Method for positioning base station of fully mechanized mining working face and positioning personnel of fully mechanized mining working face

Abstract

The present invention discloses a method for positioning a base station for a comprehensive mining face and positioning personnel on the comprehensive mining face, which can solve the technical problem of low positioning accuracy of personnel on the comprehensive mining face. The positioning base station includes: a core processing unit, a base station position sensing unit, a travel sensor data processing unit, a wired and wireless communication unit, and a UWB signal processing unit; the core processing unit is connected to the base station position sensing unit and the travel sensor data processing unit, and is used to correct the positioning base station position coordinates based on the movement information of the positioning base station obtained by the base station position sensing unit and the travel sensor data processing unit; the UWB signal processing unit is connected to the core processing unit, and is used to receive identification card information and send the identification card information to the core processing unit, so that the core processing unit sends the positioning base station position coordinates and the identification card information to the hydraulic support controller network through the wired and wireless communication units, so as to realize the positioning of personnel on the comprehensive mining face.

Description

Technical Field

[0001] The invention relates to the technical field of fully mechanized mining face positioning, and in particular to a fully mechanized mining face positioning base station and a fully mechanized mining face personnel positioning method. Background Art

[0002] As the depth of coal mining continues to increase and mining technology continues to improve, the coal fully-mechanized mining face is gradually developing towards informatization and automation. In order to effectively ensure the safety of personnel who go deep into the mining face during the advancement of the mining face, prevent equipment injuries, or realize personnel and vehicle positioning, alarm, attendance management and other functions, it is necessary to accurately locate the personnel in the fully-mechanized mining face.

[0003] At present, when it is applied in the comprehensive mining face, the location of the positioning base station is usually planned in advance according to the underground mapping results as a positioning reference point that will not move. Personnel and vehicles carry identification cards, and the positioning base station will regularly send UWB pulse signals to the personnel and vehicle identification cards. The latter receive this signal and return the time information to the positioning base station. The positioning base station uploads the identification card time information to the positioning engine, so that the positioning engine can calculate the precise distance information between the identification card and the positioning base station to realize the positioning of the personnel in the comprehensive mining face.

[0004] However, the above-mentioned method of positioning personnel in the comprehensive mining face is based on the premise that the positioning base station is fixed. As the coal mining process progresses, the positioning base station will move with the hydraulic support. However, in the existing positioning system, the position of the positioning base station must be fixed. Once the position changes, it will seriously affect the measurement results, thereby resulting in low positioning accuracy of personnel in the comprehensive mining face. Summary of the invention

[0005] In view of this, the present invention provides a comprehensive mining face positioning base station and a comprehensive mining face personnel positioning method, which can solve the technical problem of low positioning accuracy of comprehensive mining face personnel.

[0006] To achieve the above-mentioned purpose, the present invention provides a comprehensive mining face positioning base station, which is installed in any hydraulic support of the comprehensive mining face and is used to locate personnel in the comprehensive mining face, and includes: a core processing unit, a base station position sensing unit, a travel sensor data processing unit, a wired and wireless communication unit, and a UWB signal processing unit;

[0007] The core processing unit is connected to the base station position sensing unit and the travel sensor data processing unit, and is used to obtain the movement information of the positioning base station based on the base station position sensing unit and the travel sensor data processing unit, and correct the position coordinates of the positioning base station according to the movement information, wherein the movement information includes the movement distance of the target hydraulic support where the positioning base station is installed relative to other hydraulic supports, the movement direction of the target hydraulic support, and the distance between the target hydraulic support and the scraper;

[0008] The UWB signal processing unit is connected to the core processing unit and is used to detect the identification card information and send the identification card information to the core processing unit, so that the core processing unit sends the location coordinates of the positioning base station and the identification card information to the hydraulic support controller network through the wired and wireless communication units, and uses the hydraulic support controller network to realize the positioning of personnel in the comprehensive mining working face, wherein the identification card information includes the identification card tag and the detection time of the identification card tag.

[0009] Optionally, the base station position sensing unit includes a laser radar and an inertial navigation device, wherein the laser radar is used to detect the moving distance of the target hydraulic support on which the positioning base station is installed relative to other hydraulic supports, and the inertial navigation device is used to detect the moving direction of the target hydraulic support.

[0010] Optionally, the stroke sensor data processing unit includes a stroke sensor disposed between the target hydraulic support and the scraper, and the stroke sensor is used to detect the distance between the target hydraulic support and the scraper.

[0011] Optionally, the fully mechanized mining working face positioning base station further includes a power supply processing unit;

[0012] The power processing unit includes a first-level protection circuit, a second-level protection circuit, and a power conversion circuit, wherein the first-level protection circuit is used to perform overcurrent protection on the power supply when the intrinsically safe DC voltage output by the intrinsically safe power supply in the mine is connected;

[0013] The second-level protection circuit is connected to the first-level protection circuit and is used to suppress the instantaneous current of the conduction voltage when the first-level protection circuit is turned on;

[0014] The power conversion circuit is connected to the second-level protection circuit and is used to convert the conduction voltage into a DC voltage when the second-level protection circuit is turned on, so as to obtain the working voltage of any working unit in the comprehensive mining working face positioning base station.

[0015] Optionally, the first-level protection circuit includes a power management chip and a field effect transistor. The power management chip is connected to the field effect transistor through a first peripheral circuit, and is used to control the on and off of the field effect transistor according to the instantaneous current size at the moment of power-on, thereby realizing overcurrent protection of the power supply.

[0016] Optionally, the second-level protection circuit includes a first diode, a second diode, a first resistor, a second resistor, a third resistor, a first MOS transistor, a second MOS transistor, a polarity capacitor and a thermistor, and the power conversion circuit includes a DC voltage conversion chip;

[0017] The cathode of the first diode is connected to the first end of the first resistor and the second resistor, and the source of the first MOS transistor, and the anode of the first diode is connected to the second end of the first resistor, and the drain of the first MOS transistor;

[0018] The second end of the second resistor and the gate of the first MOS transistor are connected to the source of the second MOS transistor, the gate of the second MOS transistor is connected to the anode of the second diode through the third resistor, the cathode of the second diode is connected to the anode of the first diode, and the drain of the second MOS transistor is grounded;

[0019] The positive electrode of the polarity capacitor is connected to the gate of the second MOS tube, and the negative electrode of the polarity capacitor is grounded;

[0020] The positive electrode of the first diode, the second end of the first resistor, and the drain of the first MOS tube are connected to the second peripheral circuit of the DC voltage conversion chip through the thermistor, so as to transmit the on-voltage of the second-level protection circuit to the DC voltage conversion chip through the second peripheral circuit, and use the DC voltage conversion chip to convert the on-voltage into DC voltage to obtain the working voltage of any working unit in the comprehensive mining working face positioning base station.

[0021] Optionally, the comprehensive mining working face positioning base station also includes an intrinsically safe wireless remote control, which is used to send a control signal to the hydraulic support controller network through the wired and wireless communication units, so that the hydraulic support controller network performs control on the hydraulic support according to the control signal.

[0022] Optionally, the comprehensive mining working face positioning base station includes an LED indicator light, and the LED indicator light is used to prompt the working status of the positioning base station or the hydraulic support controller network.

[0023] Optionally, the comprehensive mining working face positioning base station also includes a data storage module, which is used to store the position coordinates of the positioning base station and the identification card information when the wired and wireless communication unit is abnormal, and after the wired and wireless communication unit is restored, use the wired and wireless communication unit to send the position coordinates of the positioning base station and the identification card information to the hydraulic support controller network.

[0024] According to another aspect of the present application, a method for positioning personnel in a fully-mechanized mining face is provided, and the method is applied to the fully-mechanized mining face positioning base station according to any one of claims 1 to 9, comprising:

[0025] The base station position sensing unit and the travel sensor data processing unit are used to obtain the movement information of the positioning base station, and the position coordinates of the positioning base station are corrected according to the movement information, wherein the movement information includes the movement distance of the target hydraulic support where the positioning base station is installed relative to other hydraulic supports, the movement direction of the target hydraulic support, and the distance between the target hydraulic support and the scraper;

[0026] The UWB signal processing unit is used to detect the identification card information, and the identification card information is sent to the core processing unit, so that the core processing unit sends the position coordinates of the positioning base station and the identification card information to the hydraulic support controller network through the wired and wireless communication units, and the hydraulic support controller network is used to locate the personnel in the comprehensive mining working face, wherein the identification card information includes the identification card tag and the detection time of the identification card tag.

[0027] The present invention provides a method for positioning a base station for a comprehensive mining face and positioning personnel in the comprehensive mining face. The base station for positioning the comprehensive mining face is installed in any hydraulic support of the comprehensive mining face, and is used for positioning personnel in the comprehensive mining face. The base station includes a core processing unit, a base station position sensing unit, a travel sensor data processing unit, a wired and wireless communication unit, and a UWB signal processing unit. The base station position sensing unit and the travel sensor data processing unit can be used to obtain the mobile information of the positioning base station in real time, and the position coordinates of the positioning base station can be corrected according to the mobile information. Further, the UWB signal processing unit can be used to detect the identification card information of the identification card carried by the personnel. Finally, the core processing unit is used to send the position coordinates of the positioning base station and the identification card information to the hydraulic support controller network through the wired and wireless communication unit, and the personnel positioning of the comprehensive mining face is realized by using the hydraulic support controller network. Through the technical solution in the present invention, the positioning base station can realize self-position perception and adjustment of its own position, so as to send the precise position coordinates of the positioning base station to the hydraulic support controller network in real time, thereby ensuring the accuracy of positioning personnel in the comprehensive mining face according to the position coordinates of the positioning base station, ensuring the safety of personnel deep in it, and preventing equipment injury accidents.

[0028] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0030] Figure 1 A schematic structural diagram of a fully mechanized mining face positioning base station provided by an embodiment of the present invention is shown;

[0031] Figure 2 An example schematic diagram of coal mining control in a fully mechanized mining face provided by an embodiment of the present invention is shown;

[0032] Figure 3 A schematic diagram showing another example of coal mining control in a fully mechanized mining face provided by an embodiment of the present invention is shown;

[0033] Figure 4 A circuit connection diagram of a power supply processing unit provided in an embodiment of the present invention is shown;

[0034] Figure 5 A schematic flow chart of a method for positioning personnel in a fully mechanized mining face provided by an embodiment of the present invention is shown;

[0035] Figure 6 It shows a structural schematic diagram of personnel positioning in a traditional fully mechanized mining face provided by an embodiment of the present invention;

[0036] In the figure:

[0037] 1-Core processing unit;

[0038] 2-base station position sensing unit, 21-laser radar, 22-inertial navigation equipment;

[0039] 3-travel sensor data processing unit, 31-travel sensor;

[0040] 4-wired and wireless communication unit;

[0041] 5-UWB signal processing unit;

[0042] 6-power processing unit, 61-first level protection circuit, 62-second level protection circuit, 63-power conversion circuit;

[0043] 7- Intrinsically safe wireless remote control;

[0044] 8-LED indicator light (not shown in the figure);

[0045] 9-Data storage module (not shown in the figure). DETAILED DESCRIPTION

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0050] Combine the following Figures 1 to 4 A base station for positioning a fully mechanized mining face according to some embodiments of the present invention is described.

[0051] Compared with the traditional method of always fixing the position of the positioning base station, the present invention provides a comprehensive mining face positioning base station that can realize self-position perception and self-position adjustment. The comprehensive mining face positioning base station is installed in any hydraulic support of the comprehensive mining face and is used to locate personnel in the comprehensive mining face. Figure 1As shown, the comprehensive mining working face positioning base station may include: a core processing unit 1, a base station position sensing unit 2, a stroke sensor data processing unit 3, a wired and wireless communication unit 4, and a UWB signal processing unit 5; the core processing unit 1 is connected to the base station position sensing unit 2 and the stroke sensor data processing unit 3, and is used to obtain the movement information of the positioning base station based on the base station position sensing unit 2 and the stroke sensor data processing unit 3, and correct the position coordinates of the positioning base station according to the movement information, wherein the movement information includes the movement distance of the target hydraulic support where the positioning base station is installed relative to other hydraulic supports, the movement direction of the target hydraulic support, and the distance between the target hydraulic support and the scraper; the UWB signal processing unit 5 is connected to the core processing unit 1, and is used to detect the identification card information, and send the identification card information to the core processing unit 1, so that the core processing unit 1 sends the position coordinates of the positioning base station and the identification card information to the hydraulic support controller network through the wired and wireless communication unit 4, and uses the hydraulic support controller network to realize the positioning of personnel on the comprehensive mining working face, wherein the identification card information includes the identification card tag and the detection time of the identification card tag.

[0052] In this embodiment, the core processing unit 1 is similar to the CPU of a computer, and can be used to process various data and forwarding corresponding to each unit module in the comprehensive mining face positioning base station, as well as coordinate the effective work of each unit. The wired and wireless communication unit 4 can be an Ethernet unit with a wired RJ45 interface, 100M, 10M or 10M, or an optical fiber interface, and can also support high-speed wireless networks such as Wi-Fi, and also support zigbee, LORA, and 433MHz frequency control wireless networks. In specific application scenarios, such as Figure 1 As shown, the wired and wireless communication unit 4 can be connected to the existing hydraulic support controller network, which is no longer a unique network set up for positioning. It can generally be a CAN bus, or RS485, RS232, etc., which can reduce the network equipment on site and reduce the complexity of the system. Correspondingly, the comprehensive mining face positioning base station can also include an intrinsically safe wireless remote control 7, which is similar to a TV remote control and is used to wirelessly control the on-site hydraulic support. Specifically, it can be used to send a control signal to the hydraulic support controller network through the wired and wireless communication unit 4, so that the hydraulic support controller network performs control of the hydraulic support according to the control signal.

[0053] In a specific application scenario, for example, Figure 1As shown, the base station position sensing unit 2 may include a laser radar 21 and an inertial navigation device 22. Among them, the laser radar 21 is a mature module unit widely used in the fields of unmanned driving, sweepers, indoor personnel detection, etc. By utilizing the principle that laser emission will be reflected by objects and optical triangulation positioning, it can detect objects in the detection area, spatial contours, etc. When used on a positioning base station, the laser radar 21 can regularly detect the relative distance between the target hydraulic support where the positioning base station is installed and other stationary hydraulic supports in the field environment. Its detection surface can rotate 360 ​​degrees, so the distance of objects in all directions can be detected. Figure 2 As shown, hydraulic supports (1) to (5) are in the same position. As the coal mining machine moves, hydraulic support (5) moves to the right by a distance L. If the positioning base station is installed on this hydraulic support, it will definitely cause errors in on-site positioning. At this time, due to the addition of a laser radar, it can detect that it has moved a distance L relative to support 4, thus avoiding positioning errors. In addition, the laser radar 21 can also detect the position of on-site personnel, increasing the function of the base station. The inertial navigation device 22 can specifically be a gyroscope, which is mainly used to detect the movement trend and distance of the positioning base station, such as Figure 2 The hydraulic support (5) may move in the opposite direction relative to the coal mining machine at certain moments, so the inertial navigation device 22 is required to determine the moving direction of the target hydraulic support.

[0054] Correspondingly, for example, Figure 1 As shown, the travel sensor data processing unit 3 may include various travel sensors 31, such as those with 0 to 5V analog signal interfaces, RS485 / RS232 and other digital interfaces, etc. Figure 3 As shown, the travel sensor 31 is generally installed between the hydraulic support and the scraper to measure the distance between the two. The positioning base station installed on the hydraulic support can determine the distance the support has moved based on this data, and then the position of the positioning base station can be corrected based on the moving distance of the target hydraulic support where the positioning base station is installed relative to other hydraulic supports, the moving direction of the target hydraulic support, and the distance between the target hydraulic support and the scraper, that is, the coordinates of the current position of the positioning base station can be re-determined.

[0055] In specific application scenarios, such as Figure 1 as well as Figure 4As shown, the comprehensive mining face positioning base station also includes a power supply processing unit 6; the power supply processing unit 6 includes a first-level protection circuit 61, a second-level protection circuit 62, and a power conversion circuit 63. The first-level protection circuit 61 is used to protect the power supply from overcurrent when the intrinsically safe DC voltage output by the intrinsically safe power supply in the mine is connected; the second-level protection circuit 62 is connected to the first-level protection circuit 61, and is used to suppress the instantaneous current of the conduction voltage when the first-level protection circuit 61 is turned on; the power conversion circuit 63 is connected to the second-level protection circuit 62, and is used to convert the conduction voltage to a DC voltage when the second-level protection circuit 62 is turned on, so as to obtain the working voltage of any working unit in the comprehensive mining face positioning base station. Among them, the intrinsically safe DC voltage input by the first-level protection circuit 61 can be a 12V DC voltage, and the voltage output by the second-level protection circuit 62 is a DC voltage of about 11.3V.

[0056] Among them, the first-level protection circuit 61 is active, using the LTC4210 chip of Lingte Company, which is used to control the current at the moment of power-on and reduce the instantaneous current. Since each device has a load, instantaneous power-on will generate a large instantaneous current, which will be several times higher than the normal working current. The duration of the instantaneous current is about tens of us to several ms, which has a great impact on the power supply. Sometimes it will cause the power supply to be protected due to excessive instantaneous current, resulting in the failure of the rear-end load to be powered on normally, especially for power supply equipment in mines. For safety reasons, the power supply capacity is low, and the overcurrent protection speed is very fast. Usually, after the instantaneous current exceeds the protection current, it will be powered off after tens of us. Therefore, it is very necessary to add this circuit for protection. At the same time, the starting voltage can also be set to avoid repeated restarts of the system under low voltage conditions. Specifically, if Figure 4 As shown, the first level protection circuit 61 includes a power management chip U37 (LTC4210 chip) and a field effect transistor Q50 (YJS18N03A). The power management chip U37 is connected to the power supply via a Figure 4 The first peripheral circuit shown in is connected to the field effect transistor Q50, and is used to control the on and off of the field effect transistor Q50 according to the instantaneous current size at the moment of power-on, so as to realize overcurrent protection of the power supply. When the instantaneous current is greater than the first preset current threshold or less than the second preset current threshold, the field effect transistor Q50 can be controlled to be turned off; when the instantaneous current is less than or equal to the first preset current threshold and greater than or equal to the second preset current threshold, the field effect transistor Q50 can be controlled to be turned on, wherein the first preset current threshold is greater than the second preset current threshold, and the specific current threshold setting size can be set according to the actual application scenario, and is not specifically limited here.

[0057] Correspondingly, the second level protection circuit 62 is a transient current suppression circuit composed of discrete components that can conditionally start the voltage, such as Figure 4As shown, the second-stage protection circuit 62 includes a first diode D2, a second diode D5, a first resistor R3, a second resistor R2, a third resistor R4, a first MOS transistor Q1 (IRLML5203), a second MOS transistor Q2 (2N7002K), a polarity capacitor C3 and a thermistor FR1, and the power conversion circuit 63 includes a DC voltage conversion chip U1 (RT7297B); the cathode of the first diode D2 is connected to the first end of the first resistor R3 and the second resistor R2, and the source of the first MOS transistor Q1, the anode of the first diode D2 is connected to the second end of the first resistor R3 and the drain of the first MOS transistor Q1; the second end of the second resistor R2 and the gate of the first MOS transistor Q1 are connected to the source of the second MOS transistor Q2, and the gate of the second MOS transistor Q1 is connected to the gate of the second MOS transistor Q2. The gate of the OS tube Q2 is connected to the positive electrode of the second diode D5 through the third resistor R4, the negative electrode of the second diode D5 is connected to the positive electrode of the first diode D2, and the drain of the second MOS tube D5 is grounded; the positive electrode of the polarity capacitor C3 is connected to the gate of the second MOS tube Q2, and the negative electrode of the polarity capacitor C3 is grounded; the positive electrode of the first diode D2, the second end of the first resistor R3, and the drain of the first MOS tube Q1 are connected to the second peripheral circuit of the DC voltage conversion chip U1 through the thermistor FR1, which is used to transmit the turn-on voltage of the second-level protection circuit 62 to the DC voltage conversion chip U1 through the second peripheral circuit, and use the DC voltage conversion chip U1 to convert the turn-on voltage into DC voltage to obtain the working voltage of any working unit in the comprehensive mining working face positioning base station. When the second-level protection circuit 62 is working, when the on-voltage input of the first-level protection circuit 61 exceeds the on-voltage composed of the second diode D5 (MMSZ5228B-7-F) and the second MOS tube Q2 (2N7002K) (this circuit is set to 3.9+1.5=6.4v), the polar capacitor C3 is slowly charged through the third resistor R4, so that the second MOS tube Q2 is slowly turned on, and then the first MOS tube Q1 is turned on, and the on-voltage passes through the first MOS tube Q1 and the thermistor FR1 to power the DC voltage conversion chip U1 (RT7297B), and the DC voltage conversion chip U1 is further used to convert the 12v DC voltage into the working voltage of each unit module in the comprehensive mining working face positioning base station, wherein the working voltage of each unit module can be set according to the actual application scenario, such as 5v, 3.3v and other low voltages.

[0058] In a specific application scenario, in order to provide a prompt for the working status of the positioning base station or the hydraulic support controller network, the comprehensive mining face positioning base station may also include an LED indicator light 8, which can be used to flash or remain lit when the positioning base station or the hydraulic support controller network is working normally, fails, or successfully establishes communication. Among them, the working time of the LED indicator light, and the working status of the corresponding indicator light during operation (such as light color, flashing cycle, flashing duration, etc.) can be customized according to user needs, and no specific limitation is made here. For this embodiment, by adding an LED indicator light to the comprehensive mining face positioning base station, it is possible to share functions with the existing control system and reduce the complexity of on-site equipment.

[0059] In a specific application scenario, in order to achieve effective and timely control of the hydraulic support, as an optional method, the comprehensive mining face positioning base station also includes a data storage module 9, which is used to store the position coordinates and identification card information of the positioning base station when the wired and wireless communication units are abnormal, and after the wired and wireless communication units are restored, the wired and wireless communication units are used to send the position coordinates and identification card information of the positioning base station to the hydraulic support controller network. Exemplarily, the data storage module 9 can be the positioning base station's own data storage (RAM).

[0060] The present invention provides a method for positioning personnel in a fully-mechanized mining face applied to the above-mentioned fully-mechanized mining face positioning base station, see Figure 5 , which may include the following steps:

[0061] 101. Use the base station position sensing unit and the travel sensor data processing unit to obtain movement information of the positioning base station, and correct the position coordinates of the positioning base station according to the movement information.

[0062] The movement information includes the movement distance of the target hydraulic support where the positioning base station is installed relative to other hydraulic supports, the movement direction of the target hydraulic support, and the distance between the target hydraulic support and the scraper.

[0063] 102. Use the UWB signal processing unit to detect the identification card information and send the identification card information to the core processing unit, so that the core processing unit sends the location coordinates of the positioning base station and the identification card information to the hydraulic support controller network through the wired and wireless communication units, and uses the hydraulic support controller network to realize the positioning of personnel in the comprehensive mining working face.

[0064] The identification card information includes the identification card label and the detection time of the identification card label.

[0065] In existing application scenarios, when positioning personnel in fully mechanized mining working faces, Figure 6As shown, the method adopted is: a positioning engine is arranged on the ground, generally a PC with an x86 architecture, to provide positioning algorithm services. An industrial Ethernet switch is used to communicate with underground equipment. A ring network switch is configured underground, generally multiple, for data communication between the ground and underground. The card reader substation and personnel and vehicle identification cards form a positioning network. The card reader substation uploads the identification card data to the ground positioning engine through the ring network switch. It can also cache the positioning data on the card reader substation through different algorithms. After the network is restored, the positioning engine calculates the identification card position. The card reader substation is used as a positioning base station and cannot be moved, otherwise the positioning will be biased. Usually, when applied in the comprehensive mining face, a fixed base station is installed on the hydraulic support, and high-power Wi-Fi or Bluetooth wireless communication or wired Ethernet communication is used between the positioning base stations. Personnel carry identification cards (tags), and the card reading substation receives the radio frequency signal sent by the identification card. The substation temporarily stores the employee data it receives and the detected time in its own data storage (RAM). When the positioning engine host inspects, it is transmitted to the positioning engine database through the optical cable transmission interface, and then the data is judged, analyzed, and processed, thereby realizing various functions such as personnel and vehicle positioning, alarm, and attendance management. At this time, the role of the positioning base station in the system: 1. As a positioning reference point, the positioning base station will plan the base station location in advance according to the underground surveying and mapping results in the early stage, as a positioning reference point that will not move; 2. Regularly send UWB pulse signals to personnel and vehicle identification cards, which receive this signal and return the time information to the positioning base station; 3. The positioning base station uploads the identification card time information to the ring network switch, and finally uploads it to the well positioning engine; 4. The positioning engine calculates the precise distance information between the identification card and the positioning base station through an algorithm; 5. Since the base station is fixed, the location of the identification card can be determined by this distance information.

[0066] Correspondingly, the traditional positioning base station has the following shortcomings: 1. The positioning base station can only rely on manual distance measurement in the early stage of installation. The environment of the comprehensive mining working face is complex and manual distance measurement is difficult; 2. As the coal mining process progresses, the positioning base station will move with the hydraulic support, but in the existing positioning system, the position of the positioning base station (card reading substation) must be fixed. Once the position changes, it will seriously affect the measurement results; 3. The positioning base station has a single function and is only used as a base station, which increases the complexity of the system; 4. The on-site equipment is highly complex.

[0067] In view of this, in the present invention, by adding a base station position sensing unit and a travel sensor data processing unit to the positioning base station, the self-position sensing of the positioning base station and the dynamic adjustment of its own position can be realized, so that the position measurement is more accurate; in addition to being compatible with other existing functions in the wired and wireless communication units, wireless communication functions such as zigbee and WiFi, as well as commonly used wired communication functions, are also added, and the wired and wireless communication units can also be connected to the electro-hydraulic support controller system, so that the comprehensive mining working face positioning base station is no longer a unique network set up solely for positioning, and can also be connected to an intrinsically safe wireless remote control for wireless control of the on-site hydraulic support, and a high-brightness LED can also be added to achieve function sharing with the existing control system, which can achieve compatibility with other equipment functions and reduce system complexity; in addition, active and passive two-stage power supply instantaneous protection circuits can be added to the power supply circuit to reduce the impact of instantaneous current on the on-site power supply system.

[0068] Through the method of positioning personnel in the comprehensive mining face in this application, the base station position sensing unit and the travel sensor data processing unit can be used to obtain the mobile information of the positioning base station in real time, and the position coordinates of the positioning base station can be corrected according to the mobile information; further, the UWB signal processing unit can be used to detect the identification card information of the identification card carried by the personnel; finally, the core processing unit is used to send the position coordinates of the positioning base station and the identification card information to the hydraulic support controller network through the wired and wireless communication units, and the hydraulic support controller network is used to realize the positioning of personnel in the comprehensive mining face. Through the technical solution in the present invention, the positioning base station can realize self-position perception and adjustment of its own position, so as to send the precise position coordinates of the positioning base station to the hydraulic support controller network in real time, thereby ensuring the accuracy of positioning personnel in the comprehensive mining face according to the position coordinates of the positioning base station, ensuring the safety of personnel deep in it, and preventing equipment injuries. In addition, through the design of the two-stage power supply instantaneous protection circuit, the impact of instantaneous current on the on-site power supply system can be reduced, and by being compatible with other equipment functions, the functions of the positioning base station can be enriched and the system complexity can be reduced.

[0069] All articles and references disclosed above, including patent applications and publications, are incorporated herein by reference for all purposes. The term "consisting essentially of..." describing a combination should include the identified elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel features of the combination. The use of the terms "comprising" or "including" to describe the combination of elements, ingredients, parts or steps herein also contemplates embodiments that are essentially composed of these elements, ingredients, parts or steps. By using the term "may", it is intended to illustrate that any attribute described that "may" include is optional.

[0070] Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "an" used to describe an element, ingredient, part or step is not intended to exclude other elements, ingredients, parts or steps.

[0071] It should be understood that the above description is for illustration and not for limitation. By reading the above description, many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art. Therefore, the scope of the present teaching should not be determined with reference to the above description, but should be determined with reference to the preceding claims and the full scope of equivalents possessed by these claims. For the purpose of comprehensiveness, all articles and references, including the disclosures of patent applications and announcements, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the preceding claims is not intended to abandon the subject matter, nor should it be considered that the applicant has not considered the subject matter as part of the disclosed inventive subject matter. Obviously, various changes and modifications can be made to the present invention by those skilled in the art without departing from the spirit and scope of the present invention. Thus, if these 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 these changes and variations.

Claims

1. A fully mechanized mining face positioning base station, characterized in that: The fully mechanized mining face positioning base station is installed in any hydraulic support of the fully mechanized mining face, and is used to locate personnel in the fully mechanized mining face, and includes: a core processing unit, a base station position sensing unit, a travel sensor data processing unit, a wired and wireless communication unit, and a UWB signal processing unit; The core processing unit is connected to the base station position sensing unit and the travel sensor data processing unit, and is used to obtain the movement information of the positioning base station based on the base station position sensing unit and the travel sensor data processing unit, and correct the position coordinates of the positioning base station according to the movement information, wherein the movement information includes the movement distance of the target hydraulic support where the positioning base station is installed relative to other hydraulic supports, the movement direction of the target hydraulic support, and the distance between the target hydraulic support and the scraper; The UWB signal processing unit is connected to the core processing unit, and is used to detect the identification card information and send the identification card information to the core processing unit, so that the core processing unit sends the position coordinates of the positioning base station and the identification card information to the hydraulic support controller network through the wired and wireless communication units, and uses the hydraulic support controller network to realize the positioning of personnel in the comprehensive mining working face, wherein the identification card information includes the identification card tag and the detection time of the identification card tag; The fully mechanized mining face positioning base station also includes a power supply processing unit; The power processing unit includes a first-level protection circuit, a second-level protection circuit, and a power conversion circuit, wherein the first-level protection circuit is used to perform overcurrent protection on the power supply when the intrinsically safe DC voltage output by the intrinsically safe power supply in the mine is connected; The second-level protection circuit is connected to the first-level protection circuit and is used to suppress the instantaneous current of the conduction voltage when the first-level protection circuit is turned on; The power conversion circuit is connected to the second-level protection circuit, and is used to convert the conduction voltage into a DC voltage when the second-level protection circuit is turned on, so as to obtain the working voltage of any working unit in the comprehensive mining working face positioning base station; The second-level protection circuit includes a first diode, a second diode, a first resistor, a second resistor, a third resistor, a first MOS transistor, a second MOS transistor, a polarity capacitor and a thermistor, and the power conversion circuit includes a DC voltage conversion chip; The cathode of the first diode is connected to the first end of the first resistor and the second resistor, and the source of the first MOS transistor, and the anode of the first diode is connected to the second end of the first resistor, and the drain of the first MOS transistor; The second end of the second resistor and the gate of the first MOS transistor are connected to the source of the second MOS transistor, the gate of the second MOS transistor is connected to the anode of the second diode through the third resistor, the cathode of the second diode is connected to the anode of the first diode, and the drain of the second MOS transistor is grounded; The positive electrode of the polarity capacitor is connected to the gate of the second MOS tube, and the negative electrode of the polarity capacitor is grounded; The positive electrode of the first diode, the second end of the first resistor, and the drain of the first MOS tube are connected to the second peripheral circuit of the DC voltage conversion chip through the thermistor, so as to transmit the on-voltage of the second-level protection circuit to the DC voltage conversion chip through the second peripheral circuit, and use the DC voltage conversion chip to convert the on-voltage into DC voltage to obtain the working voltage of any working unit in the comprehensive mining working face positioning base station.

2. The fully mechanized mining face positioning base station according to claim 1, characterized in that: The base station position sensing unit includes a laser radar and an inertial navigation device. The laser radar is used to detect the moving distance of the target hydraulic support where the positioning base station is installed relative to other hydraulic supports, and the inertial navigation device is used to detect the moving direction of the target hydraulic support.

3. The fully mechanized mining face positioning base station according to claim 1, characterized in that: The stroke sensor data processing unit includes a stroke sensor disposed between the target hydraulic support and the scraper, and the stroke sensor is used to detect the distance between the target hydraulic support and the scraper.

4. The fully mechanized mining face positioning base station according to claim 1, characterized in that: The first-level protection circuit includes a power management chip and a field effect transistor. The power management chip is connected to the field effect transistor through a first peripheral circuit and is used to control the on and off of the field effect transistor according to the instantaneous current size at the moment of power-on to achieve overcurrent protection of the power supply.

5. The fully mechanized mining face positioning base station according to claim 1, characterized in that: The comprehensive mining working face positioning base station also includes an intrinsically safe wireless remote control, which is used to send a control signal to the hydraulic support controller network through the wired and wireless communication units, so that the hydraulic support controller network can control the hydraulic support according to the control signal.

6. The fully mechanized mining face positioning base station according to claim 1, characterized in that: The comprehensive mining working face positioning base station includes an LED indicator light, and the LED indicator light is used to prompt the working status of the positioning base station or the hydraulic support controller network.

7. The fully mechanized mining face positioning base station according to claim 1, characterized in that: The comprehensive mining working face positioning base station also includes a data storage module, which is used to store the position coordinates of the positioning base station and the identification card information when the wired and wireless communication unit is abnormal, and after the wired and wireless communication unit is restored, use the wired and wireless communication unit to send the position coordinates of the positioning base station and the identification card information to the hydraulic support controller network.

8. A method for positioning personnel in a fully mechanized mining face, characterized in that: The method is applied to the fully mechanized mining face positioning base station according to any one of claims 1 to 7, comprising: The base station position sensing unit and the travel sensor data processing unit are used to obtain the movement information of the positioning base station, and the position coordinates of the positioning base station are corrected according to the movement information, wherein the movement information includes the movement distance of the target hydraulic support where the positioning base station is installed relative to other hydraulic supports, the movement direction of the target hydraulic support, and the distance between the target hydraulic support and the scraper; The identification card information is detected by using the UWB signal processing unit, and the identification card information is sent to the core processing unit, so that the core processing unit sends the position coordinates of the positioning base station and the identification card information to the hydraulic support controller network through the wired and wireless communication units, and the personnel positioning of the fully mechanized mining working face is realized by using the hydraulic support controller network, wherein the identification card information includes the identification card tag and the detection time of the identification card tag; The fully mechanized mining face positioning base station further includes a power processing unit, and the power processing unit includes a first-level protection circuit, a second-level protection circuit, and a power conversion circuit; the method further includes: The first-level protection circuit provides overcurrent protection for the power supply when it is connected to the intrinsically safe DC voltage output by the intrinsically safe power supply in the mine; The second level protection circuit performs instantaneous current suppression on the conduction voltage when the first level protection circuit is turned on; When the second-level protection circuit is turned on, the power conversion circuit converts the conduction voltage into a DC voltage to obtain the working voltage of any working unit in the comprehensive mining working face positioning base station; The second-level protection circuit includes a first diode, a second diode, a first resistor, a second resistor, a third resistor, a first MOS transistor, a second MOS transistor, a polarity capacitor and a thermistor, and the power conversion circuit includes a DC voltage conversion chip; The cathode of the first diode is connected to the first end of the first resistor and the second resistor, and the source of the first MOS transistor, and the anode of the first diode is connected to the second end of the first resistor, and the drain of the first MOS transistor; The second end of the second resistor and the gate of the first MOS transistor are connected to the source of the second MOS transistor, the gate of the second MOS transistor is connected to the anode of the second diode through the third resistor, the cathode of the second diode is connected to the anode of the first diode, and the drain of the second MOS transistor is grounded; The positive electrode of the polarity capacitor is connected to the gate of the second MOS tube, and the negative electrode of the polarity capacitor is grounded; The positive electrode of the first diode, the second end of the first resistor, and the drain of the first MOS tube are connected to the second peripheral circuit of the DC voltage conversion chip through the thermistor, so as to transmit the on-voltage of the second-level protection circuit to the DC voltage conversion chip through the second peripheral circuit, and use the DC voltage conversion chip to convert the on-voltage into DC voltage to obtain the working voltage of any working unit in the comprehensive mining working face positioning base station.

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