CN103869283B - Method and system for positioning underground trackless vehicle - Google Patents

Abstract

The invention relates to mining engineering, in particular to a method and a system for positioning an underground trackless vehicle, which comprise the following steps: selecting a plurality of label positions with the distance not exceeding a preset value from the underground along the running direction of the trackless vehicle; setting correspondingly coded information tags on the roadway wall of each tag position, and storing the corresponding relation in a tag information base; the trackless vehicle in running scans the information label, acquires the position information of the information label from the label information base according to the obtained corresponding code, and acquires the position information of the trackless vehicle relative to the information label at the moment by measuring the distance between the trackless vehicle and the information label; and calculating the position of the trackless vehicle at the moment by combining the position information of the information tag and the position information of the trackless vehicle relative to the information tag at the moment. The invention can conveniently acquire the global coordinate of the trackless vehicle when the trackless vehicle runs underground.

Description

A positioning method and system for an underground trackless vehicle

technical field

The invention relates to mining engineering, in particular to a positioning method and system for an underground trackless vehicle.

Background technique

In recent years, with the massive consumption of mineral resources, the situation faced by the development of surface and shallow mineral resources has become increasingly severe. It is getting worse and worse, and at the same time, there are uncertain risk factors such as roof fall, which inevitably brings certain safety and risks to the personnel engaged in mining and transportation equipment. Vigorously developing unmanned trackless transport vehicles or remote control transport vehicles has already It will become the development trend of underground mining technology in the future, and related technologies based on remote control technology, because the transmission of underground data is easily disturbed, the reliability will decline. Complexity. Therefore, vigorously developing autonomous unmanned transport vehicles has become the development trend of underground trackless vehicle technology.

The research on underground positioning is currently focused on personnel positioning and regional positioning, relying on wireless network or RFID technology to determine the area where the location is located, and the positioning accuracy is generally about 10 meters. The positioning accuracy required for the autonomous driving of the vehicle cannot be achieved.

Moreover, in the vehicle positioning, the GPS technology used on the ground cannot be used. The open-pit mine can use the global satellite positioning system (GPS) to locate the vehicle, but the GPS signal cannot be received underground. Other inertial products have the problem of error accumulation, and the error needs to be corrected absolutely. In the underground roadway environment, the existing technology cannot be accurately corrected, and the actual operation is complicated and the accuracy is not high.

Contents of the invention

(1) Solved technical problems

Aiming at the deficiencies of the prior art, the present invention provides a positioning method and system for an underground trackless vehicle, which can conveniently obtain the global coordinates of the trackless vehicle when it is running underground.

(2) Technical solution

To achieve the above object, the present invention is achieved through the following technical solutions:

A positioning method for an underground trackless vehicle, characterized in that the method comprises:

Select a number of label positions whose spacing does not exceed a predetermined value along the trackless vehicle driving direction in the mine;

setting a corresponding coded information label on the roadway wall at each label position, and storing the corresponding relationship in the label information library;

The moving trackless vehicle scans the information label, obtains the position information of the information label from the label information library according to the obtained corresponding code, and obtains the position information of the trackless vehicle at this moment relative to the information label by measuring the distance from the information label. The location information of the information label;

Combining the position information of the information tag and the position information of the trackless vehicle relative to the information tag at the time to calculate its position at the time.

Preferably, the information label is a hollow plate with strip-shaped reflective areas and strip-shaped hollow areas arranged alternately in coding order on the outer surface, and the inner and outer surfaces of the hollow plate can reflect the scanning time and the measurement time For the transmitted signal, each of the strip-shaped reflective areas and the strip-shaped hollow areas has a fixed size.

Preferably, both the scanning and the measuring are performed simultaneously by means of laser scanning ranging.

Preferably, both the scanning and the measuring are carried out only in a predetermined horizontal plane under the trackless vehicle's own coordinate system, and the setting of correspondingly coded information tags on the roadway wall at each tag position includes A corresponding coded information label is set on the roadway wall at the position of the label with reference to the height of the predetermined horizontal plane.

Preferably, the calculation includes selecting data in different ways from the position information of the trackless vehicle at this time relative to the information tag to calculate the position of the trackless vehicle at this time relative to the information tag, and calculating the obtained multiple calculation results Statistical averaging is performed, and the result after statistical averaging is used as the calculation result of the position of the trackless vehicle relative to the information tag at this moment.

A positioning system for an underground trackless vehicle, characterized in that the system includes:

The coded information label module is used to select a number of label positions whose spacing does not exceed a predetermined value along the trackless vehicle driving direction in the mine, and set a correspondingly coded information label on the roadway wall of each label position, and correspond to it. Relationships are stored in a tag repository;

The scanning distance detection module is used for the moving trackless vehicle to scan the information label, obtain the position information of the information label from the label information library according to the obtained corresponding code, and measure the distance to the information label Obtain the position information of the trackless vehicle relative to the information label at this moment;

The position information processing module is used to combine the position information of the information tag and the position information of the trackless vehicle relative to the information tag at the time to calculate its position at the time.

Preferably, the coded information label module includes a hollow plate with strip-shaped reflective areas and strip-shaped hollow areas arranged alternately in coding order on the outer surface, and the inner and outer surfaces of the hollow plate can reflect the scanning and the Each of the strip-shaped reflective areas and the strip-shaped hollow areas has a fixed size.

Preferably, the scanning distance detection module includes an instrument for laser scanning distance measurement.

Preferably, the scanning distance detection module includes a horizontal scanning distance detection module, which is used to perform the scanning and the measurement in a predetermined horizontal plane in the trackless vehicle's own coordinate system; the coded information label module includes information The label height setting module is used to set a corresponding coded information label on the roadway wall at each label position with reference to the height of the predetermined horizontal plane.

Preferably, it is characterized in that the position information processing module includes: a data selection module, which is used to select data in different ways from the position information of the trackless vehicle at the time relative to the information label to carry out the tracking of the trackless vehicle at the time relative to the information label. The position calculation of the information tag; the statistical average module is used to perform statistical average on the multiple calculation results calculated by the data selection module, and use the statistical average result as the calculation result of the position of the trackless vehicle relative to the information tag at this moment.

(3) Beneficial effects

The present invention at least has the following beneficial effects:

The present invention sets the information label corresponding to the location information, so that the trackless vehicle can obtain the absolute position section where the trackless vehicle is located by scanning the information label, and then by measuring the relative position of the information label, the location of the trackless vehicle can be calculated by combining the two. The specific absolute position also enables the trackless vehicle to obtain its global coordinates when driving underground in a convenient and quick manner.

In this method, it is necessary to complete the setting of the information label in the downhole in advance. On the one hand, the interval between its set positions cannot exceed a predetermined value. The setting of this predetermined value is to ensure that the trackless vehicle can always scan at least one information label during driving, that is to say, the predetermined value is based on the trackless vehicle. Depends on the size of the scanable range. On the other hand, each information label has its own code, and the corresponding relationship between the code and the specific setting position has been stored in advance, and can be called by a certain device on the trackless vehicle in motion.

Therefore, under such information label setting, the underground trackless vehicle driving route is divided into several fixed absolute position sections. As long as the vehicle scans the code of the nearby information label, it can obtain the absolute position section where it is located.

Further, the current absolute position of the vehicle can be calculated by measuring the relative position of the vehicle to the information tag and combining the absolute position corresponding to the code of the information tag. As long as the scanning measurement process is repeated at a certain frequency, the location information of itself can be obtained in real time, and the positioning of the underground trackless vehicle is completed.

Compared with the background technology, this method does not need external signals to assist in positioning, and does not have the error accumulation problem of inertial navigation or odometer, and the realization device is simple and easy to operate.

More specifically, the information label can be a hollow plate with striped reflective areas and striped hollow areas arranged alternately in coding order on the outer surface, wherein both the inner and outer surfaces of the hollow plate can reflect the scanning time and the measurement Each of the strip-shaped reflective areas and the strip-shaped hollow areas has a fixed size. This kind of label is simple to manufacture, low in cost and good in stability, and in this way, scanning and measurement can be performed simultaneously according to the signal obtained by reflection, which simplifies the processing flow and makes the implementation of the method faster.

More specifically, scanning and measuring are carried out simultaneously by means of laser scanning ranging. This method can obtain the reflection information of the label surface, and at the same time obtain the distance between the surface and the laser emission position, which realizes simultaneous scanning and measurement, and simplifies the processing flow. Moreover, the laser scanning ranging method has high precision and fast processing speed, which can improve the efficiency of the entire positioning processing.

More specifically, scanning and measurement are only carried out within a predetermined horizontal plane in the trackless vehicle's own coordinate system, and the height of the corresponding information label is also determined according to this predetermined horizontal plane. This method only considers the position information on the horizontal plane where the vehicle travels, and is suitable for the downhole operation environment where the vertical structure is not too complicated. It can narrow the calculation range and reduce the calculation amount, and has more practical application value.

More specifically, the relative position information of the vehicle relative to the information tag can be calculated with at least three (spatial) or two (plane) corresponding point measurement data, so that the relative position information can be selected in different ways For the calculation of the information, the statistically averaged result is used as the calculation result of the relative position information, which can reduce the error and improve the calculation accuracy.

Of course, implementing any product or method of the present invention does not necessarily need to achieve all the above-mentioned advantages at the same time.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a flow chart of a positioning method for an underground trackless vehicle in an embodiment of the present invention;

Fig. 2 is a working schematic diagram of a scanning distance detection module taking a scraper as an example in an embodiment of the present invention;

Fig. 3 is a schematic diagram of the basic design of the coded information label module in one embodiment of the present invention;

Fig. 4 is a schematic diagram of the working mode of a specific device implementing a positioning method for an underground trackless vehicle in an embodiment of the present invention;

Fig. 5 is a flow chart of the algorithm processing of the location information processing module in one embodiment of the present invention;

Fig. 6 is a schematic diagram of information code identification and location coordinate calculation in an embodiment of the present invention;

Fig. 7 is a structural block diagram of a positioning system for an underground trackless vehicle in an embodiment of the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Example 1

The embodiment of the present invention proposes a positioning method for an underground trackless vehicle, referring to Fig. 1, the method includes:

Step 101: select a number of label positions whose spacing does not exceed a predetermined value along the trackless vehicle traveling direction in the mine;

Step 102: setting a corresponding coded information label on the roadway wall at each label position, and storing the corresponding relationship in the label information database;

Step 103: The moving trackless vehicle scans the information label, obtains the position information of the information label from the label information library according to the obtained corresponding code, and obtains the trackless vehicle at that time by measuring the distance from the information label Position information relative to the information label;

Step 104: Combining the position information of the information tag and the position information of the trackless vehicle relative to the information tag at that time, calculate its position at that time.

The method is roughly divided into two parts: the setting of the information label and the scanning ranging of the trackless vehicle. The information tag is actually just a virtual concept, which represents a tag-like object with a fixed code corresponding to the predetermined tag position, which can be scanned by the trackless vehicle to obtain the code and measure the distance between each other.

The method firstly selects several label positions along the traveling direction of the trackless vehicle in the mine with a spacing not exceeding a predetermined value, that is, the position where information labels are decided to be set. The predetermined value is set to ensure that the trackless vehicle can always scan at least one information label, and its value is not greater than the maximum scanning length of the trackless vehicle. Moreover, the coordinates of each tag position can be known in advance through common technical means, such as through actual measurement or calibration based on a digital model of the downhole environment, so that each tag position can be represented by corresponding coordinates.

Then, a corresponding coded information label is set on the roadway wall at each label position, and the corresponding relationship is stored in the label information base. This step also belongs to the presetting before the trackless vehicle starts to run, and each information label is set at a predetermined height that is relatively convenient for scanning on the label position that has been calibrated. Moreover, the corresponding relationship between information tags and tag positions needs to be pre-stored on a certain device on the trackless vehicle for specific position calculation.

Therefore, during the driving process of the trackless vehicle, it is only necessary to scan the information label code on the surrounding roadway wall, find the corresponding label position in the device for the corresponding code, and combine the measured relative position information of the vehicle and the information label to calculate the vehicle The specific absolute position at this moment, that is, its global coordinates when driving underground. The specific calculation process is a simple combination of general data search and distance measurement process, which belongs to the prior art.

It can be seen that this method can enable the trackless vehicle to obtain its own position in real time while driving, has the beneficial effect described above, and realizes the convenient acquisition of the global coordinates of the trackless vehicle when driving underground.

More specifically, here is a set of specific devices to illustrate the steps of the method:

The specific device includes a scanning distance detection module, a coded information label module, and a position information processing module. Here, the global coordinates to be obtained are only on a horizontal plane XOY of the trackless vehicle's own coordinate system, so all scanning and measurement are only performed on this plane.

The scanning distance detection module is installed on the underground trackless vehicle, and is used to detect the distance information of the vehicle relative to the coded information label module. The main function of this module is to repeatedly measure the distance information of the label module relative to itself in the same horizontal plane with a certain resolution within the same angle range, store the distance information in a specific storage method, and provide it to the location information processing module. The specific way to scan and measure distance information is to use laser scanning distance measurement technology. The laser scanner continuously measures the distance information of the information label relative to the laser scanner itself on the same plane at a certain period. For the scanning distance detection module taking the scraper as an example, please refer to Figure 2. In the figure 1 represents the wall of the underground roadway, 2 is a schematic diagram of a trackless vehicle commonly used in underground mines—the scraper, and 3 is the scanning distance detection module installed on the scraper . The module can also choose 360-degree measurement, which is shown in the figure as 180-degree measurement.

The coded information label module is placed in the driving environment of the vehicle, within the detection range of the scanning distance detection module, a functional structural object with a specific structure. The global position information of the placed point of the label module has been Stored in the location information processing module in advance. The main function of the information label is to provide a coded mark that can be recognized by the distance detection module. Area), a kind of information label combined according to a certain coding sequence. After the information label is identified, its related information is used by the location information processing module to calculate and process the positioning information. The basic design principle of the coded information label module is shown in the figure 3 shown. The black part is the reflective signal of the entity, which is convenient for the scanning distance detection module to detect the distance. This module can be expanded according to the actual size of D within a certain scanning angle range.

The location information processing module is placed on the trackless vehicle to collect the distance information obtained by the scanning distance detection module, and the relative measurement angle information corresponding to each distance information, and combine the information label obtained by analysis and calculation in the identified information label Encoding, so as to obtain the relative position of the vehicle relative to the information label. Since the absolute position of the information label has been stored in the position information processing module in advance, the absolute position information of the trackless vehicle can be obtained by combining its own relative position and the absolute position of the information label.

Combined with this specific device, the specific implementation process of the method is as follows:

See Figure 4. In the figure, the coded information label module is placed in the underground roadway environment, and has a certain distance from the roadway wall. The distance information is determined by the shortest detection unit ("D" in Figure 3) of the scanning distance detection module. The scanning distance detection module and the position information processing module are installed on the underground mobile vehicle.

The scanning distance detection module converts the received "strip" and "empty" reflected light signals into analog electrical signals through photoelectric converters, and then transforms them into common digital signals. According to the encoding rules corresponding to the code system, the position information processing module obtains the absolute position information of the information label module by judging the encoding of the current beacon, and then fuses the real-time distance information and angle information of the track measured by the distance detection module to obtain the scanning distance The precise position information of the detection module, since the scanning distance detection module is installed and fixed on the mobile vehicle, the precise position information of the mobile vehicle can be obtained.

Use the information returned by the laser scanning measurement system within its scanning range (for example: choose a scanning angle of 60°, a scanning frequency of 300Hz, and an angular resolution of 0.2°, that is, a complete scanning cycle returns the value of 300 scanning points), position The specific position processing algorithm of the information processing module is shown in Fig. 5 . Taking Figure 6 as an example, G represents a scanning distance detection module installed on a moving vehicle, and EF represents a coded information label module. The global coordinate system is XOY, G represents the coordinate point of the scanning distance detection module, and A, A1, B, B1, C, and C1 are key marker points respectively. The algorithm process specifically includes:

Step 501: Obtain the measurement data of each point of the scanning distance detection module in a single measurement period.

The position information processing module obtains the measurement data of the scanning distance detection module in a single cycle through the bus, and stores the data in the array Distance[i] (0<i<300).

Step 502: Identify key landmarks.

The key mark point refers to the calculation of the difference between two adjacent points, if it is greater than the set difference threshold, abs(Distance[i+1]-Distance[i])>ε1 (ε1 is the set difference threshold), abs is an absolute value operator. Then store this point as a key mark point, that is, store the value of i in the array Count[j++].

Step 503: Vectorization of measurement points.

Use the difference between the two key marker points before and after to distinguish the two types of scan values, if Distance[Count[j]+1]-Distance[Count[j]]>ε2 (ε2 is the set difference threshold), then The point is vectorized as Distance[i].Flag=1; otherwise, Distance[i].Flag=0; that is, the flag bit of the changed point is assigned a value of 1, otherwise it is 0.

Step 504: Classification and storage of marker points.

The key mark points divide the beacon into several segments, and the segment flags are taken from the corresponding key mark points, namely: Data[j1].Flag=Distance[Count[j1]+1].Flag.

Step 505: Information label calculation.

The width of each section of the information label is calculated using trigonometric functions, and the distance between the "bar" and "empty" is calculated using the triangular geometric relationship, and stored in Data[j1].Lenth, as shown in Figure 6, the method of calculating the distance of the strip BC is

$\mathrm{<span\; class="notranslate">\; BC</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; GB</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; GC</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; GB</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; GC</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; COS\&phi;</span>}}$

The way to calculate the distance of the empty AA ₁ is

${\mathrm{<span\; class="notranslate">\; AAA</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\sqrt{{{\mathrm{<span\; class="notranslate">\; GA</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; GA</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; GA</span>}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; GA</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; COS\&theta;</span>}}$

Step 506: Matching judgment.

First determine how many times each Data[j1].Lenth corresponds to D, to restore the corresponding continuous "1" or "0". That is, first judge whether Data[j1].Lenth is less than D+ε2, and if it is less than, judge whether |Data[j1].Lenth–D|<ε2 is true (ε2 is the error tolerance, and its size is generally not greater than D/10) , if it is established, it is determined that the number of digits of Data[j1].Lenth is 1;

If it is not less than, continue to judge whether Data[j1].Lenth is less than 2D+ε2, if it is less than, judge whether |Data[j1].Lenth-2D|<ε2 is true, and if it is true, judge the number of digits of Data[j1].Lenth is 2, and so on, after obtaining the number of digits, expand the corresponding flag Data[j1].Flag according to the obtained number of digits. For example, if the flag bit corresponding to j1 is "1" and the number of bits of Data[j1].Lenth is 3, then the flag bit of j1 is extended to "111". Referring to FIG. 6, the original "10101" can be extended to "111010111110111".

Matching of the flag bit and the template flag: judge whether the flag bit Data[j1].Flag of each segment is consistent with the flag bit given by the template (as shown in Figure 3); where 1 represents the "bar" of the reflection area, and 0 represents the "bar" of the blank area. null".

Step 507: Position calculation.

Since the position of each information label has been stored in the position information processing module in advance, after judging that the information label is encoded according to step 506, the coordinates of points A, B, and C on the single information encoding label are known, assuming that they are respectively (X ₁ , Y ₁ ), (X ₂ , Y ₂ ), (X ₃ , Y ₃ ), and GA, GB, and GC are the measured values of the scanning distance measurement module, combined with the angle information of φ and θ, using The formula of the coordinates (X, Y) of the scanning measurement module G at this time is calculated by reverse calculation of the trigonometric function relationship:

$\left\{\begin{array}{c}{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; GA</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; GB</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; GC</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right.$

(X, Y) are the coordinates of the scanning distance detection module fixed on the moving vehicle, and the real-time position coordinates of the moving vehicle are obtained according to the conversion relationship between the position coordinates of the module installation and the vehicle body coordinate system. Among them, a corresponding (X, Y) can be calculated for every two points, so in specific operations, multiple groups of (X, Y) can be calculated and averaged to reduce accidental errors. The above equation takes 3 points, and 3 solutions can be obtained to take the average value.

Step 508: The recognition ends, and the corresponding position is calculated.

Scanning and measurement of coded information labels has since been completed. Here, because the coded information label is a hollow plate with striped reflective areas and striped hollow areas arranged alternately in the coding order on the outer surface, the striped reflective areas (such as the EA segment, A1B1 segment, BC segment and C1F segment in Figure 6) Segment) can reflect the signals emitted during the scanning and the measuring, so the points on these areas can be scanned, and their spacing can also be measured; and because of the strip-shaped hollow area (as shown in Figure 6 AA1 segment, B1B segment and CC1 segment) are hollowed out areas, so when scanning and measuring these areas, what is measured and scanned is actually a point on the inner surface of the hollow plate. Therefore, near the boundary of the strip-shaped reflection area and the strip-shaped hollow area, the measured distance usually has a large abrupt change in value. By setting a small difference threshold ε1 according to this characteristic, the boundary position where the mutation is greater than the set threshold can be identified, which is the "key mark point" mentioned above.

Then, "vectorization of measurement points" is carried out, that is, to distinguish whether the area between two key marker points is a "1" area or a "0" area. Since the key marker points judged from "bar" to "empty" correspond to the distance between the point on the bar-shaped reflection area and the coordinate origin, and the key marker points judged from "empty" to "bar" correspond to the measured is the distance between the point on the inner surface of the hollow plate and the origin of the coordinates, so the measured distance of the latter is usually greater than the former. Using this property, it can be judged whether the adjacent key marker points are "bar" or "empty". Corresponding to the above Distance[Count[j]+1]-Distance[Count[j]]>ε2, it is comparing the size of the two distances with 0 (ε2 is a value near 0, which can be adjusted as a variable here) , so that the corresponding i that satisfies the condition is "article", otherwise it is "empty".

When matching, since there is no distinction here about how many "1s" each "bar" represents and how many "0s" each "empty" represents, it is determined by how many times the distance between adjacent key marker points D to decide. The specific implementation method has been described above, so that the original alternate coding such as "1010101..." can be restored to the coding with repeated fields such as "111001011011". Of course, the width of the strip-shaped reflective area and the strip-shaped hollow area are fixed, and the length is D, so that the scanning can be recognized under such a setting.

After restoring the code, you can directly compare the tag information database to find the absolute position of the corresponding tag, and then calculate the absolute position of the vehicle based on the relative position between the vehicle and the tag.

Since the code is artificially set, it is difficult for the roadway wall in nature to be identified and matched (that requires the roadway wall plane to appear high-low-high-low-... such a situation, it can be seen that this is almost is impossible), basically it can be determined that only the corresponding coded information label can satisfy the above matching. Moreover, the specific scanning measurement process can also be adjusted with multiple values of D, ε1, ε2, and ε3 to meet different application needs.

The above is a flow of method steps combined with a specific device, which has the beneficial effects described above, and can realize the convenient acquisition of the global coordinates of the trackless vehicle when it is driving underground.

Generally speaking, the present invention proposes a positioning method suitable for underground trackless vehicles for the special environment of underground roadways. By using this method, the global coordinates of the vehicle in the underground can be easily obtained. The structure of the working device involved in this method is simple. The work is stable and reliable, and at the same time, it also meets the accuracy requirements for positioning during the autonomous exercise control process of underground trackless vehicles.

Example 2

The embodiment of the present invention proposes a positioning system for an underground trackless vehicle, as shown in Fig. 7, the system includes:

The coded information label module 701 is used to select a number of label positions whose spacing does not exceed a predetermined value along the direction of trackless vehicle travel underground, and to set a corresponding coded information label on the roadway wall of each label position, and place it The corresponding relationship is stored in the tag information database;

The scanning distance detection module 702 is used for the trackless vehicle in motion to scan the information label, obtain the position information of the information label from the label information library according to the obtained corresponding code, and measure the distance between the information label and the information label. Get the position information of the trackless vehicle relative to the information tag at that moment;

The position information processing module 703 is configured to combine the position information of the information tag and the position information of the trackless vehicle relative to the information tag at the time to calculate its position at the time.

in:

The coded information label module includes a hollow plate with strip-shaped reflective areas and strip-shaped hollow areas arranged alternately in coding order on the outer surface, and the strip-shaped reflective areas can reflect the emitted light during scanning and measurement. The inner surface of the hollow plate cannot reflect the signals emitted during the scanning and the measuring.

The scanning distance detection module includes an instrument for laser scanning distance measurement.

The scanning distance detection module includes a horizontal scanning distance detection module, which is used to perform the scanning and the measurement in a predetermined horizontal plane under the trackless vehicle's own coordinate system; the coded information label module includes an information label height setting A module, configured to set a correspondingly coded information label on the roadway wall at each label position with reference to the height where the predetermined horizontal plane is located.

The position information processing module includes: a data selection module, which is used to select data in different ways from the position information of the trackless vehicle at this time relative to the information label to calculate the position of the trackless vehicle at this time relative to the information label; The averaging module is used to statistically average the multiple calculation results calculated by the data selection module, and use the statistically averaged results as the calculation results of the position of the trackless vehicle relative to the information tag at this moment.

The system is roughly divided into two parts: the setting of information labels and the scanning distance measurement of trackless vehicles. The information tag is actually just a virtual concept, which represents a tag-like object with a fixed code corresponding to the predetermined tag position, which can be scanned by the trackless vehicle to obtain the code and measure the distance between each other.

The system first selects a number of label positions with a spacing not exceeding a predetermined value along the trackless vehicle driving direction underground, that is, the position where information labels are decided to be set. The predetermined value is set to ensure that the trackless vehicle can always scan at least one information label, and its value is not greater than the maximum scanning length of the trackless vehicle. Moreover, the coordinates of each tag position can be known in advance through common technical means, such as through actual measurement or calibration based on a digital model of the downhole environment, so that each tag position can be represented by corresponding coordinates.

Then, a corresponding coded information label is set on the roadway wall at each label position, and the corresponding relationship is stored in the label information database. This step also belongs to the presetting before the trackless vehicle starts to drive, and each information label is set at a specific height that is more convenient for scanning on the label position that has been calibrated. Moreover, the corresponding relationship between information tags and tag positions needs to be pre-stored on a certain device on the trackless vehicle for specific position calculation.

Therefore, during the driving process of the trackless vehicle, it is only necessary to scan the information label code on the surrounding roadway wall, find the corresponding label position in the device for the corresponding code, and combine the measured relative position information of the vehicle and the information label to calculate the vehicle The specific absolute position at this moment, that is, its global coordinates when driving underground. The specific calculation process is a simple combination of general data search and distance measurement process, which belongs to the prior art.

It can be seen that this system can enable the trackless vehicle to obtain its own position in real time when it is driving, which has the beneficial effects described above, and realizes the convenient acquisition of the global coordinates of the trackless vehicle when it is driving underground.

More specifically, here is a set of specific devices to illustrate the specific composition of the system:

The specific device includes a scanning distance detection module, a coded information label module, and a position information processing module. Here, the global coordinates to be obtained are only on a horizontal plane XOY of the trackless vehicle's own coordinate system, so all scanning and measurement are only performed on this plane.

The scanning distance detection module is installed on the underground trackless vehicle, and is used to detect the distance information of the vehicle relative to the coded information label module. The main function of this module is to repeatedly measure the distance information of the label module relative to itself in the same horizontal plane with a certain resolution within the same angle range, store the distance information in a specific storage method, and provide it to the location information processing module. The specific way to scan and measure distance information is to use laser scanning distance measurement technology. The laser scanner continuously measures the distance information of the information label relative to the laser scanner itself on the same plane at a certain period. For the scanning distance detection module taking the scraper as an example, please refer to Figure 2. In the figure 1 represents the wall of the underground roadway, 2 is a schematic diagram of a trackless vehicle commonly used in underground mines—the scraper, and 3 is the scanning distance detection module installed on the scraper . The module can also choose 360-degree measurement, which is shown in the figure as 180-degree measurement.

The coded information label module is placed in the driving environment of the vehicle, within the detection range of the scanning distance detection module, a functional structural object with a specific structure. The global position information of the placed point of the label module has been Stored in the location information processing module in advance. The main function of the information label is to provide a coded mark that can be recognized by the distance detection module. The identification code is composed of "bars" and "spaces" with different widths and different reflectivities (that is, the above-mentioned striped reflection areas and blank areas) , a kind of information label combined according to a certain coding sequence. After the information label is identified, its related information is used by the position information processing module to calculate and process the positioning information. The basic design principle of the coded information label module is shown in Figure 3 Show. The black part is the reflective signal of the entity, which is convenient for the scanning distance detection module to detect the distance. This module can be expanded according to the actual size of D within a certain scanning angle range.

The location information processing module is placed on the trackless vehicle to collect the distance information obtained by the scanning distance detection module, and the relative measurement angle information corresponding to each distance information, and combine the information label obtained by analysis and calculation in the identified information label Encoding, so as to obtain the relative position of the vehicle relative to the information label. Since the absolute position of the information label has been stored in the position information processing module in advance, the absolute position information of the trackless vehicle can be obtained by combining its own relative position and the absolute position of the information label.

The workflow of this specific device is as follows:

See Figure 4. In the figure, the coded information label module is placed in the underground roadway environment, and has a certain distance from the roadway wall. The distance information is determined by the shortest detection unit ("D" in Figure 3) of the scanning distance detection module. The scanning distance detection module and the position information processing module are installed on the underground mobile vehicle.

The scanning distance detection module converts the received "strip" and "empty" reflected light signals into analog electrical signals through photoelectric converters, and then transforms them into common digital signals. According to the encoding rules corresponding to the code system, the position information processing module obtains the absolute position information of the information label module by judging the encoding of the current beacon, and then fuses the real-time distance information and angle information of the track measured by the distance detection module to obtain the scanning distance The precise position information of the detection module, since the scanning distance detection module is installed and fixed on the mobile vehicle, the precise position information of the mobile vehicle can be obtained.

Use the information returned by the laser scanning measurement system within its scanning range (for example: choose a scanning angle of 60°, a scanning frequency of 300Hz, and an angular resolution of 0.2°, that is, a complete scanning cycle returns the value of 300 scanning points), position The specific position processing algorithm of the information processing module is shown in Fig. 5 . Taking Figure 6 as an example, G represents a scanning distance detection module installed on a moving vehicle, and EF represents a coded information label module. The global coordinate system is XOY, G represents the coordinate point of the scanning distance detection module, and A, A1, B, B1, C, and C1 are key marker points respectively. The algorithm process specifically includes:

Step 501: Obtain the measurement data of each point of the scanning distance detection module within a single measurement cycle.

The position information processing module obtains the measurement data of the scanning distance detection module in a single cycle through the bus, and stores the data in the array Distance[i] (0<i<300).

Step 502: Identify key landmarks.

The key mark point refers to the calculation of the difference between two adjacent points, if it is greater than the set difference threshold, abs(Distance[i+1]-Distance[i])>ε1 (ε1 is the set difference threshold), abs is an absolute value operator. Then store this point as a key mark point, that is, store the value of i in the array Count[j++].

Step 503: Vectorization of measurement points.

Use the difference between the two key marker points before and after to distinguish the two types of scan values, if Distance[Count[j]+1]-Distance[Count[j]]>ε2 (ε2 is the set difference threshold), then The point is vectorized as Distance[i].Flag=1; otherwise, Distance[i].Flag=0; that is, the flag bit of the changed point is assigned a value of 1, otherwise it is 0.

Step 504: Classification and storage of marker points.

The key mark points divide the beacon into several segments, and the segment flags are taken from the corresponding key mark points, namely: Data[j1].Flag=Distance[Count[j1]+1].Flag.

Step 505: Information label calculation.

The width of each section of the information label is calculated using trigonometric functions, and the distance between the "bar" and "empty" is calculated using the triangular geometric relationship, and stored in Data[j1].Lenth, as shown in Figure 6, the method of calculating the distance of the strip BC is

$\mathrm{<span\; class="notranslate">\; BC</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; GB</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; GC</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; GB</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; GC</span>}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; COS\&phi;</span>}}$

The way to calculate the distance of the empty AA ₁ is

${\mathrm{<span\; class="notranslate">\; AAA</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\sqrt{{{\mathrm{<span\; class="notranslate">\; GA</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; GA</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; GA</span>}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; GA</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; COS\&theta;</span>}}$

Step 506: Matching judgment.

First determine how many times each Data[j1].Lenth corresponds to D, to restore the corresponding continuous "1" or "0". That is, first judge whether Data[j1].Lenth is less than D+ε2, and if it is less than, judge whether |Data[j1].Lenth–D|<ε2 is true (ε2 is the error tolerance, and its size is generally not greater than D/10) , if it is established, it is determined that the number of digits of Data[j1].Lenth is 1;

If it is not less than, continue to judge whether Data[j1].Lenth is less than 2D+ε2, if it is less than, judge whether |Data[j1].Lenth-2D|<ε2 is true, and if it is true, judge the number of digits of Data[j1].Lenth is 2, and so on, after obtaining the number of digits, expand the corresponding flag Data[j1].Flag according to the obtained number of digits. For example, if the flag bit corresponding to j1 is "1" and the number of bits of Data[j1].Lenth is 3, then the flag bit of j1 is extended to "111". Referring to FIG. 6, the original "10101" can be extended to "111010111110111".

Matching of the flag bit and the template flag: judge whether the flag bit Data[j1].Flag of each segment is consistent with the flag bit given by the template (as shown in Figure 3); where 1 represents the "bar" of the reflection area, and 0 represents the "bar" of the blank area. null".

Step 507: Position calculation.

Since the position of each information label has been stored in the position information processing module in advance, after judging that the information label is encoded according to step 506, the coordinates of points A, B, and C on the single information encoding label are known, assuming that they are respectively (X ₁ , Y ₁ ), (X ₂ , Y ₂ ), (X ₃ , Y ₃ ), and GA, GB, and GC are the measured values of the scanning distance measurement module, combined with the angle information of φ and θ, using The formula of the coordinates (X, Y) of the scanning measurement module G at this time is calculated by reverse calculation of the trigonometric function relationship:

$\left\{\begin{array}{c}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; GA</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; GB</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; GC</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right.$

(X, Y) are the coordinates of the scanning distance detection module fixed on the moving vehicle, and the real-time position coordinates of the moving vehicle are obtained according to the conversion relationship between the position coordinates of the module installation and the vehicle body coordinate system. Among them, a corresponding (X, Y) can be calculated for every two points, so in specific operations, multiple groups of (X, Y) can be calculated and averaged to reduce accidental errors. The above equation takes 3 points, and 3 solutions can be obtained to take the average value.

Step 508: The recognition ends, and the corresponding position is calculated.

Scanning and measurement of coded information labels has since been completed. Here, because the coded information label is a hollow plate with striped reflective areas and striped hollow areas arranged alternately in the coding order on the outer surface, the striped reflective areas (such as the EA segment, A1B1 segment, BC segment and C1F segment in Figure 6) Segment) can reflect the signals emitted during the scanning and the measuring, so the points on these areas can be scanned, and their spacing can also be measured; and because of the strip-shaped hollow area (as shown in Figure 6 AA1 segment, B1B segment and CC1 segment) are hollowed out areas, so when scanning and measuring these areas, what is measured and scanned is actually a point on the inner surface of the hollow plate. Therefore, near the boundary of the strip-shaped reflection area and the strip-shaped hollow area, the measured distance usually has a large abrupt change in value. By setting a small difference threshold ε1 according to this characteristic, the boundary position where the mutation is greater than the set threshold can be identified, which is the "key mark point" mentioned above.

Then, "vectorization of measurement points" is carried out, that is, to distinguish whether the area between two key marker points is a "1" area or a "0" area. Since the key marker points judged from "bar" to "empty" correspond to the distance between the point on the bar-shaped reflection area and the coordinate origin, and the key marker points judged from "empty" to "bar" correspond to the measured is the distance between the point on the inner surface of the hollow plate and the origin of the coordinates, so the measured distance of the latter is usually greater than the former. Using this property, it can be judged whether the adjacent key marker points are "bar" or "empty". Corresponding to the above Distance[Count[j]+1]-Distance[Count[j]]>ε2, it is comparing the size of the two distances with 0 (ε2 is a value near 0, which can be adjusted as a variable here) , so that the corresponding i that satisfies the condition is "bar", otherwise it is "empty".

When matching, since there is no distinction here about how many "1s" each "bar" represents and how many "0s" each "empty" represents, it is determined by how many times the distance between adjacent key marker points D to decide. The specific implementation method has been described above, so that the original alternate coding such as "1010101..." can be restored to the coding with repeated fields such as "111001011011". Of course, the width of the strip-shaped reflective area and the strip-shaped hollow area are fixed, and the length is D, so that the scanning can be recognized under such a setting.

After restoring the code, you can directly compare the tag information database to find the absolute position of the corresponding tag, and then calculate the absolute position of the vehicle based on the relative position between the vehicle and the tag.

Since the code is artificially set, it is difficult for the roadway wall in nature to be identified and matched (that requires the roadway wall plane to appear high-low-high-low-... such a situation, it can be seen that this is almost is impossible), basically it can be determined that only the corresponding coded information label can satisfy the above matching. Moreover, the specific scanning measurement process can also be adjusted with multiple values of D, ε1, ε2, and ε3 to meet different application needs.

The above is the specific working process of the device. The device has the beneficial effects described above, and can realize the convenient acquisition of the global coordinates of the trackless vehicle when it is driving underground.

Generally speaking, the present invention proposes a positioning method suitable for underground trackless vehicles for the special environment of underground roadways. By using this method, the global coordinates of vehicles in the underground can be easily obtained. The structure of the working system involved in this method is simple. The work is stable and reliable, and at the same time, it also meets the accuracy requirements for positioning during the autonomous exercise control process of underground trackless vehicles.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be described in the foregoing embodiments Modifications are made to the recorded technical solutions, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. a localization method for underground trackless vehicle, is characterized in that, the method comprises:

Choose along trackless vehicle travel direction the label position that several spacing are no more than predetermined value in down-hole;

The wall of each described label position arranges the information labels of corresponding coding, and its corresponding relation is stored in tag information base;

Trackless vehicle in traveling is by the described information labels of scanning, from described tag information base, obtaining the positional information of this information labels according to the correspondence coding obtained, and obtaining the positional information of this moment trackless vehicle relative to this information labels by measuring with the distance of described information labels;

In conjunction with the positional information of this information labels described and this moment trackless vehicle described its position residing for this moment of positional information calculation relative to this information labels;

Wherein, described calculating comprises carries out the position calculation of this moment trackless vehicle relative to this information labels from this moment trackless vehicle described relative to choosing data the positional information of this information labels by different way, and statistical average is carried out to the multiple result of calculations obtained, using the result after statistical average as the position calculation result of this moment trackless vehicle relative to this information labels.

2. method according to claim 1, it is characterized in that, described information labels is a hollow slab outside surface having strip reflector space and strip void region are alternately arranged by coded sequence, when the surfaces externally and internally of described hollow slab can reflect described scanning and described measurement time the signal launched, each described strip reflector space and strip void region have fixing size respectively.

3. method according to claim 1, is characterized in that, described scanning and described measurement are all carried out in laser scanning and ranging mode simultaneously.

4. method according to claim 1, it is characterized in that, carry out in a described scanning and described measurement predetermined level all only under trackless vehicle local Coordinate System, the wall that the described information labels arranging corresponding coding in the wall of each described label position is included in each described label position is arranged the information labels of corresponding coding with reference to the height at described predetermined level place.

5. a positioning system for underground trackless vehicle, is characterized in that, this system comprises:

Coding type information labels module, for choosing along trackless vehicle travel direction the label position that several spacing are no more than predetermined value in down-hole, and the information labels of corresponding coding is set in the wall of each described label position, and its corresponding relation is stored in tag information base;

Scan-type distance detection module, the described information labels of scanning is passed through for the trackless vehicle in travelling, from described tag information base, obtaining the positional information of this information labels according to the correspondence coding obtained, and obtaining the positional information of this moment trackless vehicle relative to this information labels by measuring with the distance of described information labels;

Position information process module, for combining the positional information of this information labels described and this moment trackless vehicle described its position residing for this moment of positional information calculation relative to this information labels;

Wherein, described position information process module comprises: data decimation module, for carrying out the position calculation of this moment trackless vehicle relative to this information labels from this moment trackless vehicle described relative to choosing data in the positional information of this information labels by different way; Statistical average module, carries out statistical average for the multiple result of calculations calculated data decimation module, using the result after statistical average as the position calculation result of this moment trackless vehicle relative to this information labels.

6. system according to claim 5, it is characterized in that, described coding type information labels module comprises the hollow slab that an outside surface has strip reflector space and strip void region to be alternately arranged by coded sequence, when the surfaces externally and internally of described hollow slab can reflect described scanning and described measurement time the signal launched, each described strip reflector space and strip void region have fixing size respectively.

7. system according to claim 5, is characterized in that, described scan-type distance detection module comprises the instrument for laser scanning and ranging.

8. system according to claim 5, is characterized in that, described scan-type distance detection module comprises horizontal scanning formula distance detection module, for carrying out described scanning and described measurement in the predetermined level of under trackless vehicle local Coordinate System; Described coding type information labels module comprises information labels height and arranges module, arranges the information labels of corresponding coding in the wall at each described label position with reference to the height at described predetermined level place.