A mine truck positioning method, device and electronic equipment based on ultra-wideband

Abstract

The present application relates to a kind of mine truck positioning method, device and electronic equipment based on ultra-wide band, belong to wireless positioning technical field, wherein the method comprises: the reference coordinate system of positioning area is constructed, and the coordinate position of multiple positioning base stations is obtained;Wherein the multiple positioning base stations are distributed around the circumferential direction of the positioning area;According to the time difference of different positioning base stations receiving the same positioning label transmission signal, the distance difference of the same positioning label relative to different positioning base stations is obtained;According to the distance difference and the coordinate position of the positioning base station, the position of the same positioning label is determined;According to multiple different positioning labels, the position of mine truck is determined;Wherein the multiple different positioning labels are respectively distributed at different positions of the tail and the head of mine truck.The present application solves the technical problems that the positioning precision of conventional technology in complex environment is difficult to meet the high-precision operation demand of mine truck in the complex environment in the prior art.

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 operations, the efficient and safe operation of mining trucks is crucial to overall mine operations. As mining operations continue to expand and mining environments become increasingly complex, auxiliary guidance systems for mining trucks have become a key technology for ensuring safe and efficient operation. However, traditional positioning technologies have numerous limitations in complex mining environments, making it difficult to meet the high-precision and high-reliability positioning requirements.

[0003] The Beidou satellite navigation system is a global satellite navigation system that provides high-precision positioning, velocity measurement, and timing services. However, in complex environments like mining areas, satellite signals are easily obstructed by terrain, interference from buildings, and the effects of dust and debris, significantly reducing positioning accuracy. Wi-Fi positioning determines device location by measuring signal strength or time difference, with an accuracy of approximately one meter indoors. However, in complex environments like mining areas, Wi-Fi signals are susceptible to interference and have limited coverage, making them inadequate for positioning across large mining areas. RFID positioning determines location through signal transmission between tags and readers, offering the advantages of low cost and simple deployment. However, RFID positioning accuracy is relatively low and is susceptible to signal obstruction and multipath interference in complex environments. Furthermore, RFID systems require a large number of base stations to achieve high-precision positioning, resulting in high deployment costs. SLAM (Simultaneous Localization and Mapping) technology has been used in autonomous mining vehicles, but its sensors (such as lidar and cameras) are susceptible to interference in the complex environment of 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] While these technologies have some application value in certain scenarios, in complex environments like mining areas, with their complex terrain, numerous obstacles, and dynamic equipment, satellite, Wi-Fi, and RFID signals are easily blocked or interfered with. Traditional positioning technologies in complex environments cannot meet the high-precision positioning requirements of mining trucks. Furthermore, SLAM technology struggles to maintain stable positioning accuracy in environments with frequent dynamic obstacles and places high demands on sensor performance.

[0005] Given the limitations of existing technologies in the complex environments of mining areas, it is particularly important to develop an auxiliary guidance system for mining trucks that can achieve high precision, high reliability, and high real-time performance in complex environments. This invention aims to provide precise 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 complex environments such as mining areas, the mine terrain is complex, there are a large number of obstacles and dynamic equipment, which causes satellite signals, Wi-Fi signals and RFID signals in existing technologies to be 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:

[0008] Constructing a reference coordinate system for the 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;

[0009] The distance difference between the same positioning tag and different positioning base stations is obtained based on the time difference between different positioning base stations receiving the transmission signal of the same positioning tag;

[0010] Determining the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station;

[0011] 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.

[0012] In a possible implementation, the multiple positioning base stations are distributed around the circumference of the positioning area, including:

[0013] 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;

[0014] Based on the arrangement distance, the plurality of positioning base stations are arranged in a polygonal distribution manner around the positioning area.

[0015] In one possible implementation, the multiple different positioning tags are distributed at different positions on the rear and front of the mining truck, including:

[0016] The number and distribution of positioning tags are determined based on the positioning requirements of trucks in the mining area; wherein the positioning requirements include truck center position positioning, truck outline positioning, truck head positioning and truck direction positioning.

[0017] In a possible implementation, the positioning tags include at least two first positioning tags arranged at the rear of the truck, and at least two second positioning tags arranged at the front of the truck; wherein the two second positioning tags are staggered along the length direction of the truck.

[0018] In one possible implementation, determining the location of a mining truck based on a plurality of different positioning tags includes:

[0019] Determine the rear end position of the mining truck based on the position of the first positioning tag;

[0020] The front position of the mining truck is determined based on the position of the second positioning tag.

[0021] In a possible implementation, determining the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station includes:

[0022] According to a preset hyperbola principle and a distance difference between two positioning base stations, determining a hyperbola that conforms to the distance difference;

[0023] Determine the location range of the same positioning tag according to the coordinate position of the positioning base station and any position point on the hyperbola;

[0024] Determine the distance difference between multiple positioning base stations and determine multiple hyperbolas representing the positions of the positioning tags;

[0025] The positions of the labels that agree on the same positioning are determined based on the intersection points between multiple hyperbolas.

[0026] In a possible implementation, obtaining the distance difference between the same positioning tag and different positioning base stations based on the time difference between different positioning base stations receiving the signal transmitted by the same positioning tag includes:

[0027] Obtain the reception time of each positioning base station receiving the same positioning tag transmission signal;

[0028] Determine the time difference based on the difference between the reception times of the same positioning tag transmission signal received by each positioning base station;

[0029] The distance difference between the same positioning tag and different positioning base stations is determined according to the product relationship between the time and the transmission speed.

[0030] In a second aspect, the present invention further provides a mining truck positioning device based on ultra-wideband, comprising:

[0031] A base station location determination module is configured to construct a reference coordinate system for a positioning area and obtain coordinate positions of a plurality of positioning base stations, wherein the plurality of positioning base stations are distributed circumferentially around the positioning area;

[0032] A distance determination module is used to obtain the distance difference between the same positioning tag and different positioning base stations based on the time difference between different positioning base stations receiving the transmission signal of the same positioning tag;

[0033] a tag position determination module, configured to determine the position of the same positioning tag based on the distance difference and the coordinate position of the positioning base station;

[0034] The mining truck positioning module is used to determine the position of the mining truck based on multiple different positioning tags; wherein the multiple different positioning tags are respectively distributed at different positions of the rear and front of the mining truck.

[0035] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory;

[0036] The memory stores a computer-readable program executable by the processor;

[0037] When the processor executes the computer-readable program, the steps in the above-mentioned method for positioning a mining truck based on ultra-wideband are implemented.

[0038] In a fourth aspect, the present invention further provides a computer-readable storage medium storing one or more programs, which can be executed by one or more processors to implement the steps in the ultra-wideband-based mining truck positioning method as described above.

[0039] The beneficial effects of the present invention are as follows: by using the time difference between different positioning base stations receiving the transmission signal of the same positioning tag 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 occlusion 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 on the rear and front of the truck in the mining area, 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A method flow chart of an embodiment of a mining truck positioning method based on ultra-wideband provided by the present invention;

[0041] Figure 2 Schematic diagram of positioning base station and signal transmission in the ultra-wideband-based mining truck positioning method provided by the present invention;

[0042] Figure 3 A schematic diagram of an embodiment of the installation of positioning tags in the ultra-wideband-based mining truck positioning method provided by the present invention;

[0043] Figure 4 1 is a schematic diagram of an embodiment of a mining truck positioning device based on ultra-wideband provided by the present invention;

[0044] Figure 5 It is a schematic diagram of the operating environment of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The preferred embodiments of the present invention will be 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, and are not used to limit the scope of the present invention.

[0046] The assisted guidance system based on ultra-wideband (UWB) technology uses short pulse signals, resulting in low power consumption and strong anti-interference capabilities. It can effectively penetrate some obstacles and avoid multipath interference. Although the initial deployment cost is high, its wide coverage (base stations can cover a radius of 50-150 meters), minimal equipment requirements, and low maintenance costs make it highly cost-effective in long-term operation. The system can provide more accurate vehicle position identification for mining trucks. The UWB system utilizes wireless signals between multiple base stations and multiple tags on the trucks, precisely calculating the relative position of the truck within the work area. Unlike traditional point-based tracking technologies, UWB can account for the truck's actual size and spatial distribution, ensuring precise maneuverability in narrow or confined spaces. This allows the driver to more clearly understand the truck's surroundings and adjust the truck's position in real time, making it particularly suitable for operations in confined spaces or with limited visibility.

[0047] The large-scale equipment assisted guidance system based on ultra-wideband (UWB) technology primarily addresses the shortcomings of traditional positioning technologies in complex working environments. First, it overcomes signal obstruction and multipath effects. Complex working environments often feature narrow alleyways and tall obstacles. Traditional Beidou satellite or GPS systems experience signal loss in such environments, affecting the accuracy of position determination. UWB technology, with its extremely short signal transmission method, offers strong penetration and anti-interference capabilities, providing stable relative position information even in complex terrain. Second, the UWB system addresses the challenge of precise vehicle position identification. Traditional systems typically track large equipment as a single point, failing to accurately perceive the vehicle's actual position, making operation particularly challenging in confined spaces. By collaborating with multiple base stations and tags, the UWB system can use the relative position information of different vehicle parts to help drivers understand their surroundings in real time, ensuring precise operation. 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 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.

[0048] 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 at 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. Time difference of arrival (TDOA) technology is a key method for positioning that mainly relies on the propagation time difference of the signal between different receivers. In UWB positioning systems, TDOA technology plays an important role and is particularly suitable for 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 simultaneously.

[0049] A specific embodiment of the present invention discloses a mining truck positioning method based on ultra-wideband. Figure 1 ,include:

[0050] S101: Construct a reference coordinate system for a positioning area to obtain coordinate positions of multiple positioning base stations; wherein the multiple positioning base stations are distributed circumferentially around the positioning area;

[0051] S102, obtaining a distance difference between the same positioning tag and different positioning base stations based on a time difference between different positioning base stations receiving a signal transmitted by the same positioning tag;

[0052] S103: Determine the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station;

[0053] S104. Determine the location of the mining truck based on 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.

[0054] 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 the router. The processed positioning data will be transmitted to the mining truck on-board terminal display in the form of auxiliary lines, 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 narrow or poorly lit mining spaces. 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 accurate operation and efficient operation of mining trucks in complex mining environments.

[0055] In this embodiment, by using the time difference between 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 obstruction 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 on the rear and front of the truck in the mining area, 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.

[0056] 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 via Ethernet or a wireless communication module.

[0057] 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 will be collected by 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.

[0058] The system then enters the data calculation module. In this stage, the system first establishes a coordinate system and fixes the coordinates of the positioning base stations within it as reference points. Because each positioning base station receives signals at slightly different times, the system uses these time differences for positioning. Based on the time differences in the received UWB signals, the system calculates geometric equations to accurately determine the location coordinates of the positioning tag, thereby achieving high-precision positioning results at the centimeter level. This process is the core calculation step of the system and directly determines the positioning accuracy of the mining truck.

[0059] Finally, the mining truck's onboard terminal module displays the UWB positioning results on the truck's display. On the onboard terminal, the driver can see the relative position between the mining truck and the base station. The system's real-time updates allow the driver to understand the truck's current location and adjust its route accordingly.

[0060] In some embodiments, the plurality of positioning base stations are distributed around the circumference of the positioning area, including:

[0061] 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;

[0062] Based on the arrangement distance, the plurality of positioning base stations are arranged in a polygonal distribution manner around the positioning area.

[0063] In this embodiment, when considering the relative positions of base stations, multiple base stations should be arranged in a triangular or quadrilateral configuration, rather than in a straight line, surrounding the center of the positioning area to improve positioning accuracy. The spacing between base stations should be determined based on the size of the mining area and the base station coverage range, generally maintaining a range of 50 to 200 meters. Too far may result in positioning blind spots, while too close may cause interference.

[0064] Base station absolute position relationship: The absolute position of a base station is usually determined in a known coordinate system (for example, with a certain location as the coordinate origin). The location of each base station needs to be determined and marked with specific absolute coordinates in advance so that the distance difference between each base station and the tag can be effectively calculated.

[0065] In this embodiment, the number of positioning base stations is not limited.

[0066] In some embodiments, the plurality of different positioning tags are distributed at different positions on the rear and front of the mining truck, including:

[0067] The number and distribution of positioning tags are determined based on the positioning requirements of trucks in the mining area; wherein the positioning requirements include truck center position positioning, truck outline positioning, truck head positioning and truck direction positioning.

[0068] Furthermore, the positioning tags include at least two first positioning tags arranged at the rear of the truck, and at least two second positioning tags arranged at the front of the truck; wherein the two second positioning tags are staggered along the length direction of the truck.

[0069] 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 tags in a higher position, avoiding signal obstruction by coal piles and ground obstacles, ensuring stable transmission of tag signals.

[0070] 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 these 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 near the front of the vehicle, and a relative front-to-back distance is designed. They are 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 direction of travel of the mining truck is no longer relied upon when determining the actual position of the front of the vehicle, 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 accurate judgment of the position of the entire vehicle body.

[0071] The relative positions of the four tags form a spatial quadrilateral in the system's calculations. This not only allows the truck's center position and body contour to be calculated, but also identifies the relative position and orientation of the front and rear ends. This arrangement enables the system to integrate the data from the four tags to create a complete representation of the mining truck's body posture while acquiring tag coordinates in real time.

[0072] In some embodiments, determining the position of the same positioning tag based on the distance difference and the coordinate position of the positioning base station includes:

[0073] According to a preset hyperbola principle and a distance difference between two positioning base stations, determining a hyperbola that conforms to the distance difference;

[0074] Determine the location range of the same positioning tag according to the coordinate position of the positioning base station and any position point on the hyperbola;

[0075] Determine the distance difference between multiple positioning base stations and determine multiple hyperbolas representing the positions of the positioning tags;

[0076] The positions of the labels that agree on the same positioning are determined based on the intersection points between multiple hyperbolas.

[0077] In this embodiment, hyperbolic positioning uses time difference to calculate the distance difference between the positioning tag and multiple positioning base stations. The distance difference between two base stations can be used to obtain a hyperbola, and the intersection of multiple hyperbolas is the exact location of the positioning tag.

[0078] To measure time differences, when a tag transmits a signal, base station 1 receives it first, recording the time T1. Adjacent auxiliary base stations, such as base stations 2 and 3, also receive the signal, recording their respective arrival times T2, T3, and so on. The system then calculates the signal arrival time difference between base stations 1 and 2: ΔT12 = T2 − T1, the time difference between base stations 1 and 3: ΔT13 = T3 − T1, and so on. Since the signal propagation speed is known, the time difference ΔT can be converted into a distance difference Δd: That is, the distance difference the signal travels is Δd = c.ΔT, where c is the signal propagation speed.

[0079] To establish the hyperbola equation, the time difference between each two base stations corresponds to a distance difference. This distance difference is represented spatially as a hyperbola, and on a two-dimensional plane as a hyperbola. Assuming 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 foci 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, d1 and d2, respectively, can be established as the hyperbola equation:

[0080] The distance can be calculated by coordinates:

[0081] d1=

[0082] d2=

[0083] Therefore, the equation of the hyperbola can be written as:

[0084] ∣ - ∣=Δd12

[0085] Similarly, the distance difference Δd13 between base stations 1 and 3 also forms a hyperbola. As the number of base stations increases, multiple hyperbolas can be formed. Solving the intersection of these hyperbolic equations yields the tag's two-dimensional coordinate position. At least three base stations are required to determine the tag's position on a two-dimensional plane. Increasing the number of base stations further improves positioning accuracy.

[0086] Based on the above-mentioned mine truck positioning method based on ultra-wideband, the embodiment of the present invention also provides a mine truck positioning device based on ultra-wideband, please refer to Figure 4 ,include:

[0087] The base station location determination module 410 is configured to construct a reference coordinate system for the positioning area and obtain coordinate positions of multiple positioning base stations, wherein the multiple positioning base stations are distributed around the circumference of the positioning area;

[0088] The distance determination module 420 is configured to obtain the distance difference between the same positioning tag and different positioning base stations based on the time difference between different positioning base stations receiving the signal transmitted by the same positioning tag;

[0089] The tag location determination module 430 is configured to determine the location of the same positioning tag based on the distance difference and the coordinate position of the positioning base station;

[0090] 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 front of the mining truck.

[0091] like Figure 5 As shown, based on the above-mentioned ultra-wideband-based mining truck positioning method, the present invention also provides an electronic device, which can be a computing electronic device such as a mobile terminal, desktop computer, notebook, PDA, and server. The electronic device includes a processor 510, a memory 520, and a display 530. Figure 5 Only some of the components of the electronic device are shown, but it should be understood that it is not required to implement all of the shown components, and more or fewer components may be implemented instead.

[0092] In some embodiments, the memory 520 may be an internal storage unit of the electronic device, such as a hard drive or memory within the electronic device. In other embodiments, the memory 520 may also be an external storage device within the electronic device, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, or the like. Furthermore, the memory 520 may include both an internal storage unit and an external storage device. The memory 520 is used to store application software installed in the electronic device and various types of data, such as program code installed in the electronic device. The memory 520 may also be used to temporarily store data that has been output or is about to be output. In one embodiment, the memory 520 stores an ultra-wideband-based mining truck positioning program 540. This ultra-wideband-based mining truck positioning program 540 can be executed by the processor 510, thereby implementing the ultra-wideband-based mining truck positioning method according to various embodiments of the present application.

[0093] In some embodiments, the processor 510 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 520 , such as executing an ultra-wideband-based mining truck positioning method.

[0094] In some embodiments, the display 530 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display 530 is used to display information about the ultra-wideband-based mining truck positioning electronic device and to display a visual user interface. The electronic device components 510-530 communicate with each other via a system bus.

[0095] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0096] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A mining truck positioning method based on ultra-wideband, characterized in that: include: Construct a reference coordinate system for 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 difference between the same positioning tag and different positioning base stations is obtained based on the time difference between different positioning base stations receiving the transmission signal of the same positioning tag; Determining the position of the same positioning tag according to the distance difference and the coordinate position of the positioning base station; Determining the location of a mining truck based on 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; The multiple different positioning tags are distributed at different positions on the rear and front of the mining truck, including: Determine the number and distribution of positioning tags based on the positioning requirements of the mining trucks, wherein the positioning requirements include truck center position positioning, truck outline positioning, truck head positioning, and truck direction positioning; The positioning tags include at least two first positioning tags arranged at the rear of the truck, and at least two second positioning tags arranged at the front of the truck; wherein the two second positioning tags are staggered along the length direction of the truck.

2. The method for truck positioning in mining areas based on ultra-wideband according to claim 1, characterized in that: 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.

3. The method for truck positioning in mining areas based on ultra-wideband according to claim 1, characterized in that: The method of determining the location of a mining truck based on multiple different positioning tags includes: Determine the rear end position of the mining truck based on the position of the first positioning tag; The front position of the mining truck is determined based on the position of the second positioning tag.

4. The method for truck positioning in mining areas based on ultra-wideband according to claim 1, characterized in that: The 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 conforms to the distance difference; Determine the location 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; The position of the same positioning label is determined based on the intersection points between multiple hyperbolas.

5. The method for truck positioning in mining areas 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 based on the time difference between different positioning base stations receiving the transmission signal of the same positioning tag includes: Obtain the reception time of each positioning base station receiving the same positioning tag transmission signal; Determine the time difference based on the difference between the reception times of the same positioning tag transmission signal received by each positioning base station; The distance difference between the same positioning tag and different positioning base stations is determined according to the product relationship between the time and the transmission speed.

6. 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 for 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; A distance determination module is used to obtain the distance difference between the same positioning tag and different positioning base stations based on the time difference between different positioning base stations receiving the transmission signal of the same positioning tag; a tag position determination module, configured to determine the position of the same positioning tag based on the distance difference and the coordinate position of the positioning base station; A mining truck positioning module is used to determine the location of the mining truck based on 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; The multiple different positioning tags are distributed at different positions on the rear and front of the mining truck, including: Determine the number and distribution of positioning tags based on the positioning requirements of the mining trucks, wherein the positioning requirements include truck center position positioning, truck outline positioning, truck head positioning, and truck direction positioning; The positioning tags include at least two first positioning tags arranged at the rear of the truck, and at least two second positioning tags arranged at the front of the truck; wherein the two second positioning tags are staggered along the length direction of the truck.

7. 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 processor implements the steps of the ultra-wideband-based mining truck positioning method according to any one of claims 1 to 5.

8. 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 according to any one of claims 1 to 5.

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