Underground work equipment positioning method, device and system, and storage medium

The embodiment of the invention discloses an underground work equipment positioning method, device and system, and a storage medium. The method comprises the following steps of acquiring current corresponding gradeline point cloud and roadway base plate point cloud of work equipment; carrying out first point cloud matching and determining an initial pose and a probability according to the gradeline point cloud and a underground two-dimensional probability positioning map, and determining a pose search range used for second point cloud matching based on the probability of the initial pose; andbased on a histogram filtering method, carrying out second point cloud matching in the pose search range according to the roadway base plate point cloud, the underground two-dimensional probability positioning map, and the initial pose, and determining the current pose of the work equipment according to a registration pose according with a set condition. Positioning accuracy and a response speed of underground work equipm