CN104833946A - Automatic proximity perception system for mining downwell motor vehicles and personnel - Google Patents
Automatic proximity perception system for mining downwell motor vehicles and personnel Download PDFInfo
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- CN104833946A CN104833946A CN201510234448.4A CN201510234448A CN104833946A CN 104833946 A CN104833946 A CN 104833946A CN 201510234448 A CN201510234448 A CN 201510234448A CN 104833946 A CN104833946 A CN 104833946A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0226—Transmitters
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Traffic Control Systems (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention relates to an automatic proximity perception system for mining downwell motor vehicles and personnel, which comprises the components of labels that are worn on the bodies of personnel, base stations which are mounted on the vehicles, a server, a time synchronizer, a label control module and a vehicle control alarm module. The server is connected with the time synchronizer, the label control module, the vehicle control alarm module and each base station. The time synchronizer is connected with each base station through a cable and realizes time synchronization between base stations in a wired manner. The label control module transmits a control signal for the server to the labels through data channels for wireless data transmission. The base stations acquire label positioning information wirelessly and transmit the positioning information back to the server in the wired manner. The server performs label position calculation and presentation, system self-checking and equipment management, time synchronization control, alarm signal control and vehicle control. The automatic proximity perception system realizes quick position detection between vehicles and personnel and realizes simultaneous alarm at the vehicle end and the personnel end. Furthermore the automatic proximity perception system can realize quick vehicle stopping.
Description
Technical field
The present invention relates to a kind of security protection system, specifically a kind of mine underground motor vehicles personnel are close to automatic sensing system.
Background technology
Some oversize vehicles in colliery, due to the position that driver is residing in vehicle, determine its sight line very not good, cannot do effective observation, easily produce extruding to the staff of periphery; Another one aspect, because the noise/sight line under working environment is all bad, staff also cannot aware the arrival of vehicle effectively, and dodges fast.
No matter adopt RFID technique or Radar Technology in prior art, operating distance (needing to be not less than 100 meters), two-way alarm all cannot be satisfied the demand, and easily form antenna dead angle, produce the phenomenon of skip.At coal mine work area, because working environment limit, the environmental factors such as noise, sight line difference, the also application of the some other technology of extreme influence.At present, there is no a good system energy head it off.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of mine underground motor vehicles and personnel close to automatic sensing system, located by wireless distance finding understand people and Che position relationship to realize collision prevention function.
According to technical scheme provided by the invention, described mine underground motor vehicles personnel comprise close to automatic sensing system: be worn on personnel's label with it, and being arranged on base station on vehicle, server, synchrotimer, label control module and wagon control alarm module, described server is tie-time synchronizer, label control module, wagon control alarm module and each base station respectively; Synchrotimer connects each base station by cable, realizes time synchronized between base station by wired mode; The control signal of server is issued to label by the data channel of wireless data sending by label control module; Described label comprises the wireless locating module, wireless data transmission module, alarm module and the battery that are connected with label MCU, and locating information by wireless collection label positioning information, and is passed back to server by wired by described base station; Server carry out label position calculating and present, System self-test and equipment control, time synchronized control, alarm signal controls and wagon control, wagon control alarm module receives the control signal from server, then to topworks's outputting alarm control signal or parking toll signal.
In described server, according to the actual conditions of vehicle and the laying situation of base station, first build location database, after base station receives the data of label, server starts the final position calculating each label, and presents in real time on a display screen.
The alarm signal of described server controls and wagon control function comprises:
1) label alarm signal is sent to label by label control module;
2) in time having people to enter hazardous location, sound and light alarm is controlled;
3) in time having people very close, start vehicle hold function, when security of system not detected, system forbids vehicle launch.
Concrete, described synchrotimer comprises the communication interface, synchrotimer MCU, signal source and the amplifier that connect successively, synchrotimer MCU first receives the control command from server, determine whether enabling signal source, produce the clock signal of fixed frequency, then amplified by amplifier, export multiple synchronizing signal, be sent to all base stations with cable; After base station receives signal, Shape correction, is then input to the wireless locating module with label communication, guarantees the identical time source in all base stations, and after time synchronized, server just can carry out position calculation.
The length of the connection cable between described synchrotimer and base station is fixed value, can ensure that the time that synchrotimer signal is sent to base station used by cable is equal.
UWB module is adopted to carry out data transmission and ranging localization function between described label and base station.Label control module from the control signal of server, is then sent to label by wireless data transmission module by RS232 interface.
Is divided into the time slot of 500 2 milliseconds 1 second, within these 2 milliseconds of times, label will complete one-time positioning operation with base station; Position residing for label is different, the quantity of the time slot of its work of dynamic conditioning: when label is positioned at safety zone time, per secondly completes 1 location; When label is in yellow alarm region, per secondly complete 3 location; When label is in red alarm region, per secondly complete 7 location.
Advantage of the present invention is: the position that this patent achieves between vehicle and personnel is detected fast, and realizes alarm at car and people two ends simultaneously, and vehicle can stop fast, and personnel also can be dodged by alarm fast.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present invention.
Fig. 2 is label construction figure.
Fig. 3 is architecture of base station figure.
Fig. 4 is server function module figure.
Fig. 5 is label control module structural drawing.
Fig. 6 is synchrotimer structural drawing.
Fig. 7 is wagon control alarm module structural drawing.
Fig. 8 is TWR range measurement principle figure.
Fig. 9 is data of the present invention transmission schematic diagram.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, system of the present invention comprises: label 1, base station 2, server 3, synchrotimer 4, label control module 5 and wagon control alarm module 6.Described server 3 is tie-time synchronizer 4, label control module 5, wagon control alarm module 6 and each base station 2 respectively; Synchrotimer 4 connects each base station 2 by cable, realizes 2, base station time synchronized by wired mode; The control signal of server 3 is issued to label 1 by the data channel of wireless data sending by label control module 5.
Described label 1 comprises the wireless locating module, wireless data transmission module, alarm module and the battery that are connected with label MCU.Wireless location technology can adopt UWB(ultra broadband) technology also can be CSS technology or high-precision WiFi technology.Following examples are for UWB, and wireless data transmission technology passes for 433MHz number.
Locating information by wireless collection label 1 locating information, and is passed back to server 3 by wired by described base station 2; Server 3 carry out label position calculating and present, System self-test and equipment control, time synchronized control, alarm signal controls and wagon control, wagon control alarm module 6 receives the control signal from server 3, then to topworks's outputting alarm control signal or parking toll signal.
Below each ingredient is introduced respectively.
1. label 1 is the equipment of workman's body-worn, and major function comprises: ranging localization function, several energy, sound alarm function of passing on Gong.
As shown in Figure 2, label 1 comprises: the UWB module be connected with label MCU, 433MHz digital transmission module, battery and alarm module.
The MCU(microcontroller of label): adopt the MCU of Cortex M3 to realize, the work of Management label, mainly controls UWB and number are passed on Gong energy;
UWB module: the function mainly completing ranging localization;
433MHz digital transmission module: realize receiving the data from server 3;
Battery: adopt high-capacity lithium battery to power;
Alarm module: adopt the device of audible alarm to realize.
2. base station 2 is mounted in the equipment on vehicle, mainly realizes the collecting function of label 1 locating information, and locating information is passed back to server 3 by wired.
As shown in Figure 3, base station 2 comprises: the UWB module, the LAN interface that are connected with base station MCU.
The data that UWB exports are forwarded to server by wired by base station MCU: realize the management to UWB and control;
LAN interface: LAN (Local Area Network) wireline interface, supports 10/100M bps speed;
UWB module: the locator data of collecting label.
Synchronizing signal in figure is a time synchronization information from synchrotimer 4, consistent to guarantee all base station time.
3. server 3 is cores of system, mainly comprises 4 large functional modules, as shown in Figure 4.
3.1 position calculation and presenting.
When system Construction, need the laying situation of actual conditions according to vehicle and base station 2, first build location database.After base station 2 receives the data of label 1, start to calculate, calculate the final position of each label, and present in real time on a display screen.
3.2 alarm function.
Alarm function mainly contains three kinds:
1) alarm signal of label 1 is sent to label 1 by label control module 5;
2) in time having people to enter hazardous location, sound and light alarm is controlled;
3) in time having people very close, start vehicle hold function, when security of system not detected, system forbids vehicle launch.
3.3 System self-test and equipment control.
Mainly whether all devices work of detection and location system is normal automatically for System self-test, and in abnormal situation, system prompt alarm, according to alarm level, determines whether start vehicle;
Equipment control, mainly all to this system equipment manages/configures/function such as to upgrade.
3.4 time synchronized control.
After system has started self-inspection, control time synchronous averaging, has started location Calculation.
4. synchrotimer 4 is by wired mode, realizes 2, base station time synchronized.
As Fig. 6, synchrotimer 4 comprises the RS232 communication interface, synchrotimer MCU, signal source and the amplifier that connect successively.Synchrotimer 4 first receives the control command from server 3, and determine whether enabling signal source, signal source exports multiple synchronizing signal after being amplified by amplifier, synchronizing signal is sent on each base station 2 by wired.
The present invention adopts wired time synchronized, by a time signal generator, produce the clock signal of fixed frequency, then amplified by amplifier, be sent to all base stations, after base station receives signal with cable, Shape correction, then be input to the radio-frequency module of self UWB, guarantee the identical time source in all base stations, time synchronized just can carry out position calculation later.
More simple in order to make system install, in native system, the length of the cable of synchrotimer and base station is fixed value, ensures that the time that synchrotimer signal is sent to base station used by cable is equal.
5. label control module 5 mainly server 3 is found range coordinate function be issued to label 1, gone the function realizing issuing by the data channel of wireless data transmission module.
As Fig. 5, label control module 5 comprises the RS232 interface and 433MHz digital transmission module that are connected with MCU.Label control module 5 is wireless transmission control channel, by the control signal of RS232 interface from server 3, is then sent to label 1 by 433MHz digital transmission module.
6. wagon control alarm module 6 realizes the function of wagon control function and alarm control, and when in emergency circumstances, alarm signal sends by server 3, realizes audible and visual alarm by wagon control alarm module 6, more in emergency circumstances, realizes parking function.
As Fig. 7, wagon control alarm module 6 is by the control signal of RS232 interface from server 3, and control signal outputs to by MCU again " alarm control " and in " parking toll " topworks.
In the present invention, UWB module between label 1 and base station 2, is adopted to carry out data transmission and ranging localization function.In this system, have employed the function of IR-UWB range finding, calculate the distance between label 1 and certain certain base station 2, because IR-UWB adopts the mode of pulse, the precision of its range finding is very high, adopt TWR(Two way Range) mode find range, precision reaches within 10 centimetres, and range finding distance can more than 100 meters.Guarantee the availability that system is applied.
About the method for TWR range finding, with reference to figure 8.
Electromagnetic wave flight time=(2T
rR-T
sp-2T
sR+ T
rP+ T
rF-T
sF)/4
Distance between two points=light velocity * electromagnetic wave flight time.
This quadrat method, can eliminate the error because the time-triggered protocol at two ends of finding range brings, reach precision distance measurement.
In the present invention, have employed TDoA and TWR to find range the fusion of two kinds of technology.Adopting the mode of TDoA to realize location, to obtain reasonable positioning precision, base station must be positioned at surrounding, and label is positioned in the middle of base station, could obtain the position of label with hyperbolic curve Algorithm for Solving.And the mode adopting TWR to find range realizes location, labeling requirement and all base stations complete range finding, and ranging time is long, and the number of labels that system is held is limited.By the fusion of these two kinds of technology, by the conversion of time and distance, solve the limitation of the various problems such as positioning precision/base station erection/number of labels.
In native system, data transmission adopts the wireless transmission method of 433MHz, realizes from server 3 to the data of label 1 and orders the function issued.The 433MHz digital transmission module of label 1, only needs receiving function, and label control module 5 only needs sending function, which simplify the design of system.If label 1 has any data to need to upload, directly can be uploaded in the message of location by UWB.Specific implementation is with reference to figure 9.That is, in system, data upload adopts the mode of UWB, the mode that data downstream adopts the number of 433MHz to pass, and greatly simplify the complexity of the design of system, improves the reliability of system.
The concrete enforcement of system, is described with regard to two aspects: system Construction and location below.
One, system Construction is divided into system to install and system configuration.
System is installed and is mainly contained two aspects, and one is the installation of equipment on vehicle, and one is the pairing of people and label 1.Except label 1, other all equipment are all mounted on vehicle.
Be arranged in the equipment on vehicle, base station 2 needs, according to actual conditions, to be distributed in vehicle's surroundings, if passable, preferably all base stations 2 are in same plane.
System configuration comprises:
1. Anchor configuration, mainly want the position of configurating base station, particularly relative to the particular location of vehicle, the precision of calculating and position are provided with very large correlativity.Other are exactly the configuration of network parameter.
2. tag configurations, mainly associates with people, sets up one-to-one relationship.
3. ALM area configurations, configure alarm region as required, system can configure multiple grade, at least has " non-alarm region "/" yellow alarm region "/" red alarm region ".These regions are defined.When label 1 is in zones of different time, need dynamic conditioning strategy.
Two, system position fixing process is as follows:
1 System self-test.
After system electrification, system starts self-inspection.System self-test mainly contains several aspect below:
1) server 3 system software self-inspection, whether configure-ack is normal;
2) whether base station self-inspection normal, open heartbeat and and server be associated;
3) server 2 is to synchrotimer 4 transmitting time synchronic command;
2 people truck positions are detected and vehicle launch.
After the time synchronized unlatching of system, the position of label 1 can be detected by base station, but server 2 needs to carry out time slot allocation by label control module 5, determines the working time slot of each label, and frequency of operation.Then server calculates each label relatively and the position of vehicle.
If find that there is people to rest on red alarm region, vehicle cannot start, and leave red alarm region except inhuman.When system validation safety, pilot lamp can show vehicle and can start.
3 system Kinematic Positioning.
Follow-up system normal operating phase, label 1 sends positioning distance measuring message to base station 2, and server calculates the position of label 1, by frequency of operation and the time slot of label control module 5 dynamic conditioning label 1.In time running into emergency condition, server carries out alarm by wagon control alarm module 6, comprising: the tri coloured lantern alarm of vehicle body, and the buzzer alert of label 1; In time finding that alarm is invalid, system needs by wagon control alarm module 6 automatic stopping.
Below again some implementation details of system are described and are analyzed.
1, wired time synchronized.
Due to the limitation of system, base station is arranged around car, can realize the wireless visible (there is stop centre) to all base stations without any a base station, so adopt the mode of wired time synchronized, ensures that the synchronization accuracy of time between base station is higher than 0.01ns.So only can bring minimum distance error, meet the requirement of system accuracy.
2, high precision.
In the present system, positioning precision can reach within 0.3 meter.High precision is mainly protected by several technology below:
1) high-precision wired time synchronized, the wired timing tracking accuracy of system reaches 0.01 ns, and being converted to distance is 3 millimeters;
2) high-precision range finding, adopts the mode of TWR to find range, and distance accuracy reaches 3 centimetres (10,000 range findings, standard deviation is 2.5 centimetres)
3) algorithm guarantee, in systems in which, adopts repeatedly filtering, ensure that locator data is more accurate.
But owing to adopting wireless mode to locate, the impact of some environment can be subject to, blocking of such as human body, the positioning precision of system can be caused to reduce.Overall positioning precision is 0.3 meter.
3, time-division scheduling.
In the present system, introduce the concept of TD (time-division), is divided into 500 time slots 1 second, time each, gap is 2 milliseconds, and within these 2 milliseconds of times, label 1 will complete one-time positioning operation with base station.Meanwhile, the position residing for label is different, the quantity of the time slot of its work of dynamic conditioning.In time being positioned at safety zone, per secondly complete 1 location; When label is in yellow alarm region, per secondly complete 3 location; When being in red alarm region, per secondly complete 7 location.
Dispatched by the time-division, ensured the capacity of system, meanwhile, also ensure that the safety of personnel worn by label.
4, high power capacity.
In this system, the capacity of system label can reach 256 (certainly, what enter yellow alarm is no more than 20%, and what enter red alarm region is no more than 10%), high power capacity mainly by several technology above as guarantee:
1) time-division scheduling;
2) TDoA and TWR location technology merges.
5, low cost and high reliability.
In the present system, system all adopts very simple single chip solution to realize, and system cost, relative to technology such as radars, has lower cost, and system covers does not exist dead angle.
Claims (8)
1. mine underground motor vehicles personnel are close to automatic sensing system, it is characterized in that, comprise: be worn on personnel's label with it (1), and being arranged on base station (2) on vehicle, server (3), synchrotimer (4), label control module (5) and wagon control alarm module (6), described server (3) is tie-time synchronizer (4), label control module (5), wagon control alarm module (6) and each base station (2) respectively; Synchrotimer (4) connects each base station (2) by cable, realizes time synchronized between base station (2) by wired mode; The control signal of server (3) is issued to label (1) by the data channel of wireless data sending by label control module (5); Described label (1) comprises the wireless locating module, wireless data transmission module, alarm module and the battery that are connected with label MCU, and locating information by wireless collection label (1) locating information, and is passed back to server (3) by wired by described base station (2); Server (3) carry out label position calculating and present, System self-test and equipment control, time synchronized control, alarm signal controls and wagon control, wagon control alarm module (6) receives the control signal from server (3), then to topworks's outputting alarm control signal or parking toll signal.
2. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, it is characterized in that, in described server (3), according to the actual conditions of vehicle and the laying situation of base station (2), first build location database, after base station (2) receive the data of label (1), server (3) starts the final position calculating each label, and presents in real time on a display screen.
3. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, it is characterized in that, the alarm signal of described server (3) controls and wagon control function comprises:
1) label alarm signal is sent to label (1) by label control module (5);
2) in time having people to enter hazardous location, sound and light alarm is controlled;
3) in time having people very close, start vehicle hold function, when security of system not detected, system forbids vehicle launch.
4. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, it is characterized in that, described synchrotimer (4) comprises the communication interface, synchrotimer MCU, signal source and the amplifier that connect successively, synchrotimer MCU first receives the control command from server (3), determine to produce whether enabling signal source the clock signal of fixed frequency, then amplified by amplifier, export multiple synchronizing signal, be sent to all base stations (2) with cable; After base station (2) receives signal, Shape correction, is then input to the wireless locating module communicated with label (1), guarantees the identical time source in all base stations, and after time synchronized, server (3) just can carry out position calculation.
5. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, and it is characterized in that, the length of the connection cable between described synchrotimer (4) and base station (2) is fixed value.
6. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, it is characterized in that, adopt UWB module to carry out data transmission and ranging localization function between described label (1) and base station (2).
7. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, it is characterized in that, described label control module (5), by the control signal of RS232 interface from server (3), is then sent to label (1) by wireless data transmission module.
8. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, it is characterized in that, are divided into the time slot of 500 2 milliseconds 1 second, and within these 2 milliseconds of times, label (1) will complete one-time positioning operation with base station (2); Position residing for label (1) is different, the quantity of the time slot of its work of dynamic conditioning: when label (1) is positioned at safety zone time, per secondly completes 1 location; When label (1) is in yellow alarm region, per secondly complete 3 location; When label (1) is in red alarm region, per secondly complete 7 location.
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| WO2017167306A1 (en) * | 2016-04-01 | 2017-10-05 | 成都精位科技有限公司 | Method of synchronizing signals in uwb high-precision positioning system, and system |
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| CN107957577A (en) * | 2017-10-19 | 2018-04-24 | 奥维飞越通信有限公司 | A kind of identification warning system in place and method |
| CN107650948A (en) * | 2017-10-30 | 2018-02-02 | 成都九壹通智能科技股份有限公司 | It is a kind of using micropower ranging and the anti-collision system for trains that communicates |
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| CN107820215A (en) * | 2017-12-05 | 2018-03-20 | 南京沃旭通讯科技有限公司 | A kind of unmanned plane near field guides system and method |
| CN109741631A (en) * | 2019-02-01 | 2019-05-10 | 南京沃旭通讯科技有限公司 | A kind of relative position detection device and its working method |
| CN111260894A (en) * | 2020-01-17 | 2020-06-09 | 上海东华地方铁路开发有限公司 | Intelligent early warning system of bridge job site |
| CN112162237A (en) * | 2020-09-08 | 2021-01-01 | 天地（常州）自动化股份有限公司 | Mining vehicle positioning equipment and positioning method |
| CN112162237B (en) * | 2020-09-08 | 2024-04-19 | 天地（常州）自动化股份有限公司 | Mining vehicle positioning equipment and positioning method |
| CN113271657A (en) * | 2021-04-21 | 2021-08-17 | 中煤科工开采研究院有限公司 | Underground coal mine automatic driving UWB reverse application positioning method |
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Application publication date: 20150812 Assignee: Jiangsu Reinsurance Finance Leasing Co.,Ltd. Assignor: WUXI JUNGONG INTELLIGENT ELECTRICAL Co.,Ltd. Contract record no.: X2023980035047 Denomination of invention: Automatic perception system for approaching personnel of mining underground motor vehicles Granted publication date: 20170616 License type: Exclusive License Record date: 20230425 |
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Denomination of invention: Automatic perception system for approaching personnel of mining underground motor vehicles Effective date of registration: 20230427 Granted publication date: 20170616 Pledgee: Jiangsu Reinsurance Finance Leasing Co.,Ltd. Pledgor: WUXI JUNGONG INTELLIGENT ELECTRICAL Co.,Ltd. Registration number: Y2023980039371 |