CN220509114U - Substation personnel positioning terminal device based on UWB and Lora technology - Google Patents

Abstract

The utility model discloses a substation personnel positioning terminal device based on UWB and Lora technology, comprising: the system comprises a micro control unit, a UWB module, a Lora module, an MEMS inertial navigation module and a Bluetooth and RFID module; the UWB module is used for receiving the base station signal sent by the target base station and sending the base station signal to the micro control unit; the MEMS inertial navigation module is used for acquiring the motion information of the terminal device and transmitting the motion information to the micro control unit; the micro control unit is used for carrying out position calculation based on the base station signals and the motion information to obtain position information; the Lora module is used for transmitting the position information to a radio frequency gateway of the target base station through Lora radio frequency; and the Bluetooth and RFID module is used for establishing wireless connection between the terminal device and the mobile terminal. The utility model relieves the technical problem that the position error is easy to become larger along with the time in the process of correcting by simply relying on UWB communication without referring to other positioning information in the prior art.

Description

Substation personnel positioning terminal device based on UWB and Lora technology

Technical Field

The utility model relates to the technical field of personnel positioning terminal devices, in particular to a substation personnel positioning terminal device based on UWB and Lora technologies.

Background

With the continuous expansion of the scale of the power industry, the requirements of the transformer substation on safety management are also higher and higher. Most of the substations in the current stage are used for carrying out real-time positioning and position monitoring on personnel through cameras installed in working areas, visual dead angles exist in the positioning monitoring mode through the cameras, the monitoring can only be carried out in one way, and workers in the substation can not be timely reminded of processing when facing emergency.

In order to complement the weak links of the existing system of the transformer substation, improve the timeliness and accuracy of the operation decision of the power system, improve the intelligent level and the operation efficiency of the power system, and require a more excellent, reliable, convenient and safe transformer substation personnel positioning system to realize the position monitoring of personnel and materials so as to ensure the safety of the personnel and the materials. At present, the positioning effect of transformer substation personnel is mainly evaluated from the aspects of positioning accuracy, power consumption, endurance, deployment difficulty, satisfaction of requirements and the like of positioning equipment.

Positioning technology based on UWB wireless communication is one development direction of substation personnel positioning systems. Different from the existing principle based on camera monitoring and positioning, the positioning technology based on UWB wireless communication mainly carries out communication positioning with personnel tags by deploying relevant base stations, and the principle is as follows:

firstly, communicating with base stations at all positions in a place through a tag, and calculating the space distance between the tag and each base station; then according to the space distance between the label and each base station, calculating the corresponding position of the label in the space through a corresponding algorithm; and finally, the resolved position information is sent to the base station through a corresponding wireless communication technology, and the base station transmits relevant information to the background.

However, there are still a few difficulties in using UWB wireless communication positioning technology in substation personnel positioning systems. For example, UWB communication frequency is too high, and a mere UWB tag uses UWB for communication at all times, so that the tag has insufficient endurance time, and cannot meet the working requirements. The position calculation is performed by only UWB communication, and the position error is liable to become larger with time without reference to other positioning information for correction. By only relying on UWB, the tag cannot communicate with other devices than the base station, failing to meet various intelligent demands.

Disclosure of Invention

The utility model aims to solve at least one technical problem, and provides a substation personnel positioning terminal device based on UWB and Lora technology.

In a first aspect, an embodiment of the present utility model provides a substation personnel positioning terminal device based on UWB and Lora technologies, where the terminal device is communicatively connected to a target base station and a mobile terminal, respectively; comprising the following steps: the system comprises a micro control unit, a UWB module, a Lora module, an MEMS inertial navigation module and a Bluetooth and RFID module; the UWB module, the Lora module, the MEMS inertial navigation module and the Bluetooth and RFID module are all connected with the micro control unit; the UWB module is used for receiving the base station signal sent by the target base station and sending the base station signal to the micro control unit; the MEMS inertial navigation module is used for acquiring the motion information of the terminal device and sending the motion information to the micro control unit; the micro control unit is used for carrying out position calculation based on the base station signals and the motion information to obtain position information; the Lora module is used for transmitting the position information to a radio frequency gateway of the target base station through Lora radio frequency; the Bluetooth and RFID module is used for establishing wireless connection between the terminal device and the mobile terminal.

Further, the UWB module includes: the device comprises a UWB chip, a radio frequency switch, a ceramic antenna and a UWB crystal oscillator; the UWB chip is respectively and electrically connected with the radio frequency switch and the UWB crystal oscillator; the radio frequency switch is also connected with the ceramic antenna; and a WAKEUP pin of the UWB chip is electrically connected with the IO interface of the micro-control unit.

Further, the MEMS inertial navigation module is in communication connection with the micro control unit through a serial port.

Further, the Lora module includes: the device comprises a Lora chip, a Lora radio frequency switch and a Lora radio frequency antenna; the Lora chip is integrated on the micro control unit, the Lora radio frequency switch is connected with the micro control unit, and the Lora radio frequency antenna is connected with the Lora radio frequency switch.

Further, the bluetooth and RFID module includes: bluetooth and RFID chips, bluetooth crystal oscillator and RFID tags; and the Bluetooth and the RFID chip are in communication connection with the mobile terminal through Bluetooth.

Further, the power supply module and the minimum system circuit are also included; the power module is respectively and electrically connected with the UWB module, the MEMS inertial navigation module, the Bluetooth and RFID module and the micro control unit and is used for providing working voltage for the terminal device; the minimum system circuit is connected with the micro control unit and is used for providing crystal oscillation frequency for the micro control unit.

Further, the power module includes: the device comprises a battery, a charging chip, a wireless charging circuit, a wireless charging coil, a charging state monitoring circuit and a voltage reducing and stabilizing circuit; the wireless charging coil is connected with the charging chip through the wireless charging circuit; the charging chip is respectively connected with the battery, the charging state monitoring circuit and the voltage reducing and stabilizing circuit; the battery is also connected with the step-down voltage stabilizing circuit; the output end of the step-down voltage stabilizing circuit is respectively and electrically connected with the UWB module, the MEMS inertial navigation module, the Bluetooth and RFID module and the micro control unit.

Further, the step-down voltage stabilizing circuit includes: LDO step-down circuit and BUCK step-down circuit.

Further, the battery comprises a lithium battery.

The utility model provides a substation personnel positioning terminal device based on UWB and Lora technology, which can realize centimeter-level positioning accuracy in a substation by means of UWB positioning resolving and MEMS module position auxiliary correction, and transmits position information to a positioning base station and a user mobile terminal through the Lora module and the Bluetooth module, thereby solving the technical problem that in the prior art, the position error is easy to become larger along with time in the process of correcting by simply relying on UWB communication to perform position resolving without referring to other positioning information.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly introduce the drawings that are needed in the detailed description or the prior art, it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a substation personnel positioning terminal device based on UWB and Lora technology according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a UWB module according to an embodiment of the present utility model;

fig. 3 is a schematic diagram of a Lora module according to an embodiment of the present utility model;

fig. 4 is a schematic diagram of a bluetooth and RFID module according to an embodiment of the present utility model;

fig. 5 is a schematic diagram of a power module according to an embodiment of the utility model.

In the figure: 10. the micro-control unit comprises a micro-control unit (20), a UWB module (21), a UWB chip (22), a radio frequency switch (23), a ceramic antenna (24), a UWB crystal oscillator (30), a Lora module (31), a Lora radio frequency switch (32), a Lora radio frequency antenna (40), a MEMS inertial navigation module (50), a Bluetooth and RFID module (51), a Bluetooth and RFID chip (52), a Bluetooth minimum system circuit (53), an RFID antenna circuit (60), a power module (61), a battery (62), a charging chip (63), a wireless charging circuit (64), a wireless charging coil (65), a charging state monitoring circuit (66), a step-down voltage stabilizing circuit (70) and a minimum system circuit.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Fig. 1 is a schematic diagram of a substation personnel positioning terminal device based on UWB and Lora technologies, where the terminal device is communicatively connected to a target base station and a mobile terminal, respectively, according to an embodiment of the present utility model. As shown in fig. 1, the terminal device includes: a micro control unit 10, a UWB module 20, a Lora module 30, a MEMS inertial navigation module 40 and a bluetooth and RFID module 50. The UWB module 20, the Lora module 30, the MEMS inertial navigation module 40, and the bluetooth and RFID module 50 are all connected with the micro control unit 10.

Specifically, the UWB module 20 is configured to receive a base station signal transmitted by a target base station, and transmit the base station signal to the micro control unit 10. Specifically, after receiving the base station signal, the UWB module 20 performs analog-to-digital conversion, and transmits the corresponding data to the micro control unit 10 for position calculation.

The MEMS inertial navigation module 40 is configured to acquire motion information of the terminal device and transmit the motion information to the micro control unit 10.

The micro control unit 10 is configured to perform position calculation based on the base station signal and the motion information, and obtain position information. Specifically, the micro control unit 10, i.e. the main control MCU unit, supports multiple communication protocols, and can access the remaining several working modules to perform functions such as position calculation and module control.

Optionally, the micro control unit 10 has the characteristics of low power consumption, main frequency not lower than 32mhz, flash not lower than 128K, ram not lower than 20K, multiple I/O interfaces, SPI interface number not lower than 2 groups, serial interface number not lower than 2 groups, size not higher than 1cm×1cm, and the like.

Preferably, in the embodiment of the present utility model, the micro control unit 10 is of the model STM32WLE5JCI6.

The Lora module 30 is configured to send the location information to a radio frequency gateway of the target base station through the Lora radio frequency. Optionally, the Lora module 30 is further configured to receive data of the target base station.

The bluetooth and RFID module 50 is used to establish a wireless connection between the terminal device and the mobile terminal. Specifically, the bluetooth and RFID module 50 is further configured to interact with the mobile terminal through bluetooth communication with information such as a location of the terminal device and a notification of the target base station. The mobile terminal comprises a user mobile phone.

The utility model provides a substation personnel positioning terminal device based on UWB and Lora technology, which can realize centimeter-level positioning accuracy in a substation by means of UWB positioning resolving and MEMS module position auxiliary correction, and transmits position information to a positioning base station and a user mobile terminal through the Lora module and the Bluetooth module, thereby solving the technical problem that in the prior art, the position error is easy to become larger along with time in the process of correcting by simply relying on UWB communication to perform position resolving without referring to other positioning information.

Optionally, as shown in fig. 1, the interrupt device provided in the embodiment of the present utility model further includes a power module 60 and a minimum system circuit 70; the power module 60 is electrically connected with the UWB module 20, the MEMS inertial navigation module 40, the bluetooth and RFID module 50 and the micro control unit 10, respectively, and is used for providing working voltage for the terminal device; a minimum system circuit 70 for providing the micro control unit 10 with a crystal oscillation frequency.

Optionally, the minimum system circuit 70 includes: a crystal oscillator circuit for providing a crystal oscillation frequency, a reset key and a download interface to the micro-control unit 10.

Fig. 2 is a schematic diagram of a UWB module provided according to an embodiment of the present utility model. As shown in fig. 2, the UWB module 20 includes: UWB chip 21, radio frequency switch 22, ceramic antenna 23 and UWB crystal 24. The UWB chip 21 is electrically connected with the radio frequency switch 22 and the UWB crystal oscillator 24 respectively; the radio frequency switch 22 is also connected with a ceramic antenna 23; the WAKEUP pin of UWB chip 21 is electrically connected with the IO interface of micro-control unit 10. When the terminal device is actually operating, the UWB signal for the target base station is not received in consideration of the need for low power consumption of the UWB module 20.

In the embodiment of the utility model, the UWB chip 21 has low power consumption, supports SPI protocol, has programmable transmitting output power, and supports 3.5-7GHz chip antenna. The UWB chip 21 is in communication connection with the micro control unit 10 and exchanges data through a corresponding communication protocol. In the design, it should be noted that the IO interface multiplexing function connects the UWB chip 21 to the micro control unit 10 through the SPI protocol, and connects the wake pin of the UWB chip 21 to the IO interface of the micro control unit 10, so that the low power sleep and wake-up control is performed on the UWB module 20 through the micro control unit 10. The radio frequency port of the UWB chip 21 is connected to a ceramic antenna 23 through a radio frequency switch 22, and transmits and receives UWB radio frequency signals.

Preferably, in the embodiment of the present utility model, the UWB chip 21 is of the type DW1000.

Specifically, the power module 60 is connected to the UWB chip 21 and is used for supplying power to the UWB chip 21; the UWB crystal oscillator 24 is configured to provide a crystal oscillation frequency for the UWB chip 21; the micro control unit 10 communicates with the UWB chip 21, receives UWB data, and issues control data; a radio frequency switch 22 for controlling the switch of the UWB module 20; and a ceramic antenna 23 for gain of the UWB signal.

Alternatively, the MEMS inertial navigation module 40 is communicatively connected to the micro-control unit 10 via a serial port. Specifically, the MEMS inertial navigation module 40 is in data communication with the micro-control unit 10 via an SPI interface.

Alternatively, two interrupt pins of the MEMS inertial navigation module 40 are connected to the micro control unit 10 for control.

Preferably, in the embodiment of the present utility model, the MEMS inertial navigation module 40 is a BMX160 chip.

Fig. 3 is a schematic diagram of a Lora module according to an embodiment of the present utility model. As shown in fig. 3, the Lora module includes: a Lora chip, a Lora radio frequency switch 31 and a Lora radio frequency antenna 32. The Lora chip is integrated on the micro-control unit 10, the Lora radio frequency switch 31 is connected with the micro-control unit 10, and the Lora radio frequency antenna 32 is connected with the Lora radio frequency switch 31.

Specifically, in the embodiment of the present utility model, the Lora radio frequency function of the Lora module 30 is integrated in the micro control unit 10, and the sending and receiving control of the Lora signal is performed through the IO interface of the micro control unit 10. When the terminal device is running, the Lora module 30 transmits the position information obtained by the calculation to the radio frequency gateway of the target base station through the Lora radio frequency, and can also receive various notification data transmitted by the target base station.

Specifically, the Lora rf switch 31 controls the switching of the Lora transmit and receive, and the Lora rf antenna 32 is used to gain the Lora signal.

Fig. 4 is a schematic diagram of a bluetooth and RFID module according to an embodiment of the present utility model. As shown in fig. 4, the bluetooth and RFID module 50 includes: a bluetooth and RFID chip 51, a bluetooth minimum system circuit 52 and an RFID antenna circuit 53. The bluetooth and RFID chip 51 is connected to the bluetooth lowermost system circuit 52 and the RFID antenna circuit 53, respectively, and the bluetooth and RFID chip 51 is also connected to the power module 60 and the micro control unit 10. Wherein the bluetooth and RFID chip 51 is in communication connection with the mobile terminal through bluetooth.

Optionally, the bluetooth and RFID module 50 has low power consumption, multiple IO interfaces, no less than 2 groups of SPI interfaces, no less than 2 groups of serial interfaces, and an integrated antenna.

Preferably, in the embodiment of the present utility model, the model number of the bluetooth and RFID chip 51 is QN9080.

Specifically, the bluetooth minimum system circuit 52 includes: a crystal oscillator circuit providing crystal oscillation frequency to the bluetooth and RFID chip 51, a reset button, a download interface, and an external terminal button.

Specifically, the micro control unit 10 communicates with the bluetooth and RFID chip 51, receives bluetooth data, and issues control data and data to be issued by bluetooth. An RFID antenna circuit 53 for gain the RFID signal.

Fig. 5 is a schematic diagram of a power module according to an embodiment of the present utility model. As shown in fig. 5, the power module 60 includes: the battery 61, the charging chip 62, the wireless charging circuit 63, the wireless charging coil 64, the charge state monitoring circuit 65, and the step-down voltage stabilizing circuit 66.

Specifically, as shown in fig. 5, a wireless charging coil 64 is connected to the charging chip 62 through a wireless charging circuit 63; the charging chip 62 is respectively connected with the battery 61, the charging state monitoring circuit 65 and the step-down voltage stabilizing circuit 66; the battery 61 is also connected with a step-down voltage stabilizing circuit 66; the output end of the step-down voltage stabilizing circuit 66 is respectively and electrically connected with the UWB module 20, the MEMS inertial navigation module 40, the Bluetooth and RFID module 50 and the micro control unit 10.

Alternatively, the step-down voltage stabilizing circuit 66 includes: the LDO step-down circuit and the BUCK step-down circuit, and the power source 61 comprises a lithium battery.

Specifically, the charging chip 62 converts an unstable electromotive force obtained from the wireless charging coil 64 into a stable voltage, and charges the battery 61, and may also supply power to the step-down voltage stabilizing circuit 66. Preferably, in the embodiment of the present utility model, the charging chip 62 is of the type BQ51050.

Specifically, the step-down voltage stabilizing circuit 66 is configured to step down and stabilize the voltages of the battery 61 and the charging chip 62, and charge each module of the device; the charge state monitoring circuit 65 is used for monitoring the current charge state and stopping charging when the battery 61 is full.

In the embodiment of the present utility model, the power module 60 is mainly composed of two parts of charging and power supplying. The charging part is charged by adopting a wireless charging scheme, the wireless charging coil 64 generates voltage by the phenomenon of magnetism electricity generation, the voltage is transmitted to the charging chip 62 through the wireless charging circuit 63, and the lithium battery is charged by conversion of the charging chip 62. And the design of a plurality of large capacitors charged by the front-end coil and the circuit design for monitoring the rear-end charging temperature and the full power condition are needed to be noted when the charging part circuit design is carried out.

Regarding the design of the power supply part, the voltage is output to the step-down voltage stabilizing circuit 66 by two modes of directly outputting the voltage by the lithium battery and the charging chip 62 so as to ensure the power supply to each module of the terminal. The BUCK voltage regulator 66 supplies power to the micro control unit 10, the UWB module 20, the MEMS inertial navigation module 40, and the bluetooth and RFID module 50 through the BUCK and LDO BUCK circuits. When the UWB module 20 is powered, the high-frequency power supply noise has a larger influence on the UWB module 20, so that the LDO voltage-reducing circuit with smaller noise is selected to power the UWB module 20. And because the conversion efficiency of the BUCK step-down circuit is higher, the BUCK step-down circuit supplies power to other modules in consideration of the low power consumption requirement and the tolerance degree of each module to power supply noise. And when the power supply module is designed, a pi-type filter circuit is particularly used for isolating the power supply of each module so as to avoid mutual interference.

Optionally, the substation personnel positioning terminal device based on the UWB and Lora technology provided by the embodiment of the utility model can be in a wristband type terminal form convenient to carry, and thus has the advantages of small size, comfort and convenience in wearing and the like.

Aiming at the problems of low efficiency and the like existing in the existing transformer substation positioning monitoring through a camera, the utility model provides a transformer substation personnel positioning terminal device based on UWB and Lora technology, the terminal device can obtain the distance information from a positioning terminal to each positioning base station by receiving UWB pulse signals transmitted by each base station in a transformer substation area, meanwhile, a MEMS inertial navigation module in the positioning terminal can also obtain the related motion information of the positioning terminal, and the accurate position information of the positioning terminal can be obtained after the distance information and the motion information are effectively combined through a positioning algorithm. The position information can be sent to a mobile phone of a substation worker through a Bluetooth module, and functions such as map display, path planning, sudden fault early warning and the like are completed on the mobile phone. Meanwhile, the position information can also be transmitted to the LoRa gateway of the positioning base station through the LoRa module of the positioning terminal, and then the positioning base station sends the position information of all the positioning terminals to the central server of the navigation system through the Ethernet. And under the condition of meeting the positioning precision, the utility model adopts the chips supporting the low power consumption mode, thereby greatly improving the power consumption and the endurance of the positioning terminal device. The utility model is superior to the positioning equipment used in most of current power transformation stations in terms of positioning accuracy, power consumption and endurance, deployment difficulty, satisfaction of requirements and the like.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (9)

1. The substation personnel positioning terminal device based on UWB and Lora technology is characterized in that the terminal device is respectively connected with a target base station and a mobile terminal in a communication way; comprising the following steps: the system comprises a micro control unit, a UWB module, a Lora module, an MEMS inertial navigation module and a Bluetooth and RFID module; the UWB module, the Lora module, the MEMS inertial navigation module and the Bluetooth and RFID module are all connected with the micro control unit;

the UWB module is used for receiving the base station signal sent by the target base station and sending the base station signal to the micro control unit;

the MEMS inertial navigation module is used for acquiring the motion information of the terminal device and sending the motion information to the micro control unit;

the micro control unit is used for carrying out position calculation based on the base station signals and the motion information to obtain position information;

the Lora module is used for transmitting the position information to a radio frequency gateway of the target base station through Lora radio frequency;

the Bluetooth and RFID module is used for establishing wireless connection between the terminal device and the mobile terminal.

2. The substation personnel location terminal device based on UWB and Lora technology according to claim 1, characterized in that: the UWB module includes: the device comprises a UWB chip, a radio frequency switch, a ceramic antenna and a UWB crystal oscillator; the UWB chip is respectively and electrically connected with the radio frequency switch and the UWB crystal oscillator; the radio frequency switch is also connected with the ceramic antenna; and a WAKEUP pin of the UWB chip is electrically connected with the IO interface of the micro-control unit.

3. The substation personnel location terminal device based on UWB and Lora technology according to claim 1, characterized in that: and the MEMS inertial navigation module is in communication connection with the micro control unit through a serial port.

4. The substation personnel location terminal device based on UWB and Lora technology according to claim 1, characterized in that: the Lora module includes: the device comprises a Lora chip, a Lora radio frequency switch and a Lora radio frequency antenna; the Lora chip is integrated on the micro control unit, the Lora radio frequency switch is connected with the micro control unit, and the Lora radio frequency antenna is connected with the Lora radio frequency switch.

5. The substation personnel location terminal device based on UWB and Lora technology according to claim 1, characterized in that: the Bluetooth and RFID module comprises: bluetooth and RFID chips, bluetooth crystal oscillator and RFID tags; and the Bluetooth and the RFID chip are in communication connection with the mobile terminal through Bluetooth.

6. The substation personnel location terminal device based on UWB and Lora technology according to claim 1, characterized in that: the system also comprises a power module and a minimum system circuit;

the power module is respectively and electrically connected with the UWB module, the MEMS inertial navigation module, the Bluetooth and RFID module and the micro control unit and is used for providing working voltage for the terminal device;

the minimum system circuit is connected with the micro control unit and is used for providing crystal oscillation frequency for the micro control unit.

7. The substation personnel location terminal device based on UWB and Lora technology according to claim 6, wherein: the power module includes: the device comprises a battery, a charging chip, a wireless charging circuit, a wireless charging coil, a charging state monitoring circuit and a voltage reducing and stabilizing circuit; wherein,

the wireless charging coil is connected with the charging chip through the wireless charging circuit; the charging chip is respectively connected with the battery, the charging state monitoring circuit and the voltage reducing and stabilizing circuit; the battery is also connected with the step-down voltage stabilizing circuit; the output end of the step-down voltage stabilizing circuit is respectively and electrically connected with the UWB module, the MEMS inertial navigation module, the Bluetooth and RFID module and the micro control unit.

8. The substation personnel location terminal device based on UWB and Lora technology according to claim 7, wherein: the step-down voltage stabilizing circuit includes: LDO step-down circuit and BUCK step-down circuit.

9. The substation personnel location terminal device based on UWB and Lora technology according to claim 7, wherein: the battery includes a lithium battery.