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 and complex mine environment. By obtaining the acceleration information and UWB distance measurement information of the auxiliary transport robot, the robot position estimation is obtained by using extended Kalman filtering. When the UWB measurement is not lost , using extended Kalman filter to fuse UWB and IMU information, and to detect outliers in UWB measurement. If the UWB measurement is abnormal, the extended Kalman filter is improved by modifying the innovation covariance matrix to improve the positioning accuracy. When the UWB measurement is lost, set constraints on the system state vector, and use the Lagrange multiplier method to constrain the state estimate to update the position estimate, and then obtain the positioning information; The UWB measurement is constructed, and the abnormal value is detected and corrected to obtain the positioning information of the auxiliary transport robot. The invention has high robustness and accurate 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 and complex mine environment, belonging to the technical field of underground positioning. Background technique [0002] With the development of the automation of coal mine equipment, the precise positioning of auxiliary transport robots will play an important role in the future of less or unmanned mining, 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, factors such as metal equipment, main transport vehicles, obstructions, environmental noise, etc. can significantly affect the propagation of radio frequency in coal mines. In this case, inaccurate ranging information ...

AI Technical Summary

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

Images