CN202818621U - Underground positioning system using TOF technology principle based on Zigbee - Google Patents
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Abstract
本实用新型涉及感知矿山物联网当中的无线技术领域，更具体的说，是涉及一种基于Zigbee的TOF技术原理的井下定位系统，目的是提供一种基于Zigbee的TOF技术原理的井下定位系统，其最大特点是：定位精确，智能方便，目前市场应用的人员定位系统主要采用Zigbee技术的RSSI原理来进行井下人员的定位，此定位技术误差范围大，在定位上只能达到区域定位的功能，这样井下一旦出现事故，只能确定井下遇险人员在某一区域，而不知道其具体位置，从而拖延了事故抢救时间，本实用新型的目的是通过下述技术方案予以实现：一种基于Zigbee的TOF技术原理的井下定位系统，包括定位卡，定位基站，传输分站，光纤环网，管理平台，R485通信线，并依次连接，本实用新型适用于矿井下人员定位。
The utility model relates to the field of wireless technology in the sensing mine Internet of Things, more specifically, relates to an underground positioning system based on the TOF technical principle of Zigbee, and aims to provide an underground positioning system based on the TOF technical principle of Zigbee, Its biggest feature is: accurate positioning, smart and convenient. The personnel positioning system currently used in the market mainly uses the RSSI principle of Zigbee technology to locate underground personnel. This positioning technology has a large error range and can only achieve the function of regional positioning in positioning. Once an accident occurs underground, it can only be determined that the person in distress in the underground is in a certain area, but does not know its specific location, thus delaying the rescue time of the accident. The purpose of this utility model is to be realized through the following technical solutions: a Zigbee-based The underground positioning system of the TOF technology principle includes positioning cards, positioning base stations, transmission substations, optical fiber ring networks, management platforms, and R485 communication lines, which are connected in sequence. The utility model is suitable for underground personnel positioning in mines.
Description
技术领域 technical field
本实用新型涉及感知矿山物联网当中的无线技术领域，更具体的说，是涉及一种基于Zigbee的TOF技术原理的井下定位系统。 The utility model relates to the field of wireless technology in the sensing mine internet of things, more specifically, relates to an underground positioning system based on the Zigbee TOF technical principle.
背景技术 Background technique
按照国家安监总局的要求，井下作业人员同时达到30人以上的矿山企业必须建设井下定位系统，监测监控系统，通信联络系统，压风自救系统，供水施救系统，紧急避险系统这六大系统。井下定位系统是六大系统当中优先要建设的系统之一，井下定位系统是解决目前矿井下方作业人员具体位置，为矿井事前预警和事后自救提供精确人员位置数据，为事后赢得抢救时间，也是物联网感知矿山当中的重要一环。 According to the requirements of the State Administration of Work Safety, mining enterprises with more than 30 underground operators at the same time must build an underground positioning system, a monitoring and monitoring system, a communication system, a compressed air self-rescue system, a water supply rescue system, and an emergency avoidance system. system. The underground positioning system is one of the priority systems to be built among the six systems. The underground positioning system is to solve the specific location of the current mine operators, provide accurate personnel location data for the mine's pre-warning and post-event self-rescue, and win the rescue time after the event. It is also a material An important part of the network perception mine.
目前市场应用于井下的人员定位系统主要采用Zigbee技术的RSSI(接收信号强度指示)原理来进行井下人员的定位，此定位技术误差范围大，对于煤矿和非媒矿山井下作业面不同误差范围在20-100米，在定位上只能达到区域定位的功能，这样井下一旦出现事故，只能确定井下遇险人员在某一区域，拖延了事故抢救时间。 At present, the personnel positioning system applied in the underground mainly uses the RSSI (received signal strength indication) principle of Zigbee technology to locate the underground personnel. This positioning technology has a large error range, and the different error ranges for the underground operation faces of coal mines and non-media mines are within 20 -100 meters, in terms of positioning, it can only achieve the function of regional positioning. In this way, once an accident occurs underground, it can only be determined that the person in distress underground is in a certain area, which delays the rescue time of the accident.
而Zigbee的TOF（信号飞行时间）技术原理应用到了井下人员定位中实现了井下作业人员的精确定位。根据井下作业面的不同，定位误差范围在1-3米。增强了井下定位的精确度，节省了救援时间，从而能够及时挽救遇难者的生命。 Zigbee's TOF (signal time-of-flight) technology principle is applied to the positioning of underground personnel to realize the precise positioning of underground operators. Depending on the downhole operation surface, the positioning error range is 1-3 meters. The accuracy of underground positioning is enhanced, the rescue time is saved, and the lives of victims can be saved in time.
因此设计一种基于Zigbee的TOF技术原理的井下定位系统成为必要。 Therefore, it is necessary to design a downhole positioning system based on Zigbee's TOF technology principle.
实用新型内容 Utility model content
本实用新型的目的是克服现有技术的不足，提供一种测量定位精准度较高，自动化程度高的基于Zigbee的TOF技术原理的井下定位系统，其最大特点是能够准确的定位井下工作人员的位置坐标，并实时传输有效可靠的定位信息到井上的管理中心。 The purpose of this utility model is to overcome the deficiencies of the prior art, to provide an underground positioning system based on Zigbee's TOF technology principle with high measurement and positioning accuracy and high degree of automation. Its biggest feature is that it can accurately locate underground workers. Position coordinates, and real-time transmission of effective and reliable positioning information to the management center on the well. the
本实用新型的目的是通过下述技术方案予以实现： The purpose of this utility model is to be realized through the following technical solutions:
一种基于Zigbee的TOF技术原理的井下定位系统，包括定位卡，定位基站，传输分站，光纤环网，管理平台，所述的定位卡为信号源；所述的定位基站接收信号源信息，并连接传输分站；所述传输分站通过光纤环网把信息传输给管理平台；所述的定位基站分为定位辅站和定位主站，并且相互连接。 A kind of downhole positioning system based on the TOF technical principle of Zigbee, comprising positioning card, positioning base station, transmission substation, optical fiber ring network, management platform, described positioning card is signal source; Described positioning base station receives signal source information, And connect to the transmission substation; the transmission substation transmits the information to the management platform through the optical fiber ring network; the positioning base station is divided into a positioning auxiliary station and a positioning master station, and they are connected to each other.
对上述技术方案作进一步的改进，其特征是，所述的定位辅站和定位主站设有射频接收天线，并置于矿井内部，本方案的好处在于嵌入式的将基站放入矿井内部，有效的布置信号覆盖区域，让井下工作人员随时处于信号侦测范围，利用人员时时定位。 The above-mentioned technical scheme is further improved, and it is characterized in that the positioning auxiliary station and the positioning main station are provided with radio frequency receiving antennas and placed inside the mine. The advantage of this scheme is that the embedded base station is placed inside the mine, Effectively arrange the signal coverage area, so that the underground staff can be in the signal detection range at any time, and the personnel can be positioned at any time.
对上述技术方案作进一步的改进，其特征是，所述的定位卡包括无线Zigbee模块、CPU控制模块、生命体征监测模块和电源，所述的电源为内置锂电池，所述的Zigbee模块连接CPU控制模块，所述的CPU控制模块连接生命体征监测模块，本方案的好处在于设有内置电源供电，设置CPU控制模块和生命体征监测模块，使得定位卡本身不但具有发送坐标信号，还具有自动分析处理工作人员生命体征的能力，达到智能效果，使得整个系统的自动化程度得到有效提高。 The above-mentioned technical scheme is further improved, and it is characterized in that, described positioning card comprises wireless Zigbee module, CPU control module, vital signs monitoring module and power supply, and described power supply is a built-in lithium battery, and described Zigbee module connects CPU Control module, the CPU control module is connected to the vital sign monitoring module. The advantage of this solution is that it is equipped with a built-in power supply, and the CPU control module and the vital sign monitoring module are set, so that the positioning card itself not only has the ability to send coordinate signals, but also has automatic analysis. The ability to process the vital signs of the staff achieves an intelligent effect, which effectively improves the automation of the entire system.
对上述技术方案作进一步的改进，其特征是，所述的管理平台为主处理PC机，并安装人员定位管理软件，本方案的好处在于利用PC机的信息定位管理软件实时的将井下人员的具体位置坐标显示出来，并方便井上管理人员随时监控井下的情况。 The above-mentioned technical scheme is further improved, and it is characterized in that, the described management platform mainly processes PCs, and personnel positioning management software is installed. The specific location coordinates are displayed, and it is convenient for the management personnel on the well to monitor the situation in the well at any time.
本实用新型目的是运用上述基于Zigbee的TOF技术原理，在一个封闭的井下空间内完成基站到与外界辅助信息的融合，且不仅是融合，而是融合后的再应用。 The purpose of this utility model is to use the above-mentioned TOF technology principle based on Zigbee to complete the fusion of base station and external auxiliary information in a closed underground space, and not only fusion, but re-application after fusion.
为完成上述实用新型目的，本实用新型提供一种用于权利要求1所述的基于Zigbee的TOF技术原理的井下定位系统的应用方法，其特征在于，包括以下步骤：
In order to accomplish the purpose of the above-mentioned utility model, the utility model provides an application method for the downhole positioning system based on the TOF technical principle of Zigbee described in
A、利以无线Zigbee模块获得相关真实参考信息； A. Use the wireless Zigbee module to obtain relevant real reference information;
B、CPU控制模块获得相关测量信息； B. The CPU control module obtains relevant measurement information;
C、将A步骤的信息与B步骤的信息相对比，计算出节点间的距离。 C. Compare the information in step A with the information in step B, and calculate the distance between nodes.
D、利用光纤环网将数据传输给传输分站，并由传输分站发送至主处理PC机。 D. Use the optical fiber ring network to transmit the data to the transmission sub-station, and send it to the main processing PC by the transmission sub-station.
E、重复A到D步。 E. Repeat steps A to D.
对上述方法作进一步的细化，在A步骤中，所述的Zigbee模块是一种无线通讯模块，并和CPU控制模块连接，实时处理、采集和发送工作人员的坐标信号，在B步骤中，CPU控制模块获得相关测量信息是指：工作人员的生命体征状态数据，以及通过测量计算的定位距离值。 The above method is further refined. In the A step, the Zigbee module is a wireless communication module, and is connected with the CPU control module to process, collect and send the coordinate signals of the staff in real time. In the B step, The relevant measurement information obtained by the CPU control module refers to: the vital sign status data of the staff, and the positioning distance value calculated through measurement.
对上述方法作进一步的细化，在C步骤中形成节点间距离的计算方法是： 在T OF 测距时，本地节点A 向远程节点B 发送一个数据包，当B 节点收到数据包时，会自动发送一个确认来响应这个数据包。节点A测量出从发送数据包到接收确认的时间,这段消耗总时间记为TT OT 时间; B 记录了B 从收到数据包到B 回应确认消息的这个时间段的时间，记为TT AT 。用T TOT 总时间减去周转时间TT AT 就是双方的数据包在飞行中度过的往返时间，记为TRTT 时间。假定在每个方向发生的飞行时间TTO F 等于50% 的往返时间，如式所示：TTOF=TRTT/2=(TTOT-TTAT)/2 To further refine the above method, the calculation method for forming the distance between nodes in step C is as follows: During T OF ranging, local node A sends a data packet to remote node B, when node B receives the data packet, An acknowledgment is automatically sent in response to this packet. Node A measures the time from sending the data packet to receiving the acknowledgment, and this total time is recorded as TT OT time; B records the time from B receiving the data packet to B responding to the confirmation message, which is recorded as TT AT . The total time T TOT minus the turnaround time TT AT is the round-trip time spent by the data packets of both parties in flight, which is recorded as TRTT time. Assume that the time of flight TTO F occurring in each direction is equal to 50% of the round trip time, as shown in the formula: TTOF=TRTT/2=(TTOT-TTAT)/2
当计算出TT OF 后，根据D = T c( T 代表T TOF ; c 代表光速，为3×108 ms- 1 ) 可以计算出节点间的距离。 When T OF is calculated, the distance between nodes can be calculated according to D = T c ( T represents T TOF ; c represents the speed of light, which is 3×108 ms- 1 ).
附图说明 Description of drawings
图1为本实用新型的信息处理流程图。 Fig. 1 is the information processing flowchart of the utility model.
图1中：定位卡1，无线Zigbee模块1-1，CPU控制模块1-2，生命体征监测模块1-3，电源1-4，定位辅站2，R485通信线3，定位主站4，光纤环网5，传输分站6，主处理PC机7。
In Figure 1:
具体实施方式 Detailed ways
目前市场应用于井下的人员定位系统主要采用Zigbee技术的RSSI(接收信号强度指示)原理来进行井下人员的定位，此定位技术误差范围大，对于煤矿和非媒矿山井下作业面不同误差范围在20-100米，在定位上只能达到区域定位的功能，这样井下一旦出现事故，只能确定井下遇险人员在某一区域，拖延了事故抢救时间。 At present, the personnel positioning system applied in the underground mainly uses the RSSI (received signal strength indication) principle of Zigbee technology to locate the underground personnel. This positioning technology has a large error range, and the different error ranges for the underground operation faces of coal mines and non-media mines are within 20 -100 meters, in terms of positioning, it can only achieve the function of regional positioning. In this way, once an accident occurs underground, it can only be determined that the person in distress underground is in a certain area, which delays the rescue time of the accident.
而Zigbee的TOF（信号飞行时间）技术原理应用到了井下人员定位中实现了井下作业人员的精确定位。根据井下作业面的不同，定位误差范围在1-3米。增强了井下定位的精确度，节省了救援时间，从而能够及时挽救遇难者的生命。 Zigbee's TOF (signal time-of-flight) technology principle is applied to the positioning of underground personnel to realize the precise positioning of underground operators. Depending on the downhole operation surface, the positioning error range is 1-3 meters. The accuracy of underground positioning is enhanced, the rescue time is saved, and the lives of victims can be saved in time.
为更加清楚的了解本实用新型的实施方法和应用，下面结合附图对本实用新型的作进一步的阐述。 In order to understand the implementation method and application of the utility model more clearly, the utility model will be further elaborated below in conjunction with the accompanying drawings.
具体实施例1： Specific embodiment 1:
如图1所示，该图是基于Zigbee的TOF技术原理的井下定位系统信息处理流程图，一种基于Zigbee的TOF技术原理的井下定位系统，包括定位卡1，定位基站，传输分站6，光纤环网5，管理平台，R485通信线3，所述的定位基站接收信号源信息，并通过R485通信线3连接传输分站6；所述传输分站6通过光纤环网5把信息传输给管理平台；所述的定位基站分为定位辅站2和定位主站4，并且通过R485通信线3相互连接；所述的定位卡1为信号源，包括无线Zigbee模块1-1、CPU控制模块1-2、生命体征监测模块1-3和电源1-4；所述的Zigbee模块1-1连接CPU控制模块1-2，所述的CPU控制模块1-2连接生命体征监测模块1-3，所述的定位辅站2和定位主站4设有射频接收天线8，并置于矿井内部，所述的管理平台为主处理PC机7。
As shown in Figure 1, this figure is an information processing flow chart of an underground positioning system based on Zigbee's TOF technology principle. An underground positioning system based on Zigbee's TOF technology principle includes a
为了真正意上达到上述的智能调整，还需要有相应的方法进行配合，以及相应的计算公式与之相适应。 In order to truly achieve the above-mentioned intelligent adjustment, it is necessary to have a corresponding method to cooperate, and a corresponding calculation formula to adapt to it.
一种用于权利要求1所述的基于Zigbee的TOF技术原理的井下定位系统应用方法，包括以下步骤：
A kind of downhole positioning system application method based on the TOF technical principle of Zigbee described in
A、利以无线Zigbee模块获得相关真实参考信息； A. Use the wireless Zigbee module to obtain relevant real reference information;
B、CPU控制模块获得相关测量信息； B. The CPU control module obtains relevant measurement information;
所述的Zigbee模块是一种无线通讯模块，并和CPU控制模块连接，实时处理、采集和发送工作人员的坐标信号，在B步骤中，CPU控制模块获得相关测量信息是指：工作人员的生命体征状态数据，以及通过测量计算的定位距离值。 Described Zigbee module is a kind of wireless communication module, and is connected with CPU control module, real-time processing, collecting and sending the coordinate signal of staff, in B step, CPU control module obtains relevant measurement information and refers to: the life of staff Sign status data, and the positioning distance value calculated by measurement.
C、将A步骤的信息与B步骤的信息相对比，计算出节点间的距离。 C. Comparing the information of step A with the information of step B, calculate the distance between nodes.
在C步骤中形成节点间距离的计算方法是： 在T OF 测距时，本地节点A 向远程节点B 发送一个数据包，当B 节点收到数据包时，会自动发送一个确认来响应这个数据包。节点A测量出从发送数据包到接收确认的时间,这段消耗总时间记为TT OT 时间; B 记录了B 从收到数据包到B 回应确认消息的这个时间段的时间，记为TT AT 。用T TOT 总时间减去周转时间TT AT 就是双方的数据包在飞行中度过的往返时间，记为TRTT 时间。假定在每个方向发生的飞行时间TTO F 等于50% 的往返时间，如式所示：TTOF=TRTT/2=(TTOT-TTAT)/2 The calculation method for forming the distance between nodes in step C is: During T OF ranging, local node A sends a data packet to remote node B, and when node B receives the data packet, it will automatically send an acknowledgment to respond to the data Bag. Node A measures the time from sending the data packet to receiving the acknowledgment, and this total time is recorded as TT OT time; B records the time from B receiving the data packet to B responding to the confirmation message, which is recorded as TT AT . The total time T TOT minus the turnaround time TT AT is the round-trip time spent by the data packets of both parties in flight, which is recorded as TRTT time. Assume that the time of flight TTO F occurring in each direction is equal to 50% of the round trip time, as shown in the formula: TTOF=TRTT/2=(TTOT-TTAT)/2
当计算出TT OF 后，根据D = T c( T 代表T TOF ; c 代表光速，为3×108 ms- 1 ) 可以计算出节点间的距离。 After calculating TT OF , the distance between nodes can be calculated according to D = T c ( T represents T TOF ; c represents the speed of light, which is 3×108 ms- 1 ).
D、利用光纤环网将数据传输给传输分站，并由传输分站发送至主处理PC机。 D. Use the optical fiber ring network to transmit the data to the transmission sub-station, and send it to the main processing PC by the transmission sub-station.
E、重复A到D步。 E. Repeat steps A to D.
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| CN202818621U true CN202818621U (en) | 2013-03-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104331942A (en) * | 2014-09-26 | 2015-02-04 | 深圳市翌日科技有限公司 | Miner card-swiping analytic system |
| CN105472566A (en) * | 2015-12-30 | 2016-04-06 | 深圳市讯方技术股份有限公司 | Indoor positioning system and method |
| CN107146021A (en) * | 2017-05-05 | 2017-09-08 | 江苏三恒科技股份有限公司 | A kind of mine personnel of MANET formula and vehicle management system and method |
| CN107172696A (en) * | 2017-06-20 | 2017-09-15 | 深圳市翌日科技有限公司 | A kind of TOF one-dimensional positionings base station and localization method |
| CN111586838A (en) * | 2020-05-21 | 2020-08-25 | 中煤科工集团重庆研究院有限公司 | Precise positioning method in coal mine |
| CN112567581A (en) * | 2018-08-30 | 2021-03-26 | 日本电气株式会社 | Telegraph pole position specifying system, telegraph pole position specifying device, telegraph pole position specifying method, and non-transitory computer readable medium |
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- 2012-06-25 CN CN201220298465.6U patent/CN202818621U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104331942A (en) * | 2014-09-26 | 2015-02-04 | 深圳市翌日科技有限公司 | Miner card-swiping analytic system |
| CN105472566A (en) * | 2015-12-30 | 2016-04-06 | 深圳市讯方技术股份有限公司 | Indoor positioning system and method |
| CN107146021A (en) * | 2017-05-05 | 2017-09-08 | 江苏三恒科技股份有限公司 | A kind of mine personnel of MANET formula and vehicle management system and method |
| CN107172696A (en) * | 2017-06-20 | 2017-09-15 | 深圳市翌日科技有限公司 | A kind of TOF one-dimensional positionings base station and localization method |
| CN107172696B (en) * | 2017-06-20 | 2020-06-16 | 深圳市翌日科技有限公司 | Positioning method executed by TOF one-dimensional positioning base station |
| CN112567581A (en) * | 2018-08-30 | 2021-03-26 | 日本电气株式会社 | Telegraph pole position specifying system, telegraph pole position specifying device, telegraph pole position specifying method, and non-transitory computer readable medium |
| US11747175B2 (en) | 2018-08-30 | 2023-09-05 | Nec Corporation | Utility pole location specifying system, utility pole location specifying apparatus, utility pole location specifying method, and non-transitory computer readable medium |
| CN111586838A (en) * | 2020-05-21 | 2020-08-25 | 中煤科工集团重庆研究院有限公司 | Precise positioning method in coal mine |
| CN111586838B (en) * | 2020-05-21 | 2021-12-24 | 中煤科工集团重庆研究院有限公司 | Underground accurate positioning method for coal mine |
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