A well mine vehicle position real-time calculation method and system considering UWB delay

Abstract

The application discloses a kind of well mine vehicle position real-time calculation method and system considering UWB delay, belong to well mine vehicle real-time position identification technical field. Including: in the underground roadway, multiple UWB response tags are pre-installed, each tag has unique ID and pre-stored position information;UWB positioning base station, vehicle positioning task computer and millimeter wave speed radar are set on the vehicle;The ID of UWB response tag around the vehicle and its real-time distance from the vehicle are read by UWB positioning base station;The real-time speed of the vehicle is obtained by millimeter wave speed radar;The pre-stored position information is inquired based on the ID of UWB response tag, combined with real-time distance and real-time speed, and the final vehicle position is obtained by vehicle positioning task. The defects caused by single use of UWB for vehicle positioning are solved by the application.

Description

Technical Field

[0001] This invention relates to the field of real-time location identification technology for underground mining vehicles, and more specifically to a method and system for real-time location calculation of underground mining vehicles that takes into account UWB latency. Background Technology

[0002] Currently, the conventional method for obtaining the real-time location of vehicles in underground mines mostly follows the UWB personnel positioning system, directly using vehicle-mounted UWB transponder tags to locate underground vehicles. This involves reading the distance between the vehicle-mounted UWB transponder tag and each fixed UWB positioning base station at various underground locations, and then calculating the vehicle's location.

[0003] However, due to the characteristics of UWB itself and the characteristics of underground communication, the following problems will arise: 1. The data refresh interval of UWB positioning base stations is usually around 900ms; 2. It is necessary to read a large amount of UWB positioning base station data through the underground ring network, search, filter, sort and organize the information of a certain vehicle in the read data, and access the vehicle sensor data through the underground wireless network. The overall data update delay may reach 900ms~1.8s.

[0004] Given the aforementioned delay, the positional change caused by the vehicle's movement during this period cannot be ignored. Assuming a vehicle speed of 5 m / s, the actual vehicle position may differ from the position reported by the UWB system by 4.5 m to 9 m. Especially at turns, without proper handling and compensation for vehicle displacement, the calculated vehicle position may result in the vehicle passing through walls.

[0005] Therefore, how to provide a method and system for real-time calculation of the location of underground mining vehicles that takes into account UWB latency is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a method and system for real-time calculation of the position of underground mining vehicles that takes into account UWB latency. The method incorporates multiple parameters such as roadway map data, UWB positioning card data, and radar speed measurement into the vehicle for real-time position calculation, thereby solving the defects caused by using only UWB for vehicle positioning.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A method for real-time calculation of the location of underground mining vehicles considering UWB latency includes the following steps:

[0009] Multiple UWB response tags are pre-installed in the underground roadway, each tag having a unique ID and pre-stored location information;

[0010] UWB positioning base stations, vehicle-mounted positioning task computers, and millimeter-wave speed measurement radars are installed on the vehicles.

[0011] The UWB positioning base station reads the IDs of the UWB response tags around the vehicle and their real-time distance from the vehicle.

[0012] The real-time speed of the vehicle is obtained through the millimeter-wave speed measuring radar.

[0013] Based on the ID of the UWB response tag, the pre-stored location information is queried, and combined with the real-time distance and real-time speed, the final vehicle location is obtained through the vehicle positioning task.

[0014] Preferably, a road node corresponding to a UWB response tag is represented as follows:

[0015]

[0016] in, This represents the internal ID of the UWB response tag, used to distinguish each UWB response tag. The current distance to the vehicle is a dynamic variable distance, and the result is a UWB measurement. This is the distance from the wellhead, used for determining relative position; This attribute represents the adjacency relationship in the road network, and is used to help determine relative positions and traverse neighboring road networks; This node has the latitude, longitude, and elevation attributes. This is the position of the node in a geodetic coordinate system with the selected point as the origin. Data was read from the vehicle-mounted UWB positioning base station;

[0017] use The database was queried to obtain the corresponding UWB node information:

[0018] ;

[0019] Among them, D end This indicates the distance of the UWB node with this ID from the end of the roadway in the direction of going downhole or from the roadway intersection; D enntry This indicates the distance of this UWB node from the inlet; This attribute represents the adjacency relationship in the road network, and is used to help determine relative positions and traverse neighboring road networks; This node has the latitude, longitude, and elevation attributes. This is the position of this node in a geodetic coordinate system with the selected point as the origin.

[0020] Preferably, the pre-stored location information is queried based on the ID of the UWB response tag, and the final vehicle location is obtained through the vehicle positioning task in combination with the real-time distance and real-time speed, including:

[0021] Determine whether the vehicle is traveling towards the well or going down;

[0022] Calculate the vehicle's motion compensation distance within the delay time based on the UWB data refresh delay time and vehicle speed;

[0023] Based on the location of the UWB response tag, the distance between the vehicle and the tag, and the motion compensation distance, the vehicle position is initially estimated;

[0024] By combining the alleyway map topology data, the preliminary estimated vehicle position is determined by wall penetration and the position is corrected, and the final vehicle position is output.

[0025] Preferably, determining whether the vehicle is traveling upwards or downwards from the well includes:

[0026] The current vehicle is represented as:

[0027]

[0028] in, Indicates the corresponding vehicle number; This indicates whether the person is going up or down the well. This indicates that the corresponding directions are north, south, east, and west; the ID value of the node in the direction from which the vehicle is closest to the well is represented as... The distance of the vehicle from the nearest node in the direction of the well is expressed as: The ID value of the node closest to the downhole direction where the vehicle is located is represented as... The distance to the nearest node in the downhole direction is expressed as: .

[0029] Preferably, the preliminary estimation of the vehicle's location includes at least one of the following methods:

[0030] When a vehicle is located on the same side of two UWB response tags, the extrapolation method is used to calculate the vehicle's position.

[0031] When a vehicle is located between two UWB response tags, the vehicle position is calculated using interpolation.

[0032] Preferably, the extrapolation method for calculating the vehicle position includes:

[0033] ,

[0034] Right now

[0035]

[0036] Right now

[0037]

[0038] In the formula, X car Y car For the two components of the vehicle's two-dimensional coordinates (which can be geodetic coordinates with a selected zero point and direction, or latitude and longitude), The vector representation of coordinates; X (a) ,Y (a) For the two-dimensional coordinates of one of two adjacent UWB transponders, For its vector representation, D a X represents the distance between the vehicle and this UWB transponder. (c) ,Y (c) Here are the two-dimensional coordinates of the other of two adjacent UWB transponders. For its vector representation, D c This represents the distance between the vehicle and the UWB transponder.

[0039] Preferably, calculating the vehicle position using interpolation includes:

[0040]

[0041] Right now

[0042]

[0043] In the formula, X car Y car For the two components of the vehicle's two-dimensional coordinates (which can be geodetic coordinates with a selected zero point and direction, or latitude and longitude), The vector representation of coordinates; X (a) ,Y (a) For the two-dimensional coordinates of one of two adjacent UWB transponders, For its vector representation, D a X represents the distance between the vehicle and this UWB transponder. (c) ,Y (c) Here are the two-dimensional coordinates of the other of two adjacent UWB transponders. For its vector representation, D c This represents the distance between the vehicle and the UWB transponder.

[0044] Preferably, the wall penetration determination includes:

[0045] Calculate the distance from the vehicle's position to the centerline of the alleyway;

[0046] Determine whether the vehicle is within the allowable width range of the alleyway;

[0047] If it is determined that the vehicle is passing through a wall, then the vehicle's position will be adjusted to the nearest alleyway centerline or node.

[0048] Preferably, the position correction includes:

[0049] If the distance between the vehicle's position and the previously corrected position is less than or equal to the threshold, the current estimated position is used directly.

[0050] If the value is greater than the threshold, interpolation is performed between the current estimated position and the previous corrected position;

[0051] If the vehicle passes through a wall, its position will be moved back to the nearest node in the alley or the center line of the alley.

[0052] A real-time position calculation system for underground mining vehicles that takes into account UWB latency includes: a vehicle motion judgment module, a speed compensation module, and a real-time positioning module;

[0053] The vehicle action judgment module receives the card number of the UWB response tag, the distance of the UWB response tag, and the preset position to determine whether the vehicle is going up or down the well.

[0054] The map motion compensation module obtains UWB positioning and calculates the distance the vehicle moves within the time delay period based on the speed transmitted from the millimeter-wave radar and the determined vehicle action.

[0055] The real-time positioning module determines the vehicle's location based on the preset location information of the incoming UWB response tag, the vehicle's location broadcast by the UWB response tag, and the compensation distance.

[0056] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a method and system for real-time calculation of the position of underground mining vehicles considering UWB latency, which mainly has the following beneficial effects:

[0057] (1) A large number of positioning cards are deployed underground, and only one positioning base station needs to be installed in each vehicle, which greatly reduces the cost of positioning hardware.

[0058] (2) The data used for positioning is limited to the positioning base station data from the vehicle itself, without the need to use the data from multiple fixedly installed positioning base stations for comprehensive comparison.

[0059] (3) Data acquisition for positioning does not need to go through the underground communication ring network, the data source is direct, the latency is lower, and the processing is simpler. Vehicle location data reporting and location display on the ground control platform are more real-time.

[0060] (4) More accurate vehicle location prediction and compensation, eliminating the problem of vehicles passing through walls in the vehicle location display. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0062] Figure 1 A schematic diagram of the method flow is provided for this invention. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] See Figure 1 This invention discloses a method for real-time calculation of the location of underground mining vehicles considering UWB latency, comprising the following steps:

[0065] Multiple UWB response tags are pre-installed in the underground roadway, each tag having a unique ID and pre-stored location information;

[0066] UWB positioning base stations, vehicle-mounted positioning task computers, and millimeter-wave speed measurement radars are installed on the vehicles.

[0067] The UWB positioning base station reads the IDs of the UWB response tags around the vehicle and their real-time distance from the vehicle.

[0068] The real-time speed of the vehicle is obtained through the millimeter-wave speed measuring radar.

[0069] Based on the ID of the UWB response tag, the pre-stored location information is queried, and combined with the real-time distance and real-time speed, the final vehicle location is obtained through the vehicle positioning task.

[0070] Specifically, the method of the present invention includes two processes. First, the vehicle position is initially calculated using distance measurement data and vehicle speed data from the UWB positioning system. Then, the vehicle position is corrected using lane data to obtain a more reliable vehicle position.

[0071] Specifically, the data settings are as follows:

[0072] In this invention, the underground navigation map data is defined as a topological graph that represents the adjacency relationship of nodes, with UWB response tags installed underground as nodes and roadway segments between adjacent and reachable nodes as edges.

[0073] The topology graph is an undirected, cyclic graph. The branching directions of nodes at tunnel intersections are limited to four or fewer; that is, any node location underground can only have straight roads, T-junctions, or crossroads, and there are no five-way intersections or more. A UWB response tag must be set at the intersections of tunnel bends, T-junctions, and crossroads.

[0074] Each node has an ID attribute, corresponding to a specific ID permanently assigned to its UWB response tag. Each node also has a measured distance attribute to the nearest intersection node with latitude and longitude information. By traversing the topology graph, the shortest path from each node to the manhole is found and accumulated, allowing the calculation of the node's distance to the manhole. By comparing the distances between nodes to intersections using the aforementioned adjacency attributes, the corresponding lengths of edges between nodes in the topology graph can be obtained. Combined with breadth-first search traversal, the distances between nearest neighbors within a small area can be found.

[0075] Each node obtains its latitude, longitude, and elevation attributes by interpolation or extrapolation based on the distance to these preset locations within the tunnel.

[0076] Specifically, waypoint data settings:

[0077] A road node corresponding to a UWB response tag is represented as follows:

[0078] ;

[0079] in:

[0080] This represents the internal ID of the UWB response tag, used to distinguish different UWB response tags;

[0081] The current distance to the vehicle is a dynamic variable distance, and the result is a UWB measurement.

[0082] This is the distance from the wellhead, used for determining relative position;

[0083] This attribute represents the adjacency relationship in the road network, and is used to help determine relative positions and traverse neighboring road networks;

[0084] This refers to the latitude, longitude, and elevation attributes of this node.

[0085] This is the position of this node in a geodetic coordinate system with the selected point as the origin.

[0086] Data read by the vehicle-mounted UWB positioning base station: ;

[0087] pass A query to the database yielded the following results:

[0088] ;

[0089] Specifically, vehicle status data:

[0090] 1. Is the current movement involving ascending, descending, or some other situation?

[0091] 2. Furthermore, the current direction of travel is one of four possibilities: east, west, south, or north.

[0092] The current vehicle is represented as:

[0093] ;

[0094] in, Corresponding vehicle number; This corresponds to either going up or down the well; Specifically, these correspond to north, south, east, and west. This represents the ID value of the nearest node in the direction of the wellhead, and the distance from that node. This represents the ID value of the nearest node in the downhole direction and the distance from that node.

[0095] Using the above two sets of data, combined with the latitude, longitude, elevation, and geodetic coordinates preset for the corresponding nodes in the database, the vehicle's latitude, longitude, elevation, and geodetic coordinates can be interpolated and calculated.

[0096] ;

[0097] Taking geodetic coordinates as an example, under the assumption of a straight roadway direction, the following can be used: , Linear interpolation yields The corresponding node's geodetic coordinates are denoted as... ; Corresponding node geodetic coordinates ;

[0098] ;

[0099] The algorithm module receives the card number of the UWB response tag, the distance of the UWB response tag from the wellhead, and the real-time location information of the vehicle to determine the current movement of the vehicle: turning or straightening, and will also use this information to determine how the vehicle should perform motion compensation.

[0100] Specifically, UWB data acquisition:

[0101] The read UWB response tag information is represented as a set:

[0102] ;

[0103] By querying the database and obtaining the distance from the wellhead based on its ID, a new set of current UWB response tag data is obtained:

[0104] ;

[0105] Furthermore, the information is sorted according to the distance to the vehicle to obtain a new ordered array of UWB response tag information.

[0106] ;

[0107] have:

[0108] ;

[0109] Algorithm A: Determining vehicle movement when entering or leaving the well.

[0110] A.1 Preliminary treatment:

[0111] Select a certain distance for the UWB response tag and predict the trend of the distance change from the UWB response tag to the vehicle;

[0112] That is, at a certain time t, the data of the three UWB response tags closest to this vehicle are represented as:

[0113] ;

[0114] The data from the three UWB transponder tags closest to this vehicle at the next moment are represented as follows:

[0115] ;

[0116] 1. If If so, then it can be determined that the direction from A to C is the direction of entering the well.

[0117] (1) If the distance is decreasing at this time, then it is determined that the current vehicle is traveling in the direction of entering the well.

[0118] (2) If the distance is increasing at this time, then it is determined that the current vehicle is traveling in the direction of lifting the well.

[0119] 2. If If so, then it can be determined that the direction from C to A is the well entry direction.

[0120] (1) If the distances are decreasing at this time, then it is determined that the current vehicle is traveling in the direction of ascending the well.

[0121] (2) If the distance is increasing at this time, then it is determined that the current vehicle is traveling in the direction of entering the well.

[0122] A.2 If, among the three data items, two distances increase and one distance decreases, or two decrease and one increases, then the vehicle is located between the three UWB response tags.

[0123] At this point, from the three data items, delete the one where the distance to the vehicle either decreases or increases, keeping only those where both distances increase or both distances decrease, and then sort them according to their distance from the vehicle. This is recorded as:

[0124] ;

[0125] have .

[0126] 1. If If so, then the direction from point X to point Y is determined as the direction of going down the well.

[0127] (1) If both of these data items indicate that the distance to the vehicle is decreasing, then the vehicle is in the direction of entering the well.

[0128] (2) If both of these data items indicate that the distance to the vehicle is increasing, then the vehicle is in the direction of ascending from the well.

[0129] 2. If If so, then the direction from point X to point Y is the direction of lifting off the well.

[0130] (1) If both of these data items indicate that the distance to the vehicle is decreasing, then the vehicle is in the direction of ascending from the well.

[0131] (2) If both of these data items indicate that the distance to the vehicle increases, then the vehicle is in the direction of entering the well.

[0132] A.3 If none of the three data points change, or the change is less than a certain pre-threshold, then the vehicle is determined to stop and the vehicle attribute data is not updated.

[0133] Algorithm B: Vehicle direction determination.

[0134] Determine whether the current vehicle is traveling in a north-south or east-west direction:

[0135] B.1 If, during the aforementioned process, as in step 1 of Algorithm A, the distances from the three closest UWB response tags to the vehicle all increase or decrease, meaning the measured road point nodes A and C are located on one side of the vehicle, then determine:

[0136] 1. If the distances are all decreasing, it means the vehicle is approaching the measurable road point nodes A and C;

[0137] 2. If the distances are all increasing, such as when the vehicle is moving away from the measurable road point nodes A and C;

[0138] B.2 If, during the aforementioned process, the distances of the three UWB response tags closest to the vehicle to the vehicle are mixed, including both increasing and decreasing distances, then among the three data items, if two of them are found to have either increased or decreased distances, only the data item that is closer to the vehicle should be retained, and the data item that is farther from the vehicle should be discarded.

[0139] B.3 If the distances to the three nearest nodes of the vehicle do not change, or the distance changes are less than a certain threshold, then the vehicle is judged to be stationary and no vehicle attribute data update is performed.

[0140] Algorithm C: Calculate the vehicle motion compensation amount.

[0141] Based on the UWB data refresh interval and the speed measurement value from the vehicle radar, the vehicle's movement distance during the UWB data update period is calculated. Since the location card's broadcast location has a delay of up to 0.9 to 1.8 seconds, it is necessary to determine the actual distance the vehicle moves during this delay period. Based on the speed transmitted from the millimeter-wave radar, the distance the vehicle moves during the delay period is calculated; this distance is used by the UWB transponder tag to correct the real-time location module.

[0142] Calculate the distance traveled: ,in:

[0143] To obtain the time interval between two consecutive positioning data points.

[0144] for Smoothed filtered estimate of velocity samples read by millimeter-wave radar within the interval.

[0145] The vehicle-mounted millimeter-wave radar acquires vehicle speed data at a frequency of approximately 10Hz, at the current moment. Speed ​​estimation Use the previous historical speed Exponential decay smoothing:

[0146] ;

[0147] Based on the noise level of radar velocity data in the environment, the parameters are... To retrieve the value.

[0148] Algorithm D: Roughly estimates the vehicle's position.

[0149] D.1 corresponds to cases 1 and 2 of A.1 in the aforementioned algorithm A, clearly defining the relative positions of two measurable nearby UWB transponder tags and the vehicle as two tags on one side of the vehicle, at the positions of the two nearest UWB transponders ( , Based on this, the vehicle position is calculated using an extrapolation method.

[0150] ;

[0151] Right now

[0152] ;

[0153] Right now

[0154] ;

[0155] D.2 corresponds to cases 1 and 2 of A.2 in the aforementioned algorithm A. After determining the relative position and relative movement of the nearest UWB response tag, it is determined that the vehicle is located between two used UWB positioning tag nodes. Then, the interpolation method is used to calculate the vehicle's position.

[0156] ;

[0157] Right now

[0158] ;

[0159] D.3 The motion compensation amount d obtained using algorithm C is based on the vehicle's current operating state. property, S E The W attribute value determines the vehicle's... ), The distance attribute is modified, and the vehicle's motion-compensated ground coordinates are calculated. .

[0160] 1. If the vehicle The attribute is the well exit direction. Updated to ; Updated to ;

[0161] 2. If The attribute is the direction of entry into the well. Updated to ; Updated to ;

[0162] 3. Calculate the vehicle's ground coordinates at this moment:

[0163] ;

[0164] D.4 Incorporate motion compensation into the distance weighting to calculate the corrected geodetic coordinates.

[0165] 1. If the nearest UWB response tags A and B are located on the same side of the vehicle.

[0166] (1) If the vehicle is far from these two UWB response tags, then:

[0167] , ;

[0168] (2) If the vehicle is approaching these two UWB response tags, then:

[0169] , ;

[0170] (3) Use extrapolation to calculate the vehicle's coordinate position:

[0171] ;

[0172] 2. If the nearest UWB response tags A and B are located on either side of the vehicle, and the vehicle is approaching UWB response tag A and moving away from UWB response tag B, then:

[0173] , ;

[0174] Interpolation calculation of vehicle coordinates

[0175] ;

[0176] D.5 The weighted value of the above three coordinates is used as the estimate of the vehicle's position.

[0177] ;

[0178] Constraints

[0179] ;

[0180] In addition, q usually has a smaller weight, while o and p usually have larger weights.

[0181] Algorithm E: Wall Penetration Detection:

[0182] 1. Obtain the initial position of the vehicle. Next, it is necessary to make a judgment based on the tunnel data. That is, based on the vehicle position in the previously calculated geodetic coordinate system. Compare nearby UWB response label nodes in the road network topology diagram to determine whether this location is within a certain range of the line connecting two adjacent nodes (corresponding to the edge of the underground network topology diagram). Within the range (e.g., referring to the width of the alley, taking the width when trackless rubber-tired vehicles are passing through), rice).

[0183] In the underground road network topology diagram, select the three nodes closest to the current vehicle based on the ground coordinates:

[0184] ;

[0185] have: We iterate through all adjacent nodes of these three nodes at depth 1. All pairs of nodes that are adjacent are evaluated as follows:

[0186] For a certain node pair Coordinates , Vehicle coordinates are available. The distance from the vehicle to the straight line connecting these two nodes is:

[0187] ;

[0188] The distance from the vehicle to node P is: ;

[0189] The distance from the vehicle to node Q is:

[0190] ;

[0191] Distance between nodes P and Q:

[0192] ;

[0193] There are four judgment conditions:

[0194] (1) Vehicle coordinates to the straight line distance Less than , ;

[0195] (2) Vehicle coordinates To the node distance Less than , ;

[0196] (3) Vehicle coordinates To the node distance Less than , ;

[0197] (4) The sum of the distances from the vehicle to the two nodes is less than a certain multiple of the distance between the nodes:

[0198] ;generally Take 1.05;

[0199] If both condition 1 and condition 4 are met, then the current vehicle coordinates are considered to be within the alleyway between nodes P and Q, and not passing through any walls.

[0200] If condition 1 is met but condition 4 is not met, but conditions 2 or 3 are met, then the current vehicle coordinates are considered to be within the alleyway between nodes P and Q and have not passed through a wall.

[0201] ;

[0202] This indicates the overall judgment of whether the path corresponding to point PQ is within the path range. Indicate whether the vehicle meets judgment condition 1; Indicate whether the vehicle meets judgment condition 2; Indicate whether the vehicle meets judgment condition 3;

[0203] This indicates whether the vehicle meets judgment condition 4.

[0204] Iterate through all the possible node pairs mentioned above. If for all node pairs, if any one node pair is determined not to have passed through the wall, then the current vehicle coordinates are determined not to have passed through the wall.

[0205]

[0206] 2. Position Correction:

[0207] When the initial position is not within the tunnel, the vehicle needs to be corrected to return to the tunnel; this is called the corrected position of the vehicle. The initial position obtained in the previous step should be written as... The location after the last coordinate update has been changed to writing. initial position And the position of the last correction Distance between The algorithm will output the corrected position. .

[0208] Set distance threshold Generally, d is taken. times. Generally taken =1.2.

[0209] 3. If the calculated result is No wall penetration occurred within the path range.

[0210] (1) If Less than If the current location data is considered to have high confidence, it can be used directly. As the current position, the correction is 0, that is... .

[0211] (2) If Greater than If the current location data is considered to have low confidence, then the location will be determined at the previous location. With current location Interpolation is performed between these values ​​to determine the correction position for this data update.

[0212]

[0213] 4. If the calculated result is It was determined that the incident occurred outside the designated path area, indicating that the wall was being penetrated.

[0214] Query and traverse the map data to observe. The nearest UWB transponder node location Based on the distance between the two and Make a judgment by comparison:

[0215] (1) Less than Node position exist If it's within the range, then use it directly. As the current corrected position.

[0216] (2) Greater than Node position exist Outside the scope, use and The interpolation position between them is used as Position after real-time correction.

[0217] The interpolation formula for position calculation is expressed as:

[0218]

[0219] Finally, the data The data is uploaded to the ground vehicle control center via the underground wireless network for location display. It also serves as the basis for the next location update. use.

[0220] On the other hand, this invention also discloses a real-time position calculation system for underground mining vehicles that takes into account UWB latency, including three modules: a vehicle motion judgment module, a speed compensation module, and a real-time positioning module.

[0221] (1) Vehicle action judgment module: The algorithm module receives the card number of the UWB response tag, the distance of the UWB response tag and the preset position, and judges whether the vehicle is going up or down the well.

[0222] (2) Map motion compensation module: Obtain UWB positioning, calculate the distance the vehicle moves during the delay period based on the speed transmitted by the millimeter-wave radar and the determined vehicle movement.

[0223] (3) Based on the preset information of the UWB response tag location, the location of the vehicle broadcast by the UWB response tag, and the compensation distance, the real-time positioning module determines the location of the vehicle.

[0224] Specifically, this invention relies on a UWB positioning system, and the equipment also includes a UWB response tag, a UWB positioning base station, an on-board positioning task computer, an on-board wireless communication (including 4G, 5G, and Wi-Fi) gateway, and an on-board millimeter-wave speed measurement radar.

[0225] UWB positioning base stations, positioning mission computers, and millimeter-wave radar are installed on the vehicle; UWB transponder tags are installed at selected locations within the underground tunnel at certain intervals. The vehicle-mounted positioning mission computer communicates locally with the vehicle-mounted UWB positioning base station to obtain the distance to each UWB positioning tag; it also reads the vehicle speed data measured by the vehicle-mounted millimeter-wave radar; and, combined with the underground UWB transponder tag location database stored on the vehicle-mounted positioning mission computer, estimates the vehicle's dynamic position.

[0226] UWB response tags are installed at bends, intersections, and junctions in underground tunnels, as well as in straight sections between intersections and junctions, to ensure that a certain number of response tag data can always be read from various locations within a certain range during vehicle movement.

[0227] The installation location of the UWB response tag is preset and has specific location information. This location information includes:

[0228] The latitude, longitude, and geodetic coordinates of this location;

[0229] Record the distance from the wellhead to its corresponding position during fixed installation;

[0230] Distance from the intersection / crossroads at the upstream end of the alleyway;

[0231] This data is stored in a ground database, cached in a copy of the onboard database, and synchronized when the vehicle leaves the well and enters a specific maintenance area with good onboard wireless communication conditions.

[0232] UWB positioning base stations are installed on vehicles; the vehicle-mounted positioning computer can directly read UWB response tag data within the signal coverage area of ​​the UWB positioning substation. The data directly read includes: each positioning response card has its own unique number, and the real-time distance of this transponder from the vehicle.

[0233] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0234] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for real-time calculation of the position of underground mining vehicles considering UWB latency, characterized in that, Includes the following steps: Multiple UWB response tags are pre-installed in the underground roadway, each tag having a unique ID and pre-stored location information; UWB positioning base stations, vehicle-mounted positioning task computers, and millimeter-wave speed measurement radars are installed on the vehicles. The UWB positioning base station reads the IDs of the UWB response tags around the vehicle and their real-time distance from the vehicle. The real-time speed of the vehicle is obtained through the millimeter-wave speed measuring radar. Based on the ID of the UWB response tag, the pre-stored location information is queried. Combined with the real-time distance and real-time speed, the final vehicle location is obtained through the vehicle positioning task, including: Determine whether the vehicle is traveling towards the well or going down; Based on the UWB data refresh delay time and vehicle speed, calculate the motion compensation distance of the vehicle during the delay time: ， In the formula: To obtain the time interval between two consecutive location data points; for Smoothed filtered estimate of velocity samples read by millimeter-wave radar within the interval; Based on the location of the UWB response tag, the distance between the vehicle and the tag, and the motion compensation distance, the vehicle position is initially estimated; By combining the alleyway map topology data, the preliminary estimated vehicle position is determined by wall penetration and the position is corrected, and the final vehicle position is output. in, Preliminary estimation of vehicle location includes at least one of the following methods: When a vehicle is located on the same side of two UWB response tags, the extrapolation method is used to calculate the vehicle's position. When a vehicle is located between two UWB response tags, the vehicle position is calculated using interpolation.

2. The method for real-time calculation of the position of underground mining vehicles considering UWB delay according to claim 1, characterized in that, A road node corresponding to a UWB response tag is represented as follows: in, This represents the internal ID of the UWB response tag, used to distinguish each UWB response tag. The current distance to the vehicle is a dynamic variable distance, and the result is a UWB measurement. This is the distance from the wellhead, used for determining relative position; This is an attribute representing adjacency relationships in the road network, used to assist in determining relative positions and traversing neighboring road networks; This node has the latitude, longitude, and elevation attributes. This is the position of the node in a geodetic coordinate system with the selected point as the origin. Data was read from the vehicle-mounted UWB positioning base station; use The database was queried to obtain the corresponding UWB node information: ； Among them, D end This represents the distance of the UWB node with this ID from the end of the roadway in the direction of going downhole or from the roadway intersection; D enntry This indicates the distance of this UWB node from the inlet; This is an attribute representing adjacency relationships in the road network, used to assist in determining relative positions and traversing neighboring road networks; This node has the latitude, longitude, and elevation attributes. This is the position of this node in a geodetic coordinate system with the selected point as the origin.

3. The method for real-time calculation of the position of underground mining vehicles considering UWB delay according to claim 1, characterized in that, Determining whether a vehicle is traveling towards or away from the well includes: The current vehicle is represented as: in, Indicates the corresponding vehicle number; This indicates whether the operation corresponds to ascending or descending from the well. This indicates that the corresponding directions are north, south, east, and west; the ID value of the node in the direction from which the vehicle is closest to the well is represented as... The distance of the vehicle from this node in the direction of the well is expressed as: The ID value of the node closest to the downhole direction where the vehicle is located is represented as... The distance to the nearest node in the downhole direction is expressed as: .

4. The method for real-time calculation of the position of underground mining vehicles considering UWB delay according to claim 1, characterized in that, The extrapolation method for calculating vehicle position includes: ， Right now Right now In the formula, X car Y car These are the two components of the vehicle's two-dimensional coordinates. The vector representation of coordinates; X (a) ,Y (a) For the two-dimensional coordinates of one of two adjacent UWB transponders, For its vector representation, D a X represents the distance between the vehicle and this UWB transponder. (c) ,Y (c) Here are the two-dimensional coordinates of the other of two adjacent UWB transponders. For its vector representation, D c This represents the distance between the vehicle and the UWB transponder.

5. The method for real-time calculation of the position of underground mining vehicles considering UWB delay according to claim 1, characterized in that, The calculation of vehicle position using interpolation includes: Right now In the formula, X car Y car These are the two components of the vehicle's two-dimensional coordinates. The vector representation of coordinates; X (a) ,Y (a) For the two-dimensional coordinates of one of two adjacent UWB transponders, For its vector representation, D a X represents the distance between the vehicle and this UWB transponder. (c) ,Y (c) Here are the two-dimensional coordinates of the other of two adjacent UWB transponders. For its vector representation, D c This represents the distance between the vehicle and the UWB transponder.

6. The method for real-time calculation of the position of underground mining vehicles considering UWB delay according to claim 1, characterized in that, The wall penetration determination includes: Calculate the distance from the vehicle's position to the centerline of the alleyway; Determine whether the vehicle is within the allowable width range of the alleyway; If it is determined that the vehicle is passing through a wall, then the vehicle's position will be corrected to the nearest alleyway centerline or node.

7. The method for real-time calculation of the position of underground mining vehicles considering UWB delay according to claim 6, characterized in that, The position correction includes: If the distance between the vehicle's current position and the previously corrected position is less than or equal to the threshold, then the current estimated position is used directly. If the value is greater than the threshold, interpolation is performed between the current estimated position and the previous corrected position; If the vehicle passes through a wall, its position will be moved back to the nearest node in the alley or the center line of the alley.

8. A system for real-time calculation of the location of underground mining vehicles considering UWB latency as described in any one of claims 1-7, characterized in that, include: Vehicle motion judgment module, speed compensation module, real-time positioning module; The vehicle action judgment module receives the card number of the UWB response tag, the distance of the UWB response tag, and the preset position to determine whether the vehicle is going up or down the well. The map motion compensation module obtains UWB positioning and calculates the distance the vehicle moves within the time delay period based on the speed transmitted from the millimeter-wave radar and the determined vehicle action. The real-time positioning module determines the vehicle's location based on the preset location information of the input UWB response tag, the vehicle's location broadcast by the UWB response tag, and the compensation distance. This includes: Determine whether the vehicle is traveling towards the well or going down; Based on the UWB data refresh delay time and vehicle speed, calculate the motion compensation distance of the vehicle during the delay time: ， In the formula: To obtain the time interval between two consecutive location data points; for Smoothed filtered estimate of velocity samples read by millimeter-wave radar within the interval; Based on the location of the UWB response tag, the distance between the vehicle and the tag, and the motion compensation distance, the vehicle position is initially estimated; By combining the alleyway map topology data, the preliminary estimated vehicle position is determined by wall penetration and the position is corrected, and the final vehicle position is output. in, Preliminary estimation of vehicle location includes at least one of the following methods: When a vehicle is located on the same side of two UWB response tags, the extrapolation method is used to calculate the vehicle's position. When a vehicle is located between two UWB response tags, the vehicle position is calculated using interpolation.

Images