system is the extension direction of the lane, and the z-axis direction of the third coordinate system is the height direction of the lane.

11. A positioning system, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the positioning method according to any one of claims 1 to 9 are implemented.

12. A mining equipment, characterized in that: include: The positioning system as claimed in claim 11.

13. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the steps of the positioning method according to any one of claims 1 to 9 are implemented.

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