CN104833946B - Mine underground motor vehicles personnel are close to automatic sensing system - Google Patents
Mine underground motor vehicles personnel are close to automatic sensing system Download PDFInfo
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- CN104833946B CN104833946B CN201510234448.4A CN201510234448A CN104833946B CN 104833946 B CN104833946 B CN 104833946B CN 201510234448 A CN201510234448 A CN 201510234448A CN 104833946 B CN104833946 B CN 104833946B
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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
-
- 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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mobile Radio Communication Systems (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of mine underground motor vehicles personnel close to automatic sensing system, including：It is worn on the label with personnel, and base station on vehicle, server, synchrotimer, label control module and wagon control alarm module, the server difference Connection Time synchronizer, label control module, wagon control alarm module and each base station；Synchrotimer connects each base station by cable, and time synchronized between base station is realized by wired mode；The control signal of server is issued to label by label control module by the data channel of wireless data sending.Location information is passed back to server by base station by wireless collection label positioning information by wired；Server carries out label position calculating and presentation, System self-test and equipment control, time synchronized control, alarm signal control and wagon control.The present invention realizes the position quick detection between vehicle and personnel, and realizes alarm simultaneously in car and people two ends, and can realize quick parking.
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, because driver is the location of in vehicle, determine that its sight line is not very good,
Effective observation cannot be done, easily the staff to periphery produces extruding；Another aspect, due to making an uproar under working environment
Sound/sight line is all bad, and staff also cannot effectively be aware of the arrival of vehicle, and quickly avoid.
No matter in the prior art using RFID technique or Radar Technology, in operating distance（Need to be not less than 100 meters）, it is double
To cannot meet needs, and easily formation antenna dead angle in alarm, the phenomenon of skip is produced.In coal mine work area, due to work
Make environment to be limited, the environmental factor such as noise jamming, sight line difference, the also application of some other technology of extreme influence.At present, there is no one
Individual preferable system can solve this problem.
The content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art, there is provided a kind of mine underground motor vehicles and personnel
Close to automatic sensing system, the position relationship of people and Che is understood by wireless distance finding positioning to realize collision prevention function.
According to the technical scheme that the present invention is provided, described mine underground motor vehicles personnel are close to automatic sensing system bag
Include：It is worn on the label with personnel, and base station, server, synchrotimer, label control module on vehicle
With wagon control alarm module, the server difference Connection Time synchronizer, label control module, wagon control alarm module
And each base station；Synchrotimer connects each base station by cable, and time synchronized between base station is realized by wired mode；Label
The control signal of server is issued to label by control module by the data channel of wireless data sending；The label includes and label
Wireless locating module, wireless data transmission module, alarm module and battery that MCU is connected, the base station passes through wireless collection label
Location information, and location information is passed back into server by wired；Server carries out label position calculating and presentation, system certainly
Inspection and equipment control, time synchronized control, alarm signal control and wagon control, wagon control alarm module are received from service
The control signal of device, then to executing agency's outputting alarm control signal or parking toll signal.
In the server, the laying situation of actual conditions and base station according to vehicle first builds location database, in base
Station is received after the data of label, and server starts to calculate the final position of each label, and presents in real time on a display screen.
The alarm signal control of the server and wagon control function include：
1）Label alarm signal is sent to label by label control module；
2）When someone enters danger zone, sound and light alarm is controlled；
3）When someone very close to when, start vehicle stop function, in the case where system safety is not detected,
System forbids vehicle launch.
Specifically, the synchrotimer includes the communication interface being sequentially connected, synchrotimer MCU, signal source and puts
Big device, synchrotimer MCU first receives the control command from server, decides whether enabling signal source, produces fixed frequency
Clock signal, then amplified by amplifier, the multiple synchronizing signals of output are sent to all of base station with cable；Receive base station
To after signal, Shape correction is then input to the wireless locating module with label communication, it is ensured that during all base station identicals
Between source, server can just carry out position calculating after time synchronized.
The length of the connection cables between the synchrotimer and base station is fixed value, it is ensured that synchrotimer signal
The time being sent to by cable used by base station is equal.
Carried out data transmission and ranging localization function using UWB modules between the label and base station.Label control module
By control signal of the RS232 interfaces from server, label is then sent to by wireless data transmission module.
500 2 milliseconds of time slot will be divided within 1 second, within this 2 milliseconds of times, label will complete one with base station
Secondary positioning action；It is different according to the location of label, dynamically adjust the quantity of the time slot of its work：When label is located at peace
When region-wide, 1 positioning of completion per second；When label is in yellow alarm region, 3 positioning of completion per second；At label
In red alarm region, 7 positioning of completion per second.
It is an advantage of the invention that：This patent realizes the position quick detection between vehicle and personnel, and in car and people two
Alarm is realized at end simultaneously, and vehicle can quickly stop, and personnel can also avoid by the way that alarm is quick.
Brief description of the drawings
Fig. 1 is system architecture diagram of the invention.
Fig. 2 is label construction figure.
Fig. 3 is base station structure diagram.
Fig. 4 is server function module figure.
Fig. 5 is label control module structure chart.
Fig. 6 is synchrotimer structure chart.
Fig. 7 is wagon control alarm module structure chart.
Fig. 8 is TWR range measurement principle figures.
Fig. 9 is data transfer schematic diagram of the invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in figure 1, system of the present invention includes：Label 1, base station 2, server 3, the control of synchrotimer 4, label
Module 5 and wagon control alarm module 6.The server 3 distinguishes Connection Time synchronizer 4, label control module 5, vehicle
Control alarm module 6 and each base station 2；Synchrotimer 4 connects each base station 2 by cable, and base is realized by wired mode
Stand 2 time synchronizeds；The control signal of server 3 is issued to mark by label control module 5 by the data channel of wireless data sending
Sign 1.
The label 1 includes the wireless locating module, wireless data transmission module, alarm module and the electricity that are connected with label MCU
Pond.Wireless location technology can use UWB（Ultra wide band）Technology, or CSS technologies or high-precision WiFi technologies.With
By taking UWB as an example, wireless data transmission technology is by taking 433MHz numbers biography as an example for lower embodiment.
Location information is passed back to server 3 by the base station 2 by the location information of wireless collection label 1 by wired；
Server 3 carry out label position calculating and presentation, System self-test and equipment control, time synchronized control, alarm signal control and
Wagon control, wagon control alarm module 6 receives the control signal from server 3, then is controlled to executing agency's outputting alarm
Signal or parking toll signal.
Each part is introduced individually below.
1. label 1 is the equipment of workman's body-worn, and major function includes：Ranging localization function, several energy, sound of passing on Gong
Alarm function.
As shown in Fig. 2 label 1 includes：UWB modules, 433MHz digital transmission modules, battery and the alarm being connected with label MCU
Module.
The MCU of label（Microcontroller）：Realized using the MCU of Cortex M3, manage the work of label, mainly controlled
UWB sums processed are passed on Gong energy；
UWB modules：Mainly complete the function of ranging localization；
433MHz digital transmission modules：Realize receiving the data from server 3；
Battery：Powered using high-capacity lithium battery；
Alarm module：Realized using the device of audible alarm.
2. base station 2 is mounted in the equipment on vehicle, mainly realizes the collecting function of the location information of label 1, and will be fixed
Position information passes back to server 3 by wired.
As shown in figure 3, base station 2 includes：UWB modules, the LAN interface being connected with base station MCU.
Base station MCU：The management and control to UWB are realized, the data that UWB is exported are forwarded to server by wired；
LAN interface：LAN wireline interface, supports 10/100M bps speed；
UWB modules：Collect the location data of label.
Synchronizing signal in figure is a time synchronization information from synchrotimer 4, to ensure all of base station
Time consistency.
3. server 3 is the core of system, mainly includes 4 big functional modules, as shown in Figure 4.
3.1 positions calculate and present.
, it is necessary to the laying situation of the actual conditions and base station 2 according to vehicle, first builds position data when system Construction
Storehouse.After the data that base station 2 receives label 1, start to calculate, calculate the final position of each label, and be presented in real time aobvious
In display screen.
3.2 alarm functions.
Alarm function mainly has three kinds：
1）The alarm signal of label 1 is sent to label 1 by label control module 5；
2）When someone enters danger zone, sound and light alarm is controlled；
3）When someone very close to when, start vehicle stop function, in the case where system safety is not detected,
System forbids vehicle launch.
3.3 System self-test and equipment control.
Whether all devices work that System self-test is mainly automatic detection alignment system is normal, in abnormal situation
Under, system prompt alarm, according to alarm level, decides whether to start vehicle；
Equipment control, the function such as is mainly managed/configures/upgrade to all of equipment of this system.
3.4 time synchronizeds are controlled.
After system start completion self-inspection, control time synchronous averaging starts location Calculation.
4. synchrotimer 4 realizes the time synchronized of base station 2 by wired mode.
Such as Fig. 6, synchrotimer 4 includes the RS232 communication interfaces being sequentially connected, synchrotimer MCU, signal source and puts
Big device.Synchrotimer 4 first receives the control command from server 3, decides whether enabling signal source, and signal source is by amplifying
After device amplifies, be sent to synchronizing signal on each base station 2 by wired by the multiple synchronizing signals of output.
The present invention uses wired time synchronized, by a time signal generator, produces the clock signal of fixed frequency,
Then amplified by amplifier, all of base station is sent to cable, base station is received after signal, and then Shape correction is input into
To the radio-frequency module of itself UWB, it is ensured that all base stations identical time source, position calculating can be just carried out after time synchronized.
In order that system installs more simple, in the system, the length of the cable of synchrotimer and base station is fixed value,
Ensure that the time that synchrotimer signal is sent to used by base station by cable is equal.
5. label control module 5 is mainly and for the find range function of coordination of server 3 to be issued to label 1, by wireless data sending
The data channel of module goes the function of realizing issuing.
Such as Fig. 5, label control module 5 includes the RS232 interfaces and 433MHz digital transmission modules that are connected with MCU.Label is controlled
Module 5 is to be wirelessly transferred control passage, by control signal of the RS232 interfaces from server 3, then by 433MHz
Digital transmission module is sent to label 1.
6. wagon control alarm module 6 realizes the function of wagon control function and alarm control, when in emergency circumstances, clothes
Business device 3 sends alarm signal, and audible and visual alarm is realized by wagon control alarm module 6, more in emergency circumstances, realizes parking
Function.
Such as Fig. 7, wagon control alarm module 6 by control signal of the RS232 interfaces from server 3, again will by MCU
Control signal output is arrived in " alarm control " and " parking toll " executing agency.
In the present invention, carried out data transmission and ranging localization function using UWB modules between label 1 and base station 2.At this
In system, employ the function of IR-UWB range findings to calculate the distance between label 1 and certain certain base station 2, due to IR-
By the way of pulse, the precision of its range finding is very high, using TWR for UWB（Two way Range）Mode find range, precision
Reach within 10 centimetres, range finding distance can be more than 100 meters.Ensure the availability of system application.
Method on TWR range findings, with reference to Fig. 8.
The electromagnetic wave flight time=（2TRR-Tsp-2TSR+TRP+TRF-TSF）/4
Distance between two points=light velocity * electromagnetic wave flight time.
This quadrat method, can eliminate due to the error that the time-triggered protocol at two ends of finding range brings, and reach precision distance measurement.
In the present invention, TDoA and TWR two kinds of fusions of technology of range finding are employed.Realized by the way of TDoA
Positioning, to obtain relatively good positioning precision, base station must be positioned at surrounding, and label is located in the middle of base station, could use hyperbola
Algorithm for Solving obtains the position of label.And positioning is realized by the way of TWR range findings, labeling requirement and all of base station complete
Range finding, ranging time is long, and the number of labels that system is accommodated is limited.By the fusion of both technologies, by time and distance
Conversion, solves the limitation of the various problems such as positioning precision/base station erection/number of labels.
In the system, data transfer is realized from server 3 to the data of label 1 using the wireless transmission method of 433MHz
The function of being issued with order.The 433MHz digital transmission modules of label 1, it is only necessary to have receive capabilities, label control module 5 has been only needed to
Sending function, which simplify the design of system.If label 1 have any data need upload, can by UWB positioning report
Directly uploaded in text.Implement and refer to Fig. 9.That is, data are uploaded by the way of UWB in system, and data downstream is used
The mode that the number of 433MHz is passed, greatly simplify the complexity of the design of system, improve the reliability of system.
The specific implementation of system, illustrates with regard to two aspects below：System Construction and positioning.
First, system Construction is divided into system and installs and system configuration.
System install it is main have two aspects, one be equipment on vehicle installation, one be people and label 1 pairing.
In addition to label 1, all of other equipment is all mounted on vehicle.
In the equipment on vehicle, base station 2 needs, according to actual conditions, to be distributed in vehicle's surroundings, if can be with best
It is all base stations 2 in approximately the same plane.
System configuration includes：
1. Anchor configurations, will mainly configure the position of base station, especially with respect to the particular location of vehicle, calculate
Precision and position very big correlation is installed.Other are exactly the configuration of network parameter.
2. label configuration, is mainly associated with people, sets up one-to-one relationship.
3. ALM region configuration, as needed configuration alerts region, and system can configure multiple grades, at least have
There is " non-alarm region "/" yellow alarm region "/" red alarm region ".These regions are defined.When label 1 is in
, it is necessary to dynamic adjustable strategies when different zones.
2nd, system position fixing process is as follows：
1 System self-test.
After system electrification, system starts self-inspection.System self-test mainly has following several aspects：
1）Whether the systems soft ware self-inspection of server 3, configure-ack is normal；
2）Whether base station self-inspection is normal, opens heartbeat and is associated with server foundation；
3）Server 2 sends time synchronized and instructs to synchrotimer 4；
Detect and vehicle launch 2 people truck positions.
After the time synchronized of system is opened, the position of label 1 can be detected by base station, but server 2 needs to lead to
Crossing label control module 5 carries out time slot distribution, determines the working time slot of each label, and working frequency.Then server is calculated
The relative position with vehicle of each label.
If it was found that someone rests on red alarm region, vehicle be will be unable to start, and red alarm region is left except inhuman.
In the case of system validation safety, indicator lamp can show that vehicle can start.
3 systems are dynamically positioned.
Follow-up system normal operating phase, label 1 sends positioning distance measuring message to base station 2, and server calculates label 1
Position, by the working frequency and time slot of the dynamic adjustment label 1 of label control module 5.When emergency is run into,
Server is alerted by wagon control alarm module 6, including：Vehicle body tri coloured lantern alarm, and label 1 buzzer
Alarm；When finding that alarm is invalid, system is needed by the automatic stopping of wagon control alarm module 6.
Hereinafter some implementation details of system are described and are analyzed again.
1st, wired time synchronized.
Due to the limitation of system, base station arranges that none of base station can realize the nothing to all base stations around car
Line is visual（There is stop centre）, so by the way of wired time synchronized, it is ensured that the synchronization accuracy of time is higher than between base station
0.01ns.Minimum range error only so can be brought, the requirement of system accuracy is met.
2nd, high accuracy.
In the present system, positioning precision can be reached within 0.3 meter.High accuracy is mainly obtained by following several technologies
To guarantee：
1）High-precision wired time synchronized, the wired timing tracking accuracy of system reaches 0.01 ns, and it is 3 to be converted to distance
Millimeter；
2）High-precision range finding, is found range by the way of TWR, and range accuracy reaches 3 centimetres（10000 range findings, mark
Quasi- difference is 2.5 centimetres）
3）Algorithm is ensured, in systems, using repeatedly filtering, it is ensured that location data is more accurate.
But due to that using wirelessly positioning, can be influenceed by some environment, such as blocking for human body can cause
The positioning precision reduction of system.Overall positioning precision is 0.3 meter.
3rd, time-division scheduling.
In the present system, introduce the concept of TD (time-division), 500 time slots be divided into by 1 second, each when
Gap is 2 milliseconds, and within this 2 milliseconds of times, label 1 will complete one-time positioning and operate with base station.Meanwhile, according to residing for label
Position it is different, dynamically adjust the quantity of the time slot of its work.When positioned at safety zone, completion per second is determined for 1 time
Position；When label is in yellow alarm region, 3 positioning of completion per second；When in red alarm region, completion per second is determined for 7 times
Position.
Dispatched by the time-division, ensured the capacity of system, meanwhile, also ensure that label wears the safety of personnel.
4th, high power capacity.
In this system, the capacity of system label can reach 256 (certainly, into being no more than for yellow alarm
20%, it is used as guarantee by several technologies above no more than 10%), high power capacity is mainly into red alarm region：
1) time-division scheduling；
2) TDoA and TWR location technologies fusion.
5th, low cost and high reliability.
In the present system, system realizes that system cost is relative to skills such as radars using extremely simple single chip solution
Art, with lower cost, system covering does not exist dead angle.
Claims (5)
1. mine underground motor vehicles personnel are close to automatic sensing system, it is characterized in that, including：It is worn on the label with personnel
（1）, and the base station on vehicle（2）, server（3）, synchrotimer（4）, label control module（5）With vehicle control
Alarm module processed（6）, the server（3）Difference Connection Time synchronizer（4）, label control module（5）, wagon control alarm
Module（6）And each base station（2）；Synchrotimer（4）Each base station is connected by cable（2）, base is realized by wired mode
Stand（2）Between time synchronized；Label control module（5）By the data channel of wireless data sending by server（3）Control signal under
It is dealt into label（1）；The label（1）Including the wireless locating module, wireless data transmission module, the alarm module that are connected with label MCU
And battery, the base station（2）By wireless collection label（1）Location information, and location information is passed back into clothes by wired
Business device（3）；Server（3）Carry out label position calculating and presentation, System self-test and equipment control, time synchronized control, alarm
Signal is controlled and wagon control, wagon control alarm module（6）Receive and come from server（3）Control signal, then to perform machine
Structure outputting alarm control signal or parking toll signal；
The server（3）In, actual conditions and base station according to vehicle（2）Laying situation, first build location database,
Base station（2）Receive label（1）Data after, server（3）Start the final position of each label of calculating, and be presented in real time
On display screen；
The server（3）Alarm signal control and wagon control function include：
1）Label alarm signal is passed through into label control module（5）It is sent to label（1）；
2）When someone enters danger zone, sound and light alarm is controlled；
3）When someone very close to when, start vehicle stop function, in the case where system safety is not detected, system
Forbid vehicle launch；
The synchrotimer（4）Including the communication interface, synchrotimer MCU, signal source and the amplifier that are sequentially connected, time
Synchronizer MCU is first received from server（3）Control command, decide whether enabling signal source, produce the clock of fixed frequency
Signal, is then amplified by amplifier, the multiple synchronizing signals of output, and all of base station is sent to cable（2）；Base station（2）Receive
To after signal, Shape correction is then input to and label（1）The wireless locating module of communication, it is ensured that all base stations are with identical
Time source, server after time synchronized（3）Position calculating can just be carried out.
2. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, it is characterized in that, the time
Synchronizer（4）And base station（2）Between connection cables length be fixed value.
3. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, it is characterized in that, the label
（1）And base station（2）Between carried out data transmission and ranging localization function using UWB modules.
4. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, it is characterized in that, the label
Control module（5）Server is come from by RS232 interfaces（3）Control signal, then by wireless data transmission module send
To label（1）.
5. mine underground motor vehicles personnel as claimed in claim 1 are close to automatic sensing system, it is characterized in that, by 1 second
500 2 milliseconds of time slot is divided into, within this 2 milliseconds of times, label（1）Want and base station（2）Complete one-time positioning behaviour
Make；According to label（1）Location is different, dynamically adjusts the quantity of the time slot of its work：Work as label（1）Positioned at safety
When region, 1 positioning of completion per second；Work as label（1）In yellow alarm region, 3 positioning of completion per second；Work as label
（1）In red alarm region, 7 positioning of completion per second.
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| CN104833946A (en) | 2015-08-12 |
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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 |
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