Auxiliary transportation robot positioning method and system in dynamic complex mine environment

Abstract

The invention discloses a method and system for positioning an auxiliary transport robot in a dynamic complex mine environment, and the method comprises the steps: obtaining the acceleration information and UWB distance measurement information of the auxiliary transport robot, obtaining the position estimation of the robot through extended Kalman filtering, fusing the UWB and IMU information through the extended Kalman filtering when the UWB measurement is not lost, and carrying out the positioning of the auxiliary transport robot. And carrying out abnormal value detection on UWB measurement, and if the UWB measurement is abnormal, improving extended Kalman filtering by correcting an innovation covariance matrix so as to improve the positioning precision. When UWB measurement is lost, a constraint condition is set for a system state vector, a Lagrange multiplier method is utilized to perform constraint updating on state estimation to obtain position estimation, and then positioning information is obtained; and if the auxiliary transportation robot is located in the UWB distance measurement blind area, UWB measurement is reconstructed, and detection and correction of an abnormal value are carried out to obtain positioning information of the auxiliary transportation robot. The method is high in robustness and accurate in positioning.

Description

technical field [0001] The invention relates to a positioning method and system, in particular to a positioning method and system for an auxiliary transport robot in a dynamic complex mine environment, and belongs to the technical field of underground positioning. Background technique [0002] With the development of coal mine equipment automation, the precise positioning of auxiliary transport robots will play an important role in future mining with few or no people, which can not only reduce the labor intensity and danger of coal miners, but also improve production efficiency. Existing distance-based localization methods basically rely on the assumption that the environment is relatively static, which enables accurate range localization. However, metal equipment, main transport vehicles, obstacles, environmental noise and other factors will have a significant impact on the propagation of radio frequency in coal mines. In this case, inaccurate ranging information or interm...

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Problems solved by technology

However, in underground coal mines, factors such as high temperature, high humidity, high dust, and low ambient illumination seriously affect the work of the camera, and wrong positioning information is obtained, so the practicability is not high.

[0006] (3) Lidar-based positioning technology for auxiliary transport robots. This method uses the principle of trilateration to determine the position of the auxiliary transport robot. However, it is greatly affected by the environment, which affects the positioning accuracy, and the system is complex and expensive, so it is not applicable Auxiliary transport robot localization in complex mine environment

However, for complex mine conditions, the obtained measurement information may be incorrect, and measurement loss may occur, which seriously reduces the robustness and accuracy of the positioning system

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