CN112887912A - Mine personnel positioning system and positioning method - Google Patents
Mine personnel positioning system and positioning method Download PDFInfo
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- CN112887912A CN112887912A CN202110132500.0A CN202110132500A CN112887912A CN 112887912 A CN112887912 A CN 112887912A CN 202110132500 A CN202110132500 A CN 202110132500A CN 112887912 A CN112887912 A CN 112887912A
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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
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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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
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- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention relates to the field of personnel positioning, in particular to a mine personnel positioning system and a positioning method. The system comprises an identification card; a UWB positioning base station; a UWB beacon; when the identification card is in the low-frequency signal range, the identification card is used for receiving a low-frequency carrier signal transmitted by the UWB beacon and positioning the number of the hydraulic support where the identification card is located; the UWB positioning base station is used for acquiring the serial number of the hydraulic support corresponding to the identification card and positioning the distance and the position of the identification card relative to the UWB positioning base station according to the serial number of the hydraulic support corresponding to the identification card, the width of the hydraulic support and the serial number of the hydraulic support where the UWB positioning base station is located. The problem that mine personnel can not carry out accurate location simultaneously at mine working face and non-working face among the prior art has effectively been solved to this application.
Description
Technical Field
The invention relates to the field of personnel positioning, in particular to a mine personnel positioning system and a positioning method.
Background
Personnel are the foundation of coal mining, and the aim of ensuring the safety of the personnel is always pursued by enterprises. Personnel positioning plays a very important role in coal mine production. The coal mine personnel positioning system can accurately reflect the real-time distribution condition of personnel and equipment in each underground area, so that managers can master the positions and motion tracks of the personnel and the equipment at any time, and more reasonable scheduling management is carried out. Particularly, when potential safety hazards exist or emergency situations occur, the system can make a response as soon as possible, and the loss of the mine is reduced.
The UWB positioning technology is a positioning technology with the highest positioning accuracy acknowledged by the indoor positioning industry, and has gradually become a preferred technology for coal mine enterprises to realize accurate positioning along with the development of the technology. The UWB positioning technology can reach the positioning precision of 0.3 meter under the comparatively spacious environment such as the tunnel, so high positioning precision can completely meet the positioning requirement of the mine industry at present.
However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the inventors of the present application find that the above-mentioned technology has at least the following technical problems:
the existing fully mechanized mining face has large equipment such as a hydraulic support and the like to form a metal semi-closed area, and UWB signals are reflected, diffracted and shielded in the area, so that the positioning precision is influenced, and the requirement of accurate positioning of the working face cannot be met by pure UWB positioning.
At present, a method for combining mine personnel positioning and a fully mechanized coal mining face hydraulic support protection system into a whole does not exist, and mine personnel can be positioned and fully mechanized coal mining face personnel protection can be realized only by carrying a plurality of identification cards.
Disclosure of Invention
The embodiment of the application provides a mine personnel positioning system and a positioning method, and solves the problem that mine personnel cannot perform accurate positioning on a mine working face and a non-working face simultaneously in the prior art.
The embodiment of the application provides a mine personnel positioning system, includes:
the identification card is used for positioning underground personnel;
the UWB positioning base station is used for positioning the distance and the direction of the identified card relative to the UWB positioning base station;
the UWB beacon is arranged in the middle of the hydraulic support and transmits a low-frequency carrier signal; and receiving UWB data carrying the serial number information of the hydraulic support sent by the identification card. The low-frequency carrier signal carries the serial number of the hydraulic support corresponding to the UWB beacon;
when the identification card is in a low-frequency signal range, the identification card is used for receiving a low-frequency carrier signal transmitted by the UWB beacon and positioning the number of the hydraulic support where the identification card is located; the UWB positioning base station is used for acquiring the serial number of the hydraulic support corresponding to the identification card and positioning the distance and the position of the identification card relative to the UWB positioning base station according to the serial number of the hydraulic support corresponding to the identification card and the width of the hydraulic support corresponding to the serial number of the hydraulic support.
As the improved technical scheme of the application, the hydraulic support is provided with a hydraulic support controller; the UWB beacon communication module is connected with the hydraulic support controller; the hydraulic support controller is used for controlling locking of the hydraulic support.
As an improved technical scheme of the application, the identification card comprises an identification card controller, a low-frequency awakening module and an identification card UWB communication module; the identification card controller is used for controlling the positioning mode of the switching identification card; when the identification card is in the signal range of the UWB beacon, the low-frequency awakening module is used for realizing communication between the identification card and the UWB base station as well as the UWB beacon; the UWB communication module is used for communicating with the UWB positioning base station and the UWB beacon according to a ranging period.
As an improved technical scheme of the application, the positioning mode of the identification card comprises a first mode and a second mode;
the first mode is that when the identification card is positioned outside the low-frequency signal range, the identification card and the UWB positioning base station perform bidirectional distance measurement according to a set distance measurement period;
the second mode is that when the identification card is located in a low-frequency signal range, the identification card is used for receiving a low-frequency carrier signal transmitted by the UWB beacon and positioning the number of the hydraulic support where the identification card is located; the UWB positioning base station is used for acquiring the serial number of the hydraulic support corresponding to the identification card and positioning the distance and the direction of the identification card relative to the UWB positioning base station according to the serial number of the hydraulic support corresponding to the identification card, the width of the hydraulic support and the serial number of the hydraulic support where the UWB positioning base station is located.
As an improved technical scheme of the application, when the identification card is positioned in the first mode, the low-frequency awakening module is always in a dormant state; when the identification card is positioned by the second mode, the low-frequency awakening module can be awakened periodically.
As the improved technical scheme of the application, UWB signals are adopted among the UWB beacons for clock synchronization.
Another objective of the present application is to provide a method for positioning mine personnel, which is implemented based on a system for positioning mine personnel;
the method specifically comprises the following steps:
any three adjacent UWB beacons transmit low-frequency carrier signals at different moments;
when the identification card is positioned in the range of the low-frequency carrier signal transmitted by any UWB beacon, the identification card receives the low-frequency carrier signal transmitted by the UWB beacon and positions the number of the hydraulic support where the identification card is positioned; the UWB positioning base station is used for acquiring the serial number of the hydraulic support corresponding to the identification card and the width of the hydraulic support corresponding to the serial number of the hydraulic support, and positioning the distance and the position of the identification card relative to the UWB positioning base station according to the serial number of the hydraulic support corresponding to the identification card and the width of the hydraulic support corresponding to the serial number of the hydraulic support; after receiving the UWB information fed back by the identification card, the UWB beacon transmits a signal to the hydraulic support controller to control the locking of the hydraulic support;
and when the identification card is positioned outside the range of the low-frequency carrier signal transmitted by the UWB beacon, the identification card carries out bidirectional distance measurement with the UWB positioning base station according to a set period.
As an improved technical scheme of the application, when the identification card is positioned in the range of low-frequency carrier signals transmitted by a plurality of UWB beacons, the identification card feeds back UWB information to the UWB beacon of the received strongest low-frequency carrier signal according to the strength of the received low-frequency carrier signal; and simultaneously sending the low-frequency carrier signal to the UWB positioning base station.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
due to the adoption of the low-frequency carrier technical means with clear and adjustable boundaries, the technical problem that UWB positioning is inaccurate due to large range finding distance fluctuation of a metal surrounding semi-closed space is solved, and then accurate positioning of personnel to a hydraulic support is realized, and safety guarantee is provided for automatic tracking of the hydraulic support of the fully mechanized mining face.
In conclusion, based on the positioning system and the positioning method, the mine workers can realize the positioning of the whole mine workers and the positioning of the fully mechanized coal mining face workers only by carrying one identification card, and the burden of the mine workers is reduced. Meanwhile, the personnel protection of the fully mechanized mining face realizes bottom layer linkage, and the accidents that the equipment hurts people are prevented.
Drawings
FIG. 1 is a diagram illustrating the location relationship between an identification card and a UWB positioning base station;
FIG. 2 is a diagram showing the location relationship between an identification card and UWB positioning base station and UWB beacon;
FIG. 3 illustrates an example UWB beacon workflow of the present application;
fig. 4 illustrates a flow chart of the operation of the identification card of the present application.
In the figure, 1, an identification card; 2. a UWB positioning base station; 3. a UWB beacon; 4. and (5) a hydraulic support.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
The application provides a mine personnel positioning system and a positioning method, which solve the technical problem that in the prior art, mine personnel cannot be positioned by the same positioning device when the mine personnel are positioned on a fully mechanized coal mining face and a roadway.
In order to solve the above positioning problem, the technical solution in the embodiment of the present application has the following general idea:
the UWB positioning base station is arranged in the roadway and the fully mechanized mining face, the UWB beacon is arranged between the hydraulic supports of the fully mechanized mining face, and meanwhile, the low-frequency awakening module and the identification card controller are arranged in the identification card, so that the identification card can be positioned in different signal environments in different positioning modes.
Namely: and (3) normally and bidirectionally ranging the identification card 1 and the UWB positioning base station 2 outside the low-frequency signal range.
In a low-frequency signal range, the UWB positioning base station 2 positions the relative distance and the position of the identification card by judging the number of the bracket where the identification card 1 is positioned, the width of each hydraulic bracket 4 and the number of the hydraulic bracket where the UWB positioning base station is positioned.
Meanwhile, in a low-frequency signal range, after receiving the UWB information of the identification card, the UWB beacon 3 informs the hydraulic support 4 of the serial number and the state of the support where the identification card is located through a communication module to a controller to lock the corresponding hydraulic support 4.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example one
A mine personnel positioning system, as shown in fig. 2, comprising: including identification card, UWB positioning base station 2, UWB beacon 3. The identification card comprises an identification card 1 controller, a low-frequency awakening module and an identification card 1UWB communication module; the UWB positioning base station 2 comprises an omnidirectional UWB antenna A, an omnidirectional UWB antenna B and a positioning master station; the UWB beacon 3 comprises a controller, a low-frequency carrier signal transmitting module, a UWB communication unit and a controller communication module of the hydraulic support 4. For simplicity, the omni-directional UWB antenna a and the omni-directional UWB antenna B are hereinafter referred to as AB two omni-directional antennas.
The identification card 1 is used for positioning underground personnel, and the identification card 1 controller is used for controlling the working mode of the identification card 1; the low-frequency awakening module is used for positioning the identification card 1 in a low-frequency environment; the identification card 1UWB communication module is used for realizing the communication between the identification card 1, the UWB positioning base station 2 and the UWB beacon 3.
And the UWB positioning base station 2 is used for carrying out bidirectional distance measurement with the identification card 1. The two omnidirectional antennas AB of the UWB positioning base station 2 are spaced at a certain distance (the two omnidirectional antennas AB are arranged according to design), and a plurality of UWB positioning base stations 2 are arranged along a roadway according to the coverage area of wireless signals of each UWB positioning base station 2 in the current roadway environment, as shown in fig. 1.
When the identification card is in a roadway environment without coverage of low-frequency carrier signals, carrying out UWB ranging with an omnidirectional antenna A of the UWB positioning base station 2 to obtain the relative distance of the identification card; meanwhile, the omnidirectional antenna B of the UWB positioning base station 2 monitors UWB data between the identification card and the omnidirectional antenna A, and calculates the relative position of the identification card. The antenna A reports the relative distance of the identification card to the positioning master station, the omnidirectional antenna B reports the relative position of the identification card to the positioning master station, the positioning master station positions the relative position of the identification card according to the distance data and the position data reported by the two positioning antennas AB, and then reports the relative position of the identification card to a ground server; the ground server positions the identification card according to the absolute position of the UWB positioning base station 2 and the relative position of the identification card from the UWB positioning base station 2.
The UWB beacon 3 is deployed in the middle of each hydraulic support 4 of the fully mechanized mining face and is shown in figure 2, the UWB beacon is connected with the controller of each hydraulic support 4 through the communication module, the serial number of the hydraulic support 4 is obtained through the controller of the hydraulic support 4, then all clocks of the UWB beacon 3 are synchronized through the UWB communication unit, and any adjacent 3 UWB beacons 3 transmit low-frequency carrier signals carrying support number information at different moments. The low-frequency carrier signal refers to LF low-frequency carrier of 125 kHz.
The UWB beacon 3 is arranged in the middle of the hydraulic support 4 and transmits a low-frequency carrier signal; and the low-frequency carrier signal carries the serial number of the hydraulic support 4 corresponding to the UWB beacon 3.
When the identification card 1 is in a low-frequency signal range, the identification card 1 is used for receiving a low-frequency carrier signal transmitted by the UWB beacon 3 and positioning the serial number of a hydraulic support 4 where the identification card is located; the UWB positioning base station 2 is used for acquiring the serial number of the hydraulic support 4 corresponding to the identification card 1 and positioning the distance and the position of the identification card 1 relative to the UWB positioning base station 2 according to the serial number of the hydraulic support 4 corresponding to the identification card 1.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
due to the adoption of the low-frequency carrier technical means with clear and adjustable boundaries, the technical problem that UWB positioning is inaccurate due to large range finding distance fluctuation of a metal surrounding semi-closed space is solved, and then accurate positioning of personnel to a hydraulic support is realized, and safety guarantee is provided for automatic tracking of the hydraulic support of the fully mechanized mining face.
Example two
A mine personnel positioning system comprising:
the identification card 1 is used for positioning underground personnel;
the UWB positioning base station 2 is used for positioning the distance and the direction of the identified card 1 relative to the UWB positioning base station 2;
the UWB beacon 3 is arranged in the middle of the hydraulic support 4 and transmits a low-frequency carrier signal; the low-frequency carrier signal carries the serial number of the hydraulic support 4 corresponding to the UWB beacon 3;
when the identification card 1 is in a low-frequency signal range, the identification card 1 is used for receiving a low-frequency carrier signal transmitted by the UWB beacon 3 and positioning the serial number of a hydraulic support 4 where the identification card is located; the UWB positioning base station 2 is used for acquiring the serial number of the hydraulic support 4 corresponding to the identification card 1, and positioning the distance and the position of the identification card 1 relative to the UWB positioning base station 2 according to the serial number of the hydraulic support 4 corresponding to the identification card 1, the width of the hydraulic support 4 and the serial number of the hydraulic support where the UWB positioning base station 2 is located.
The hydraulic support 4 is provided with a hydraulic support 4 controller; the UWB beacon 3 is in communication connection with the controller of the hydraulic support 4; the hydraulic support 4 controller is used for controlling the locking of the hydraulic support 4.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
the locking between the hydraulic pressures of the identification card 1 is controlled through the hydraulic controller, so that the personnel protection of the fully mechanized coal mining face realizes bottom layer linkage, and the accidents that the equipment hurts people are prevented.
EXAMPLE III
A mine personnel positioning system comprising:
the identification card is used for positioning underground personnel;
the UWB positioning base station is used for positioning the distance and the direction of the identified card relative to the UWB positioning base station;
the UWB beacon is arranged in the middle of the hydraulic support and transmits a low-frequency carrier signal; and receiving UWB data carrying the serial number information of the hydraulic support sent by the identification card. The low-frequency carrier signal carries the serial number of the hydraulic support corresponding to the UWB beacon;
when the identification card is in a low-frequency signal range, the identification card is used for receiving a low-frequency carrier signal transmitted by the UWB beacon and positioning the number of the hydraulic support where the identification card is located; the UWB positioning base station is used for acquiring the serial number of the hydraulic support corresponding to the identification card and positioning the distance and the position of the identification card relative to the UWB positioning base station according to the serial number of the hydraulic support corresponding to the identification card, the width of the hydraulic support and the serial number of the hydraulic support where the UWB positioning base station is located.
The identification card comprises an identification card controller, a low-frequency awakening module and an identification card UWB communication module; the identification card controller is used for controlling the positioning mode of the switching identification card; when the identification card is in the signal range of the UWB beacon, the low-frequency awakening module is used for realizing communication between the identification card and the UWB beacon; the UWB communication module is used for communicating with the UWB positioning base station and the UWB beacon according to the set periods in different positioning modes.
The positioning mode of the identification card comprises a first mode and a second mode;
the first mode is that when the identification card is positioned outside the low-frequency signal range, the identification card and the UWB positioning base station perform bidirectional distance measurement according to a set distance measurement period;
the second mode is that when the identification card is located in a low-frequency signal range, the identification card is used for receiving a low-frequency carrier signal transmitted by the UWB beacon and positioning the number of the hydraulic support where the identification card is located; the UWB positioning base station is used for acquiring the serial number of the hydraulic support corresponding to the identification card and positioning the distance and the direction of the identification card relative to the UWB positioning base station according to the serial number of the hydraulic support corresponding to the identification card, the width of the hydraulic support and the serial number of the hydraulic support where the UWB positioning base station is located.
As shown in fig. 4, for better energy saving, when the identification card is located outside the low-frequency signal range, the low-frequency wake-up module is always in a sleep state, and the distance between the identification card and the UWB positioning base station is measured according to a preset period. In the embodiment, 2 seconds are set, and the distance between the identification card and the UWB positioning base station is measured every 2 seconds; when the identification card is in the low-frequency signal range, the identification card controller allows the low-frequency awakening module to awaken every 500 milliseconds in every 1 second, after awakening, the identification card broadcasts identification card state information (battery power and calling state, the calling state means that mine personnel send distress signals to the ground when encountering emergency), support information where the identification card is located to a UWB positioning base station and a UWB beacon, then the low-frequency awakening module is closed, and the identification card is allowed to be awakened again after 500 milliseconds.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
low frequency wake-up interrupts are allowed in the identity card workflow diagram: the low-frequency awakening module of the identification card is in a dormant state when no low-frequency awakening signal exists, electricity is saved, the CPU starts to work after the low-frequency awakening signal exists, and electricity is consumed during working.
Example four
The LF low frequency signal scope of UWB low frequency beacon is set up, makes it transversely cover 1.5 hydraulic support width furthest to make arbitrary adjacent three UWB beacon all transmits low frequency carrier signal at different moments, in order to avoid mutual interference between the low frequency carrier signal of different UWB beacons.
As shown in fig. 3, in order for any three adjacent UWB beacons to each transmit a low frequency carrier signal at different times.
The UWB beacon adopts the following steps:
the method for synchronizing the UWB beacons through the UWB communication unit comprises the following steps: the UWB positioning base station periodically broadcasts a self system clock count Tsys through the omnidirectional positioning antenna A, after the UWB beacon receives the system clock count of the UWB positioning base station, if a self support number N can be divided by 3, an LF low-frequency carrier is sent after delaying (150-Tsys% 150ms) + N% 3 multiplied by 50 milliseconds, and then the LF low-frequency carrier is periodically sent at an interval of 150 milliseconds; if the self-frame number N is divided by 1 or more than 3, and the synchronized system clock count Tsys% 150 is smaller than 50, transmitting the LF low-frequency carrier after delaying 50-Tsys% 150 milliseconds, and periodically transmitting the LF low-frequency carrier at intervals of 150 milliseconds; if the count Tsys% 150 of the synchronized system clock is more than or equal to 50, sending the LF low-frequency carrier after delaying (150-Tsys% 150ms) + N% 3 multiplied by 50 milliseconds, and periodically sending the LF low-frequency carrier at intervals of 150 milliseconds; if the self-frame number N is divided by 2 or more than 3, and the synchronized system clock count Tsys% 150 is less than 100, transmitting the LF low-frequency carrier after delaying 100-Tsys% 150 milliseconds, and periodically transmitting the LF low-frequency carrier at intervals of 150 milliseconds; if the synchronized system clock count Tsys% 150 is greater than or equal to 100, the LF low-frequency carrier is transmitted after a delay (150-Tsys% 150ms) + N% of 3 × 50 milliseconds, and then periodically transmitted at intervals of 150 milliseconds.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
the clock synchronization has the following functions: after the clocks are synchronized, the LF low-frequency signals can be staggered and do not interfere with each other.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A mine personnel positioning system comprises a hydraulic support arranged in a mine; which is characterized by comprising
The identification card is used for positioning underground personnel;
the UWB positioning base station is used for positioning the distance and the direction of the identified card relative to the UWB positioning base station;
the UWB beacon is arranged in the middle of the hydraulic support and transmits a low-frequency carrier signal; the low-frequency carrier signal carries the serial number of the hydraulic support corresponding to the UWB beacon;
when the identification card is in a low-frequency signal range, the identification card is used for receiving a low-frequency carrier signal transmitted by the UWB beacon and positioning the number of the hydraulic support where the identification card is located; the UWB positioning base station is used for acquiring the serial number of the hydraulic support corresponding to the identification card and positioning the distance and the direction of the identification card relative to the UWB positioning base station according to the serial number of the hydraulic support corresponding to the identification card, the width of the hydraulic support and the serial number of the hydraulic support where the UWB positioning base station is located.
2. The mine personnel positioning system of claim 1, wherein said hydraulic support is provided with a hydraulic support controller; the UWB beacon is in communication connection with the hydraulic support controller; the hydraulic support controller is used for controlling locking of the hydraulic support.
3. The mine personnel positioning system of claim 1, wherein said identification card comprises an identification card controller, a low frequency wake-up module, and an identification card UWB communication module; the identification card controller is used for controlling the positioning mode of the switching identification card; the low-frequency wake-up module is used for receiving a low-frequency carrier signal of the UWB beacon and outputting a wake-up signal to the identification card controller when the identification card is in the signal range of the UWB beacon; the UWB communication module is used for receiving and transmitting UWB data and providing a time stamp for ranging.
4. The mine personnel positioning system of claim 3, wherein the positioning modes of the identification card include a mode one and a mode two;
the first mode is that when the identification card is positioned outside the low-frequency signal range, the identification card and the UWB positioning base station perform bidirectional distance measurement according to a set distance measurement period;
the second mode is that when the identification card is located in a low-frequency signal range, the identification card is used for receiving a low-frequency carrier signal transmitted by the UWB beacon and positioning the number of the hydraulic support where the identification card is located; the UWB positioning base station is used for acquiring the serial number of the hydraulic support corresponding to the identification card and positioning the distance and the direction of the identification card relative to the UWB positioning base station according to the serial number of the hydraulic support corresponding to the identification card, the width of the hydraulic support and the serial number of the hydraulic support where the UWB positioning base station is located.
5. The mine personnel positioning system of claim 4, wherein when the identification card is positioned in the first mode, the low frequency wake-up module is always in a sleep state; when the identification card is positioned by the second mode, the low-frequency awakening module can be awakened periodically.
6. The mine personnel positioning system of claim 1, wherein UWB beacons are clocked by UWB signals.
7. A mine personnel positioning method, which is realized based on the mine personnel positioning system of any one of claims 1-5;
the method specifically comprises the following steps:
any three adjacent UWB beacons transmit low-frequency carrier signals at different moments;
when the identification card is positioned in the range of the low-frequency carrier signal transmitted by any UWB beacon, the identification card receives the low-frequency carrier signal transmitted by the UWB beacon and positions the number of the hydraulic support where the identification card is positioned; the UWB positioning base station is used for acquiring the serial number of the hydraulic support corresponding to the identification card and positioning the distance and the direction of the identification card relative to the UWB positioning base station according to the serial number of the hydraulic support corresponding to the identification card, the width of the hydraulic support and the serial number of the hydraulic support where the UWB positioning base station is positioned; after receiving the UWB information fed back by the identification card, the UWB beacon transmits a signal to the hydraulic support controller to control the locking of the hydraulic support;
and when the identification card is positioned outside the range of the low-frequency carrier signal transmitted by the UWB beacon, the identification card and the UWB positioning base station carry out bidirectional distance measurement.
8. The method as claimed in claim 7, wherein when the identification card is located in the range of the low-frequency carrier signals transmitted by the UWB beacons, the identification card feeds back UWB information to the UWB beacon of the strongest low-frequency carrier signal received according to the strength of the received low-frequency carrier signal; and simultaneously, the serial number of the hydraulic support carried by the low-frequency carrier signal and the state information of the hydraulic support are sent to the UWB positioning base station.
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| CN202110132500.0A CN112887912B (en) | 2021-01-31 | 2021-01-31 | Mine personnel positioning system and positioning method |
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| CN202110132500.0A CN112887912B (en) | 2021-01-31 | 2021-01-31 | Mine personnel positioning system and positioning method |
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| CN113316247A (en) * | 2021-05-24 | 2021-08-27 | 三一智矿科技有限公司 | Positioning system, method and device for underground working face of coal mine |
| CN114325580A (en) * | 2022-01-28 | 2022-04-12 | 四川航天电液控制有限公司 | Coal mine personnel positioning system and positioning method based on RFID |
| CN114359477A (en) * | 2021-12-16 | 2022-04-15 | 北京天玛智控科技股份有限公司 | Coal mine underground intelligent positioning method and system |
| CN116827909A (en) * | 2023-08-29 | 2023-09-29 | 太原向明智控科技有限公司 | UWB self-addressing method and device for hydraulic support electrohydraulic control system |
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| CN113316247B (en) * | 2021-05-24 | 2022-12-09 | 三一智矿科技有限公司 | Positioning system, method and device for underground working face of coal mine |
| CN114359477A (en) * | 2021-12-16 | 2022-04-15 | 北京天玛智控科技股份有限公司 | Coal mine underground intelligent positioning method and system |
| CN114325580A (en) * | 2022-01-28 | 2022-04-12 | 四川航天电液控制有限公司 | Coal mine personnel positioning system and positioning method based on RFID |
| CN116827909A (en) * | 2023-08-29 | 2023-09-29 | 太原向明智控科技有限公司 | UWB self-addressing method and device for hydraulic support electrohydraulic control system |
| CN116827909B (en) * | 2023-08-29 | 2023-11-03 | 太原向明智控科技有限公司 | UWB self-addressing method and device for hydraulic support electrohydraulic control system |
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