CN111132054A - Mine environment accurate positioning system based on UWB technology - Google Patents
Mine environment accurate positioning system based on UWB technology Download PDFInfo
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- CN111132054A CN111132054A CN201911409583.2A CN201911409583A CN111132054A CN 111132054 A CN111132054 A CN 111132054A CN 201911409583 A CN201911409583 A CN 201911409583A CN 111132054 A CN111132054 A CN 111132054A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/02—Power saving arrangements
- H04W52/0209—Power saving arrangements in terminal devices
- H04W52/0225—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal
- H04W52/0248—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal dependent on the time of the day, e.g. according to expected transmission activity
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a mine environment accurate positioning system based on UWB technology, which comprises an information miner lamp, an accurate positioning card reader in wireless connection with the information miner lamp, a ring network access device in wired connection with the accurate positioning card reader, and a ground server in wired connection with the ring network access device. The invention can be compatible with the bus and the industrial Ethernet for communication, can realize that the positioning of underground personnel and vehicles can be completed by one accurate positioning card reader, and has the advantages of large capacity, low power consumption, wide network coverage range of a positioning system, high positioning precision and the like.
Description
Technical Field
The invention relates to the field of personnel positioning, in particular to a mine environment accurate positioning system based on a UWB technology.
Background
The coal mine personnel positioning system is an indispensable component for realizing coal mine informatization and safety management, serves as an important role in coal mine daily safety production and dispatching command, underground personnel can timely contact the ground when finding hidden dangers, the production efficiency and the safety management level are greatly improved, and important guarantee is provided for safety management and emergency rescue and disaster relief. With the increasing actual monitoring demand of ground managers for mastering the flowing situation of underground operators in real time, the positioning technology for coal mine workers in China is continuously innovated in recent years, but based on the conditions of market demand, national policy, actual use and the like, the technologies such as ZigBee, RFID and the like commonly used in the current market inevitably have certain general problems, such as short coverage range, general positioning precision, general communication capacity, more and more complex electromagnetic compatibility and the like. Therefore, it is urgently needed to adopt a new communication technology to replace the existing solution and construct a coal mine accurate personnel positioning system.
Disclosure of Invention
The invention aims to provide a high-capacity, low-power-consumption and high-precision mine environment accurate positioning system based on a UWB technology, aiming at the defects of the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: a mine environment accurate positioning system based on UWB technology comprises:
the information mining lamp is used for storing information data of carried underground personnel and transmitting the information data upwards in real time and comprises a lamp cap assembly, a battery box assembly and a cable, wherein the lamp cap assembly comprises an LED light source, a battery charging module connected with the LED light source, a lamp cap shell connected with the battery charging module and accessories of the lamp cap shell; the battery box assembly comprises a CPU control module, an alarm motor, a communication state lamp, a distress key module and a UWB communication module I, wherein the CPU control module, the alarm motor, the communication state lamp, the distress key module and the UWB communication module I are integrated on a main circuit board;
the accurate positioning card reader is at least one card reader which is wirelessly connected with the information miner lamp and is used for receiving, storing and processing information data sent by the information miner lamp and transmitting the information data upwards in real time, and the accurate positioning card reader comprises a wireless communication part I, an MCU control module I connected with the wireless communication part I and a wired communication part I connected with the MCU control module I; the MCU control module I is used for converting the information data received by the wireless communication part I into wired receiving data and transmitting the wired receiving data to the wired communication part I;
the looped network access device is used for receiving message data sent by the accurate positioning card reader and transmitting the message data upwards in real time, and comprises a wired communication part II and an MCU control module II, wherein the MCU control module II is used for receiving the message data transmitted by the accurate positioning card reader in a wired mode, converting the message data into a message data mode which can be received by the wired communication part II and then transmitting the message data to the wired communication part II;
the ground server is used for resolving the message sent by the looped network access device and giving the accurate position of the personnel carried by the information miner lamp in real time.
Preferably, the wireless communication part I comprises a UWB communication module II and a 4GHz-4dbi external directional antenna, the UWB communication module II comprises an MCU control module III and a DW1000 chip connected with the MCU control module III, and the MCU control module III is used for controlling the DW1000 chip to receive data.
Preferably, the wired communication part I comprises a LanWorks communication module, a W5500 network chip and a MIEN2105 network switch, the LanWorks communication module and the W5500 network chip are respectively connected with the MCU control module I, and the MIEN2105 network switch is connected with the W5500 network chip through a network jumper.
Preferably, the UWB communication module i is an IR-UWB communication module i, and a registration and timing mechanism module is integrated on the IR-UWB communication module i, and the registration and timing mechanism module is configured to acquire information registered upward in the identification card, synchronize and configure the information, and perform a timed sleep and a timed operation according to the time slot configuration.
Preferably, the UWB communication module ii is an IR-UWB communication module ii, and the IR-UWB communication module ii is configured to receive message data sent by the IR-UWB communication module i.
Preferably, the IR-UWB communication module ii is a two-way IR-UWB communication module ii, wherein each way of IR-UWB communication module ii corresponds to a 4GHz-4dbi external directional antenna.
Preferably, the wired communication part ii includes two paths of LanWorks communication modules, a W5500 network chip and a MIEN5105 ring network switch, the two paths of LanWorks communication modules and the W5500 network chip are respectively connected to the MCU control module ii, and the MIEN5105 ring network switch is connected to the W5500 network chip.
Preferably, the MCU control module I comprises an STM32F103VDT6 singlechip. .
Preferably, the MCU control module II comprises an STM32F103VCT6 singlechip.
Preferably, the MCU control module III comprises an STMF103C8T6 singlechip.
The invention has the beneficial effects that:
1. the invention breaks through the limitation that the traditional positioning technologies such as RFID, ZigBee, WiFi and the like can only finish qualitative positioning through region identification.
2. The IR-UWB communication module I is integrated in the lamp holder shell of the information miner lamp and hung on the safety helmet of a miner, so that the miner lamp is not easy to block, the communication reliability is improved, high-capacity, high-precision and accurate positioning is realized through an independently researched and developed registration and timing mechanism, the identification card is upwards registered, synchronization and configuration information is obtained, and the timed dormancy and timed work is realized according to the time slot configuration, so that the problems of high packet loss and high power consumption caused by the traditional non-management and free conflict mode are effectively solved.
3. The invention adopts two paths of IR-UWB communication modules II to be integrated in the accurate positioning card reader, can simultaneously receive message data transmitted from two directions in a roadway, and realizes that the positioning of underground personnel and vehicles can be completed by one accurate positioning card reader.
4. The invention adopts the LanWorks communication module, can be compatible with the bus and the industrial Ethernet for communication, and expands the network coverage of the positioning system by integrating two paths of LanWorks communication modules in the ring network access device.
5. The ring network access device is provided with the functions of ring network networking and positioning system management, and directly manages the accurate positioning card reader, thereby further improving the data transmission rate and the positioning accuracy.
Drawings
FIG. 1 is a system block diagram of the present invention.
Fig. 2 is a block diagram of the information miner's lamp.
FIG. 3 is a block diagram of a card reader with accurate positioning according to the present invention.
Fig. 4 is a block diagram of the ring network access device of the present invention.
Fig. 5 is an uplink data walking diagram of the present invention.
Fig. 6 is a downlink data-oriented graph of the present invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below, and it should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," and "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment,
"one example" or "an example" do not necessarily all refer to the same embodiment or example.
As shown in fig. 1-4, a system for accurately positioning mine environment based on UWB technology comprises an information miner lamp, an accurate positioning card reader, a ring network access device and a ground server, wherein each underground worker of the information miner lamp wears one, stores information related to underground workers, and realizes accurate positioning by real-time high-accuracy ranging with the accurate positioning card reader; the accurate positioning card reader is at least one card reader which is wirelessly connected with the information miner lamp and is used for receiving, storing and processing original data sent by the information miner lamp and transmitting the data to the looped network access device in a wired mode; the ring network access device is connected with the accurate positioning card reader through a wire and is used for receiving and processing message data transmitted by the accurate positioning card reader and transmitting the data to the ground server through a wire; the ground server is connected with the looped network access device through a wire and used for receiving the message data uploaded by the looped network access device and calculating and displaying the position of the underground personnel according to the received message.
The information mining lamp is used for storing information data of carried underground personnel and transmitting the information through a real-time distance measurement process with an accurate positioning card reader, and comprises a lamp cap assembly, a battery box assembly and a cable, wherein the lamp cap assembly comprises an LED light source and a battery charging module; the battery box assembly comprises a CPU control module, an alarm motor, a communication state lamp, a distress key module and a UWB communication module I, wherein the CPU control module, the alarm motor, the communication state lamp, the distress key module and the UWB communication module I are integrated on a main circuit board;
the accurate positioning card reader is at least one card reader which is wirelessly connected with the information miner lamp and is used for generating original data through real-time high-precision distance measurement with the information miner lamp and transmitting the original data upwards in real time, and comprises a wireless communication part I, an MCU control module I connected with the wireless communication part I and a wired communication part I connected with the MCU control module I; and the MCU control module I is used for converting the information data received by the wireless communication part I into wired receiving data and transmitting the wired receiving data to the wired communication part I.
The ring network access device is used for receiving message data sent by the accurate positioning card reader and transmitting the message data upwards in real time, and comprises a wired communication part II and an MCU control module II, wherein the MCU control module II is used for receiving the message data sent by the accurate positioning card reader in a wired mode, converting the message data into a message data mode which can be received by the wired communication part II and then transmitting the message data to the wired communication part II, and the accurate positioning card reader is directly managed, so that the data transmission rate is further improved, and the positioning accuracy is improved.
The ground server is used for resolving the information sent by the looped network access device and giving the accurate position of the personnel carried by the information miner lamp in real time.
In one embodiment, the wireless communication part I of the accurate positioning card reader comprises a UWB communication module II and a 4GHz-4dbi external directional antenna, wherein the UWB communication module II comprises an MCU control module III and a DW1000 chip connected with the MCU control module III, and the MCU control module III is used for controlling the DW1000 chip to receive data.
In one embodiment, the wired communication part I of the accurate positioning card reader comprises a LanWorks communication module, a W5500 network chip and an MIEN2105 network switch, wherein the LanWorks communication module and the W5500 network chip are respectively connected with the MCU control module I, and the MIEN2105 network switch is connected with the W5500 network chip through a network jumper and can be compatible with a bus and industrial Ethernet for communication.
In one embodiment, the UWB communication module i is an IR-UWB communication module i, and the IR-UWB communication module i is integrated with a registration and timing mechanism module, which is configured to acquire information registered upward in the identification card, synchronize and configure the information, and perform a timed sleep and a timed operation according to the time slot configuration.
In one embodiment, the UWB communication module ii is an IR-UWB communication module ii for receiving the message data transmitted by the IR-UWB communication module i.
In one embodiment, the IR-UWB communication module II is a two-way IR-UWB communication module II, wherein each way of IR-UWB communication module II corresponds to a 4GHz-4dbi external directional antenna, and can simultaneously receive message data transmitted from two directions in a roadway, so that even one accurate positioning card reader can complete positioning of underground personnel and vehicles.
In one embodiment, the wired communication part II comprises two LanWorks communication modules, a W5500 network chip and a MIEN5105 ring network switch, the two LanWorks communication modules and the W5500 network chip are respectively connected with the MCU control module II, and the MIEN5105 ring network switch is connected with the W5500 network chip, so that the network coverage range of the positioning system is expanded.
In one embodiment, the MCU control module I comprises an STM32F103VDT6 singlechip.
In one embodiment, the MCU control module II comprises an STM32F103VCT6 singlechip.
In one embodiment, the MCU control module iii comprises an STMF103C8T6 single chip microcomputer.
As shown in fig. 5-6, there are two paths of parallel information communication between devices at different levels, and the uplink data mainly sends positioning information of downhole personnel in real time; the downlink data mainly includes system time synchronization, system configuration information, system management information and the like which are periodically sent. The invention can also realize the functions of quickly transmitting the distress data of the underground miner lamp to the ground platform, quickly transmitting ground alarm and calling data to the underground miner lamp, the underground area electronic fence and the like.
The specific uplink and downlink data trends are as follows:
1. the uplink data trend is as follows:
1) the information miner lamp registers to the card reader to obtain working information configuration and working system time, measures distance with the appointed card reader according to the configuration information, transmits the original data to the accurate positioning card reader in a wireless mode, and simultaneously switches working and dormancy at regular time according to the system configuration.
When underground personnel encounter difficulty, the help seeking key module of the carried information miner lamp is pressed, the information miner lamp can send out a help seeking signal and transmit the help seeking signal to the accurate positioning card reader in a wireless mode.
2) The accurate positioning card reader initially requests configuration information and working state information from the superior ring network access device, and then completes the positioning task according to the configuration. The wireless part of the accurate positioning card reader receives message data sent by the information miner lamp, the data is converted into a wired receiving mode through the MCU control module I, then the wired receiving mode is transmitted to the wired communication part, and the wired communication part uploads the data to the looped network access device.
3) The ring network access device starts to request configuration information from superior ground service software, and then system management, data processing and distribution tasks are completed according to the configuration. Because the looped network access device can not directly manage the accurate positioning card reader, the MCU control module II arranged in the looped network access device receives the message data transmitted by the accurate positioning card reader in a wired mode, converts the message data into a message data mode which can be received by the wired communication part II and then transmits the message data to the wired communication part II, and then the wired communication part II transmits the message data to the ground server.
4) And the ground server displays the position of the underground personnel and the help seeking information according to the received information.
2. The downlink data trend is as follows:
1) and the ground server periodically issues a system configuration to the ring network access device.
And if the ground server finds the dangerous hidden danger, sending alarm information and sending the alarm information to the looped network access device.
2) The ring network access device periodically distributes the current system capacity and configuration, the system time and the alarm information to the accurate positioning card reader;
3) the accurate positioning card reader directionally manages the working state and the configuration information of the informationized miner lamp and transmits the alarm information to the information miner lamp.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A mine environment accurate positioning system based on UWB technology comprises:
the information mining lamp is used for storing information data of carried underground personnel and transmitting the information data upwards in real time and comprises a lamp cap assembly, a battery box assembly and a cable, wherein the lamp cap assembly comprises an LED light source, a battery charging module connected with the LED light source, a lamp cap shell connected with the battery charging module and accessories of the lamp cap shell; the battery box assembly comprises a CPU control module, an alarm motor, a communication state lamp, a distress key module and a UWB communication module I, wherein the CPU control module, the alarm motor, the communication state lamp, the distress key module and the UWB communication module I are integrated on a main circuit board;
the accurate positioning card reader is at least one card reader which is wirelessly connected with the information miner lamp and is used for receiving, storing and processing information data sent by the information miner lamp and transmitting the information data upwards in real time, and the accurate positioning card reader comprises a wireless communication part I, an MCU control module I connected with the wireless communication part I and a wired communication part I connected with the MCU control module I; the MCU control module I is used for converting the information data received by the wireless communication part I into wired receiving data and transmitting the wired receiving data to the wired communication part I;
the looped network access device is used for receiving message data sent by the accurate positioning card reader and transmitting the message data upwards in real time, and comprises a wired communication part II and an MCU control module II, wherein the MCU control module II is used for receiving the message data transmitted by the accurate positioning card reader in a wired mode, converting the message data into a message data mode which can be received by the wired communication part II and then transmitting the message data to the wired communication part II;
the ground server is used for resolving the message sent by the looped network access device and giving the accurate position of the personnel carried by the information miner lamp in real time.
2. The UWB technology-based mine environment accurate positioning system of claim 1, wherein: the wireless communication part I comprises a UWB communication module II and a 4GHz-4dbi external directional antenna connected with the UWB communication module II.
3. The UWB technology-based mine environment accurate positioning system of claim 1, wherein: the wired communication part I comprises a LanWorks communication module, a W5500 network chip and an MIEN2105 network switch, the LanWorks communication module and the W5500 network chip are respectively connected with the MCU control module I, and the MIEN2105 network switch is connected with the W5500 network chip through a network jumper.
4. The UWB technology-based mine environment accurate positioning system of claim 1, wherein: the wired communication part II comprises two LanWorks communication modules, a W5500 network chip and a MIEN5105 ring network switch, the two LanWorks communication modules and the W5500 network chip are respectively connected with the MCU control module II, and the MIEN5105 ring network switch is connected with the W5500 network chip.
5. The UWB technology-based mine environment accurate positioning system of claim 1, wherein: the UWB communication module I is an IR-UWB communication module I, a registration and timing mechanism module is integrated on the IR-UWB communication module I, and the registration and timing mechanism module is used for acquiring information which is registered upwards in the identification card, synchronizing and configuring the information, and carrying out timing dormancy and timing work according to the time slot configuration.
6. The UWB technology-based mine environment accurate positioning system of claim 5, wherein: the UWB communication module II is an IR-UWB communication module II, and the IR-UWB communication module II is used for receiving message data sent by the IR-UWB communication module I.
7. The UWB technology-based mine environment accurate positioning system of claim 6, wherein: the IR-UWB communication module II is a two-path IR-UWB communication module II, wherein each path of IR-UWB communication module II corresponds to a 4GHz-4dbi external directional antenna.
8. The UWB technology-based mine environment accurate positioning system of claim 1, wherein: and the MCU control module I comprises an STM32F103VDT6 singlechip.
9. The UWB technology-based mine environment accurate positioning system of claim 1, wherein: and the MCU control module II comprises an STM32F103VCT6 singlechip.
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| CN201911409583.2A CN111132054A (en) | 2019-12-31 | 2019-12-31 | Mine environment accurate positioning system based on UWB technology |
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| CN201911409583.2A CN111132054A (en) | 2019-12-31 | 2019-12-31 | Mine environment accurate positioning system based on UWB technology |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111683340A (en) * | 2020-08-11 | 2020-09-18 | 南京北路自动化系统有限责任公司 | UWB-based intrinsically safe mining vehicle identification card |
| CN111865354A (en) * | 2020-06-24 | 2020-10-30 | 深圳市纽瑞芯科技有限公司 | Ultra-wideband integrated circuit system adopting multiple directional antennas to enhance coverage |
| CN112055331A (en) * | 2020-09-07 | 2020-12-08 | 合肥工大高科信息科技股份有限公司 | Underground automatic ore drawing system based on UWB and control method |
| 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 |
| CN112218277A (en) * | 2020-09-07 | 2021-01-12 | 天地（常州）自动化股份有限公司 | Online inspection system and online inspection method based on Bluetooth transmission |
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2019
- 2019-12-31 CN CN201911409583.2A patent/CN111132054A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111865354A (en) * | 2020-06-24 | 2020-10-30 | 深圳市纽瑞芯科技有限公司 | Ultra-wideband integrated circuit system adopting multiple directional antennas to enhance coverage |
| CN111683340A (en) * | 2020-08-11 | 2020-09-18 | 南京北路自动化系统有限责任公司 | UWB-based intrinsically safe mining vehicle identification card |
| CN112055331A (en) * | 2020-09-07 | 2020-12-08 | 合肥工大高科信息科技股份有限公司 | Underground automatic ore drawing system based on UWB and control method |
| CN112218277A (en) * | 2020-09-07 | 2021-01-12 | 天地（常州）自动化股份有限公司 | Online inspection system and online inspection method based on Bluetooth transmission |
| CN112055331B (en) * | 2020-09-07 | 2022-11-11 | 合肥工大高科信息科技股份有限公司 | Underground automatic ore drawing system based on UWB and control method |
| 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 |
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