Mining area truck positioning method and device based on ultra wide band, and electronic equipment

Abstract

The invention relates to a mining area truck positioning method and device based on an ultra wide band and electronic equipment, and belongs to the technical field of wireless localization, and the method comprises the steps: constructing a reference coordinate system of a positioning area, and obtaining the coordinate positions of a plurality of positioning base stations; wherein the plurality of positioning base stations are distributed around the circumferential direction of the positioning area; obtaining the distance difference of the same positioning label relative to different positioning base stations according to the time difference of the same positioning label transmission signal received by different positioning base stations; determining the position of the same positioning label according to the distance difference and the coordinate position of the positioning base station; determining the position of the mining area truck according to the plurality of different positioning labels; wherein the plurality of different positioning labels are respectively distributed at different positions of the tail and the head of the mining truck. According to the invention, the technical problem that the positioning precision of the traditional technology in a complex environment such as a mining area is difficult to meet the high-precision operation requirement of a mining truck in the complex environment in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning technology, and in particular to a mining truck positioning method, device and electronic equipment based on ultra-wideband. Background Art

[0002] In modern mining production, the efficient and safe operation of mining trucks is crucial to the overall operation of the mine. With the continuous expansion of mining scale and the increasingly complex mining environment, the auxiliary guidance system of mining trucks has become one of the key technologies to ensure the safe and efficient operation of equipment. However, traditional positioning technology has many limitations in the complex environment of mining areas and it is difficult to meet the needs of high-precision and high-reliability positioning.

[0003] The Beidou satellite navigation system is a global satellite navigation system that can provide high-precision positioning, speed measurement and timing services. However, in complex environments such as mining areas, satellite signals are easily blocked by terrain, interfered by buildings, and affected by dust and gravel, resulting in a significant decrease in positioning accuracy. Wi-Fi positioning determines the location of the device by measuring signal strength or time difference, and its accuracy can reach about 1 meter in indoor environments. However, in complex environments such as mining areas, Wi-Fi signals are easily interfered with, and its coverage is limited, making it difficult to meet the positioning needs of large mining areas. RFID positioning determines the location through signal transmission between tags and readers, and has the advantages of low cost and simple deployment. However, RFID positioning accuracy is relatively low, and it is easily interfered by signal blocking and multipath effects in complex environments. In addition, RFID systems require a large number of base stations to achieve high-precision positioning, and the deployment cost is high. SLAM (Simultaneous Localization and Mapping) technology has been used in autonomous mining vehicles, but its sensors (such as lidar and cameras) are easily interfered with in complex environments in mining areas, resulting in reduced positioning accuracy. In addition, SLAM technology has high requirements for real-time and robustness, and it is difficult to operate stably in a mining environment with frequent dynamic obstacles.

[0004] Although the above technologies have certain application value in certain scenarios, in complex environments such as mining areas, the terrain of the mines is complex, and there are a large number of obstacles and dynamic equipment, which makes it easy for satellite signals, Wi-Fi signals and RFID signals to be blocked or interfered. The positioning accuracy of traditional technologies in complex environments is difficult to meet the needs of high-precision operation of mining trucks. In addition, SLAM technology is difficult to maintain stable positioning accuracy in environments with frequent dynamic obstacles, and has high requirements on sensor performance.

[0005] In view of the limitations of existing technologies in complex mining environments, it is particularly important to develop a mining truck auxiliary guidance system that can achieve high precision, high reliability and high real-time performance in complex environments. The present invention aims to provide accurate positioning and guidance for mining trucks by introducing ultra-wideband (UWB) positioning technology, thereby improving the safety and efficiency of mining operations. Summary of the invention

[0006] In view of this, it is necessary to provide a mining truck positioning method, device and electronic equipment based on ultra-wideband to solve the technical problem that in a complex environment such as a mining area, the mine terrain is complex, there are a large number of obstacles and dynamic equipment, which leads to the satellite signals, Wi-Fi signals and RFID signals in the existing technology being easily blocked or interfered with, and the positioning accuracy of traditional technologies in complex environments is difficult to meet the high-precision operation requirements of mining trucks.

[0007] In order to solve the above problems, the present invention provides a mining truck positioning method based on ultra-wideband, comprising: Construct a reference coordinate system of the positioning area to obtain coordinate positions of multiple positioning base stations; wherein the multiple positioning base stations are distributed around the circumference of the positioning area; According to the time difference when different positioning base stations receive the transmission signal of the same positioning tag, the distance difference of the same positioning tag relative to different positioning base stations is obtained; Determine the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station; The position of the mining truck is determined according to a plurality of different positioning tags, wherein the plurality of different positioning tags are respectively distributed at different positions of the rear and the front of the mining truck.

[0008] In a possible implementation manner, the multiple positioning base stations are distributed around the circumference of the positioning area, including: Determine the layout distance between multiple positioning base stations based on the area of ​​the mining area and the coverage range of each base station; Based on the arrangement distance, the plurality of positioning base stations are arranged in a polygonal distribution manner around the positioning area.

[0009] In a possible implementation, the multiple different positioning tags are respectively distributed at different positions of the rear and front of the mining truck, including: According to the positioning requirements of the mining area trucks, the number and distribution status of the positioning tags are determined; wherein the positioning requirements include truck center position positioning, truck outline positioning, truck head positioning and truck direction positioning.

[0010] In a possible implementation, the positioning tags include at least two first positioning tags arranged at the rear of the vehicle, and at least two second positioning tags arranged at the front of the vehicle; wherein the two second positioning tags are staggered along the length direction of the truck.

[0011] In a possible implementation, determining the location of a mining truck based on a plurality of different positioning tags includes: Determine the rear position of the mining area truck according to the position of the first positioning tag; The front position of the mining truck is determined according to the position of the second positioning tag.

[0012] In a possible implementation manner, determining the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station includes: According to a preset hyperbola principle and a distance difference between two positioning base stations, determining a hyperbola that matches the distance difference; Determine the position range of the same positioning tag according to the coordinate position of the positioning base station and any position point on the hyperbola; Determine the distance difference between multiple positioning base stations, and determine multiple hyperbolas representing the positions of the positioning tags; According to the intersection points between multiple hyperbolas, the positions of the labels that agree on the same positioning are determined.

[0013] In a possible implementation, obtaining the distance difference of the same positioning tag relative to different positioning base stations according to the time difference of receiving the same positioning tag transmission signal by different positioning base stations includes: Obtaining the reception time of each positioning base station receiving the transmission signal of the same positioning tag; Determine the time difference according to the difference between the reception times of the same positioning tag transmission signal received by each positioning base station; According to the product relationship between the time and the transmission speed, the distance difference between the same positioning tag and different positioning base stations is determined.

[0014] In a second aspect, the present invention further provides a mining truck positioning device based on ultra-wideband, comprising: A base station location determination module is used to construct a reference coordinate system of a positioning area to obtain coordinate positions of multiple positioning base stations; wherein the multiple positioning base stations are distributed around the circumference of the positioning area; The distance determination module is used to obtain the distance difference between the same positioning tag and different positioning base stations according to the time difference when different positioning base stations receive the transmission signal of the same positioning tag; A tag position determination module, used to determine the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station; The mining truck positioning module is used to determine the position of the mining truck according to a plurality of different positioning tags; wherein the plurality of different positioning tags are respectively distributed at different positions of the rear and front of the mining truck.

[0015] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the method for positioning a mining truck based on ultra-wideband are implemented as described above.

[0016] In a fourth aspect, the present invention further provides a computer-readable storage medium storing one or more programs, wherein the one or more programs can be executed by one or more processors to implement the steps in the ultra-wideband-based mining truck positioning method as described above.

[0017] The beneficial effect of the present invention is that by using the time difference of receiving the same positioning tag transmission signal by different positioning base stations to calculate the distance difference, the relative distance between the positioning tag and the base station can be measured more accurately, thereby improving the positioning accuracy. At the same time, multiple positioning base stations are distributed circumferentially around the positioning area, receiving signals from different angles and participating in positioning calculations, which can effectively reduce the positioning error caused by factors such as shielding and reflection of a single base station signal, and further improve the positioning accuracy. Furthermore, by setting a plurality of different positioning tags at different positions of the rear and front of the mining truck, the overall position of the truck is determined by combining the position information of these tags, which can more accurately reflect the actual position and posture of the truck in the mining area, especially when the truck is turning or driving on complex road conditions, the positioning accuracy can be significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A method flow chart of an embodiment of a mining area truck positioning method based on ultra-wideband provided by the present invention; Figure 2 A schematic diagram of a positioning base station and signal transmission in a mining area truck positioning method based on ultra-wideband provided by the present invention; Figure 3 A schematic diagram of an embodiment of installing a positioning tag in a mining area truck positioning method based on ultra-wideband provided by the present invention; Figure 4 is a schematic diagram of an embodiment of a mining area truck positioning device based on ultra-wideband provided by the present invention; Figure 5 It is a schematic diagram of the operating environment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0020] The auxiliary guidance system based on ultra-wideband (UWB) technology uses short pulse signals, has low power consumption and strong anti-interference ability, can effectively penetrate some obstacles and avoid interference from multipath effects. Although the initial deployment cost is high, it has a wide coverage range (the base station can cover a radius of 50-150 meters), requires a small number of equipment, has low maintenance costs, and has significant cost-effectiveness in long-term operation. The system can provide more accurate body position identification for mining trucks. The UWB system uses wireless signals between tags and base stations to accurately calculate the relative position of the mining truck body in the work site by deploying multiple base stations and multiple tags on the mining truck. Unlike traditional point tracking technology, UWB can take into account the actual body size and spatial distribution of the mining truck to ensure precise control of the truck in narrow or confined spaces. This allows the driver to have a clearer understanding of the surrounding environment of the mining truck and adjust the body position in real time, which is particularly suitable for working scenarios with small spaces or limited vision.

[0021] The large-scale equipment auxiliary guidance system based on ultra-wideband (UWB) technology mainly solves the shortcomings of traditional positioning technology in complex working environments. First, it solves the problems of signal shielding and multipath effects. Complex working environments often have narrow lanes and tall obstacles. Traditional Beidou satellite or GPS systems will lose signals in such environments, affecting the accuracy of position judgment. UWB technology has strong penetration and anti-interference capabilities due to its extremely short pulse signal transmission method, and can still provide stable relative position information even in complex terrain. Secondly, the UWB system solves the problem of refined position identification of the vehicle body. Traditional systems usually can only track large equipment as a point, and cannot accurately perceive the actual situation of the vehicle body, especially in narrow spaces. The operation is difficult. Through the cooperation of multiple base stations and tags, the UWB system can help drivers understand the surrounding environment in real time and ensure accurate operation based on the relative position information of different parts of the vehicle body. Finally, the UWB system significantly reduces energy consumption and equipment maintenance costs. It uses extremely low-power pulse signals, avoiding the high energy consumption problem caused by continuous carrier transmission. It also has a wide coverage range, requires less equipment, and has low maintenance costs, solving the problems of high energy consumption and complex equipment deployment in traditional systems.

[0022] The UWB ultra-wideband assisted guidance system includes a positioning base station, a positioning tag, a POE switch and a local server. The positioning tag is installed on the body of a mining truck and can periodically send ultra-wideband (UWB) pulse signals. These pulse signals are received by multiple positioning base stations arranged in different locations in the mining area. After the positioning base station receives the pulse signal from the positioning tag, the system compares the phase difference of the signals received by different base stations and applies the time difference of arrival (TDOA) technology to calculate the signal propagation time difference between the positioning tag and each base station. The time difference of arrival (TDOA) technology is a key method for positioning, which mainly relies on the propagation time difference of the signal between different receivers. In the UWB positioning system, TDOA technology plays an important role, especially in complex environments such as mining areas. When the positioning tag sends out a UWB pulse signal, the signal will be transmitted to multiple positioning base stations at the same time.

[0023] A specific embodiment of the present invention discloses a method for locating a mining truck based on ultra-wideband. Figure 1 ,include: S101, constructing a reference coordinate system of a positioning area to obtain coordinate positions of a plurality of positioning base stations; wherein the plurality of positioning base stations are distributed around the circumference of the positioning area; S102, obtaining a distance difference between the same positioning tag and different positioning base stations according to a time difference when different positioning base stations receive a signal transmitted by the same positioning tag; S103, determining the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station; S104. Determine the position of the mining truck according to a plurality of different positioning tags; wherein the plurality of different positioning tags are respectively distributed at different positions of the rear and front of the mining truck.

[0024] In this example, see Figure 2 In order to ensure the stability of data transmission, all UWB positioning base stations are connected through a POE switch and establish communication with the local server. The base station and the mining truck on-board terminal are distributed to the same local area network through a router. The processed positioning data will be transmitted to the mining truck on-board terminal display screen in the form of an auxiliary line, presenting real-time location information. The mining truck driver can obtain the current location and surrounding environment information of the vehicle through the display screen to ensure that the mining truck can drive safely in a narrow or poorly lit mining space. The collaboration and cooperation of the entire system has formed a highly integrated mining truck auxiliary guidance solution, which realizes high-precision and real-time auxiliary guidance of mining trucks, ensuring the precise operation and efficient operation of mining trucks in complex mining environments.

[0025] In this embodiment, by using the time difference of different positioning base stations receiving the same positioning tag transmission signal to calculate the distance difference, the relative distance between the positioning tag and the base station can be measured more accurately, thereby improving the positioning accuracy. At the same time, multiple positioning base stations are distributed circumferentially around the positioning area, receiving signals from different angles and participating in positioning calculations, which can effectively reduce the positioning error caused by factors such as signal shielding and reflection of a single base station, and further improve the positioning accuracy. Furthermore, by setting a plurality of different positioning tags at different positions of the rear and front of the mining truck, the overall position of the truck is determined by combining the position information of these tags, which can more accurately reflect the actual position and posture of the truck in the mining area, especially when the truck is turning or driving on complex road conditions, which can significantly improve the accuracy of positioning.

[0026] In this embodiment, a single chip microcomputer or a microprocessor is used to execute the positioning algorithm in step S103, and transmit the data received by the positioning base station to the positioning engine for processing through Ethernet or a wireless communication module.

[0027] In this embodiment, the specific process is as follows: First, in the UWB signal transmission module, the positioning tags installed on the mining trucks will continuously send UWB signals, and these signals are collected by receiving the positioning base station. Multiple base stations are distributed in different locations in the mining area, which can receive pulse signals from the positioning tags and transmit these signals to the local server through the POE switch. Due to the high frequency characteristics of the UWB signal, the stability and accuracy of the transmission can be guaranteed, thereby providing high-quality data support for subsequent positioning calculations. The reliability of this signal transmission is particularly important for complex environments such as mining areas, and can effectively avoid positioning errors caused by environmental interference.

[0028] Afterwards, the system enters the data calculation module. At this stage, the system will first establish a coordinate system and fix the coordinates of the positioning base station in the coordinate system as a reference point. Since there will be slight differences in the time when each positioning base station receives the signal, the system can use these time differences for positioning. According to the time difference of the received UWB signal, the position coordinates of the positioning tag can be accurately solved by calculating the geometric equation. Thus, high-precision positioning results at the centimeter level can be achieved. This process is the core calculation link of the system and directly determines the positioning accuracy of the mining truck.

[0029] Finally, the mining truck on-board terminal module displays the UWB positioning results on the display terminal of the mining truck. In the on-board terminal, the driver can see the relative position relationship between the mining truck and the base station. Through the real-time updated screen of the system, the driver can grasp the current location of the mining truck and adjust the driving path.

[0030] In some embodiments, the plurality of positioning base stations are distributed around the circumference of the positioning area, including: Determine the layout distance between multiple positioning base stations based on the area of ​​the mining area and the coverage range of each base station; Based on the arrangement distance, the plurality of positioning base stations are arranged in a polygonal distribution manner around the positioning area.

[0031] In this embodiment, when considering the relative positions of the base stations, multiple base stations should avoid being arranged in a straight line, and adopt a triangular or quadrilateral arrangement, and surround the center of the positioning area, so as to improve the positioning accuracy. The spacing between base stations should be determined according to the area of ​​the mining area and the coverage range of the base stations, generally maintained between 50 meters and 200 meters. Too far may lead to positioning blind spots, and too close may cause interference.

[0032] Absolute position relationship of base stations: The absolute position of base stations is usually determined in a known coordinate system (for example, with a certain position as the coordinate origin). The position of each base station needs to be determined in advance and the specific absolute coordinates need to be marked so that the distance difference between each base station and the tag can be effectively calculated.

[0033] In this embodiment, the number of positioning base stations is not limited.

[0034] In some embodiments, the plurality of different positioning tags are respectively distributed at different positions of the rear and front of the mining truck, including: According to the positioning requirements of the mining area trucks, the number and distribution status of the positioning tags are determined; wherein the positioning requirements include truck center position positioning, truck outline positioning, truck head positioning and truck direction positioning.

[0035] Furthermore, the positioning tags include at least two first positioning tags arranged at the rear of the vehicle, and at least two second positioning tags arranged at the front of the vehicle; wherein the two second positioning tags are staggered along the length direction of the truck.

[0036] In this embodiment, first, Figure 3 As shown in the figure, a short pole is installed on the top of the mining truck, and four positioning tags are fixed on the same horizontal plane on the top of the short pole. This design puts the positioning tag in a higher position, which can avoid signal obstruction by coal piles and ground obstacles, and ensure the stable transmission of tag signals.

[0037] The layout of the four positioning tags has a clear division of labor. Two of the tags are installed at the top corners on both sides of the rear of the vehicle. The symmetrical distribution of the two tags helps the system clearly identify the rear boundary and width information of the truck. Since it is inconvenient to install the tags directly at the front of the vehicle, the remaining two tags are installed in the top area close to the front of the vehicle, and a relative front-to-back distance is designed. It is not symmetrical to the position of the rear tag, but the two tags are staggered front and back. Through this front-to-back staggered design, the actual position of the front of the vehicle is no longer dependent on the driving direction of the mining truck, not to mention that it is not convenient for the truck to drive to identify the direction in a narrow environment. The system can use the front-to-back distance difference of the front tag to calculate the specific position of the front of the vehicle, and provide additional position information for the accurate judgment of the position of the entire vehicle body.

[0038] The relative position of the four tags forms a spatial quadrilateral in the system calculation, which can not only calculate the center position and body outline of the truck, but also identify the relative position and direction information of the front and rear of the truck. This layout enables the system to combine the data of the four tags to draw the complete body posture of the mining truck in the process of obtaining the tag coordinates in real time.

[0039] In some embodiments, determining the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station includes: According to a preset hyperbola principle and a distance difference between two positioning base stations, determining a hyperbola that matches the distance difference; Determine the position range of the same positioning tag according to the coordinate position of the positioning base station and any position point on the hyperbola; Determine the distance difference between multiple positioning base stations, and determine multiple hyperbolas representing the positions of the positioning tags; According to the intersection points between multiple hyperbolas, the positions of the labels that agree on the same positioning are determined.

[0040] In this embodiment, the hyperbolic positioning uses the time difference to calculate the distance difference between the positioning tag and multiple positioning base stations. Through the distance difference between two base stations, a hyperbola can be obtained, and the intersection of multiple hyperbolas is the exact position of the positioning tag.

[0041] Measurement of time difference: When the tag sends a signal, base station 1 receives the signal first and records the time T1; adjacent auxiliary base stations such as base station 2 and base station 3 also receive the signal and record their respective arrival times T2, T3, ... Then the system calculates the signal arrival time difference ΔT12=T2-T1 between base station 1 and base station 2, the time difference ΔT13=T3-T1 between base station 1 and base station 3, etc. Since the signal propagation speed is known, the time difference ΔT can be converted into the distance difference Δd, that is, the distance difference of signal propagation is Δd=c.ΔT, where c is the signal propagation speed.

[0042] The hyperbola equation is established. The time difference between each two base stations corresponds to a distance difference. This distance difference is represented as a hyperbola in space and as a hyperbola in a two-dimensional plane. Assuming that the distance difference between the tag and base station 1 and base station 2 is Δd12, the tag's position will fall on a hyperbola with base stations 1 and 2 as the focus and a distance difference of Δd12. Let the coordinates of base station 1 be (xA, yA) and the coordinates of base station 2 be (xB, yB). Based on the distance difference corresponding to the time difference, the actual distances of the positioning tag to base stations 1 and 2 are d1 and d2 respectively, and the hyperbola equation can be established: The distance can be calculated by coordinates: d1=

[0043] d2=

[0044] Therefore, the equation of the hyperbola can be written as: ∣ - ∣=Δd12 Similarly, the distance difference Δd13 between base station 1 and base station 3 will also form a hyperbola. As the number of base stations increases, multiple hyperbolas can be formed. By solving the intersection of these hyperbolic equations, the two-dimensional coordinate position of the tag can be obtained. At the same time, at least three base stations are required to determine the position of the tag on a two-dimensional plane. Increasing the number of base stations can further improve the positioning accuracy.

[0045] Based on the above-mentioned mining truck positioning method based on ultra-wideband, the embodiment of the present invention also provides a mining truck positioning device based on ultra-wideband, please refer to Figure 4 ,include: The base station location determination module 410 is used to construct a reference coordinate system of the positioning area to obtain the coordinate positions of multiple positioning base stations; wherein the multiple positioning base stations are distributed around the circumference of the positioning area; The distance determination module 420 is used to obtain the distance difference of the same positioning tag relative to different positioning base stations according to the time difference of receiving the transmission signal of the same positioning tag by different positioning base stations; A tag position determination module 430, configured to determine the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station; The mining truck positioning module 440 is used to determine the position of the mining truck according to a plurality of different positioning tags; wherein the plurality of different positioning tags are respectively distributed at different positions of the rear and the front of the mining truck.

[0046] like Figure 5As shown, based on the above-mentioned mining truck positioning method based on ultra-wideband, the present invention also provides an electronic device, which can be a computing electronic device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device includes a processor 510, a memory 520, and a display 530. Figure 5 Only some components of the electronic device are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0047] In some embodiments, the memory 520 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 520 may also be an external storage electronic device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Further, the memory 520 may also include both an internal storage unit of the electronic device and an external storage electronic device. The memory 520 is used to store application software and various types of data installed in the electronic device, such as program codes installed in the electronic device. The memory 520 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 520 stores a mine truck positioning program 540 based on ultra-wideband, and the mine truck positioning program 540 based on ultra-wideband can be executed by the processor 510, thereby realizing the mine truck positioning method based on ultra-wideband in each embodiment of the present application.

[0048] In some embodiments, the processor 510 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 520, such as executing a mining truck positioning method based on ultra-wideband.

[0049] In some embodiments, the display 530 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 530 is used to display information of the ultra-wideband-based mining truck positioning electronic device and to display a visual user interface. The components 510-530 of the electronic device communicate with each other via a system bus.

[0050] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0051] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A mining truck positioning method based on ultra-wideband, characterized in that: include: Construct a reference coordinate system of the positioning area to obtain the coordinate positions of multiple positioning base stations; wherein the plurality of positioning base stations are distributed around the circumference of the positioning area; According to the time difference when different positioning base stations receive the transmission signal of the same positioning tag, the distance difference of the same positioning tag relative to different positioning base stations is obtained; Determine the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station; The position of the mining truck is determined according to a plurality of different positioning tags, wherein the plurality of different positioning tags are respectively distributed at different positions of the rear and the front of the mining truck.

2. The method for positioning a mining truck based on ultra-wideband according to claim 1, characterized in that: The multiple positioning base stations are distributed around the circumference of the positioning area, including: Determine the layout distance between multiple positioning base stations based on the area of ​​the mining area and the coverage range of each base station; Based on the arrangement distance, the plurality of positioning base stations are arranged in a polygonal distribution manner around the positioning area.

3. The method for positioning a mining truck based on ultra-wideband according to claim 1, characterized in that: The multiple different positioning tags are respectively distributed at different positions of the rear and front of the mining area truck, including: According to the positioning requirements of the mining area trucks, the number and distribution status of the positioning tags are determined; wherein the positioning requirements include truck center position positioning, truck outline positioning, truck head positioning and truck direction positioning.

4. The method for positioning a mining truck based on ultra-wideband according to claim 3, characterized in that: The positioning tags include at least two first positioning tags arranged at the rear of the vehicle, and at least two second positioning tags arranged at the front of the vehicle; wherein the two second positioning tags are staggered along the length direction of the truck.

5. The method for positioning a mining truck based on ultra-wideband according to claim 4, characterized in that: The method of determining the location of a mining truck based on a plurality of different positioning tags includes: Determine the rear position of the mining area truck according to the position of the first positioning tag; The front position of the mining truck is determined according to the position of the second positioning tag.

6. The method for positioning a mining truck based on ultra-wideband according to claim 1, characterized in that: The step of determining the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station comprises: According to a preset hyperbola principle and a distance difference between two positioning base stations, determining a hyperbola that matches the distance difference; Determine the position range of the same positioning tag according to the coordinate position of the positioning base station and any position point on the hyperbola; Determine the distance difference between multiple positioning base stations, and determine multiple hyperbolas representing the positions of the positioning tags; According to the intersection points between multiple hyperbolas, the positions of the labels that agree on the same positioning are determined.

7. The method for positioning a mining truck based on ultra-wideband according to claim 1, characterized in that: The method of obtaining the distance difference between the same positioning tag and different positioning base stations according to the time difference between different positioning base stations receiving the transmission signal of the same positioning tag comprises: Obtaining the reception time of each positioning base station receiving the transmission signal of the same positioning tag; Determine the time difference according to the difference between the reception times of the same positioning tag transmission signal received by each positioning base station; According to the product relationship between the time and the transmission speed, the distance difference between the same positioning tag and different positioning base stations is determined.

8. A mining truck positioning device based on ultra-wideband, characterized in that: include: The base station location determination module is used to construct a reference coordinate system of the positioning area and obtain the coordinate positions of multiple positioning base stations; wherein the plurality of positioning base stations are distributed around the circumference of the positioning area; The distance determination module is used to obtain the distance difference between the same positioning tag and different positioning base stations according to the time difference when different positioning base stations receive the transmission signal of the same positioning tag; A tag position determination module, used to determine the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station; The mining truck positioning module is used to determine the position of the mining truck according to a plurality of different positioning tags; wherein the plurality of different positioning tags are respectively distributed at different positions of the rear and front of the mining truck.

9. An electronic device, characterized in that: include: Processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the ultra-wideband-based mining truck positioning method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the ultra-wideband-based mining truck positioning method as described in any one of claims 1-7.

Images