A coal mine underground airborne inertial navigation 5G wireless communication system and method

Abstract

The present invention discloses a coal mine underground airborne inertial navigation 5G wireless communication system and method, including a ground dispatching information center and a mining face communication system; the mine inertial navigation device signal is connected to the mine 5G private network, and the position and posture of the mining machine and the inertial navigation data information in the production process are transmitted to the ground; the underground centralized control center controls the host to connect to the inertial navigation system server through the underground working face 10G network to realize the sending and receiving of mine inertial navigation device data; the 10G industrial ring network receives the mine inertial navigation device data and sends the inertial navigation control instructions; the mine 5G private network core switch realizes access and mobile management through three-layer interconnection routing configuration, and reports the establishment of access request and security isolation on the core network. Through system configuration and architecture fusion, end-to-end data interaction from the inertial navigation system server to the airborne inertial navigation device of the underground working face mining machine is realized, meeting the application needs of mine inertial navigation system communication delay, channel bandwidth, and communication stability.

Description

Technical Field

[0001] The present invention relates to a wireless communication method and system for underground coal mines, and in particular to an airborne inertial navigation 5G wireless communication system and method for underground coal mines. Background Art

[0002] The current communication method between the mine inertial navigation system and the host computer server is as follows: the inertial navigation system is installed on a low-speed mobile carrier in the coal mine, and the inertial navigation data is transmitted to the host computer server for data solution through wired channels such as RS422 serial communication, power cable carrier communication, composite power cable control core line communication, and optical fiber communication. In the production process of coal mines, due to frequent movement of equipment, coal falling, rock falling, and water immersion, the communication line is often squeezed, bent, and damaged. The wired communication medium (network cable, optical cable, communication cable, serial communication line, etc.) is easily damaged, resulting in abnormal communication of the airborne inertial navigation system. The existing data communication stability is difficult to meet the needs of long-term stable operation of the system.

[0003] Wired communication has many technical difficulties, such as difficulty in laying channel cables, insufficient communication stability, high maintenance costs, low communication speed, and insufficient communication real-time performance.

[0004] Wireless communication technology is used in coal mines underground. WiFi is a commonly used wireless communication technology in coal mines. Many coal mining and tunneling working faces in mines have achieved signal coverage. However, due to the limitations of the communication principles of WiFi technology, there are channel quality problems such as station jumping or insufficient communication stability, and the communication reliability cannot meet the system requirements.

[0005] Inertial navigation 5G wireless communication method: The inertial navigation is installed underground in a coal mine and applied to the low-speed carrier body underground in the coal mine. The real-time collected carrier position and attitude information is transmitted to the interface conversion component through the serial communication port. The interface conversion component needs to transmit the inertial navigation data to the host computer server through the channel for data solution. Summary of the invention

[0006] In order to solve the above-mentioned defects existing in the prior art, the purpose of the present invention is to provide a 5G wireless communication system and communication method for mine inertial navigation. Through the interface conversion component and the 5GCPE communication module, the inertial navigation data is connected to the mine 5G private network through the mine intrinsically safe 5G module. The inertial navigation host server realizes the reception and communication of inertial navigation data through the 5G private network, so as to meet the application requirements of the mine inertial navigation system in terms of communication delay, channel bandwidth and communication stability.

[0007] The object of the present invention is achieved through the following technical solutions.

[0008] In one aspect, the present invention provides an underground coal mine airborne inertial navigation 5G wireless communication system, including a ground dispatching information center and a mining face communication system;

[0009] The ground dispatch information center includes the ground dispatch command center control host, 10G industrial ring network switch, inertial navigation system server, mining 5G private network core switch, 5GC core network server and security isolation firewall;

[0010] The mining face communication system includes a 10G network switch for the underground working face, a control host for the underground centralized control center, a 5G edge computing server, a mine inertial navigation device, a mine 5G base station controller, and a mine 5G base station;

[0011] The signal of the mine inertial navigation device is connected to the mine 5G base station, the signal of the mine 5G base station is connected to the mine 5G base station controller, and the signal of the mine 5G base station controller is connected to the 5G edge computing server and the mine 5G private network core switch respectively, so as to transmit the position and posture of the mining machine and the inertial navigation data information during the production process to the ground;

[0012] The control host of the underground centralized control center is connected to the 10G industrial ring network switch through the 10G network switch of the underground working face; the core switch of the mining 5G private network is connected to the 10G industrial ring network switch through the security isolation firewall; the 10G industrial ring network switch is connected to the inertial navigation system server to send and receive data from the mining inertial navigation device; the 10G industrial ring network switch is connected to the control host of the ground dispatching and command center to receive data from the mining inertial navigation device and send inertial navigation control instructions;

[0013] The core switch of the mining 5G private network is connected to the 5GC core network server, the mining 5G base station controller and the security isolation firewall respectively, and realizes access and mobility management, and reports access requests and security isolation on the core network through three-layer interconnection routing configuration.

[0014] Preferably, the ground dispatch information center includes:

[0015] The control host of the ground dispatch command center is used to log in to the inertial navigation system server and configure and modify the working surface parameters and communication methods;

[0016] The 10G industrial ring network switch is used to connect to the 10G ring network switch of the underground working face, the inertial navigation system server and the 5G private network core switch, respectively, to achieve access control and integrated docking between the industrial network and the mining 5G private network based on three-layer interconnection;

[0017] The inertial navigation system server is used to calculate the inertial navigation data uploaded by the core switch of the 5G private network for mining in real time, display the position and posture information of the underground mining machine in real time, and issue operation instructions to the mining inertial navigation device in the coal mine;

[0018] The 5G private network core switch for mining is used for access control and integration with the 5G base station controller for mining and the 10G industrial ring network switch;

[0019] 5GC core network server, used to realize information carrying and management with the core switch of the mining 5G private network;

[0020] The security isolation firewall is used to isolate and protect the mining 5G private network core switch and the 10G industrial ring network switch network.

[0021] Preferably, the mining face communication system comprises:

[0022] The underground centralized control center control host is used to remotely control the mining machines on the working face, realizing remote centralized management and operation control of the production equipment on the mining working face;

[0023] The 10G network switch of the underground working face is used to aggregate the access and data exchange of various control hosts in the centralized control center of the underground coal mining working face, and realize the aggregation access and routing forwarding of mining 5G private network business data and industrial ring network production control data;

[0024] 5G edge computing server, used for local traffic diversion of mining 5G base station controller;

[0025] The mining inertial navigation device is installed and deployed on the body of the mining machine at the underground coal mining face. It is used to measure the position and posture information of the mining machinery in real time, upload information data through the mining 5G private network, and receive control instructions issued by the control host and inertial navigation system server of the ground dispatching command center;

[0026] Mine 5G base station controller, used for 5G base station signal modulation, demodulation and protocol analysis, wireless signal transmission, and providing 5G signal coverage for mines;

[0027] The mining 5G base station is used to analyze and amplify the baseband signal of the mining 5G base station controller, receive the 5G CPE communication module signal from the mining inertial navigation device, and digitally process and transmit it to the mining 5G base station controller.

[0028] As a preference, when it is necessary to improve the real-time and solution efficiency of data communication between the mining inertial navigation device and the inertial navigation system server at the underground working face, a 5G edge computing server is used to carry the inertial navigation system service to reduce communication delay.

[0029] Preferably, the mining 5G base station controller is installed in the underground mining face monitoring center, and connected to the mining 5G private network core switch deployed on the ground through a 10 Gigabit optical link to achieve communication with the 5GC core network server, 5G private network baseband signal modulation, demodulation and protocol analysis.

[0030] Preferably, the mining inertial navigation device comprises an inertial measurement unit, an interface conversion component and a 5G CPE communication module, a power supply system unit and an auxiliary calibration sensor; the inertial measurement unit, the interface conversion component and the 5G CPE communication module are connected in sequence, and the auxiliary calibration sensor is connected through the interface conversion component;

[0031] The power supply system unit includes a power protection unit and an AC / DC power supply, and the AC / DC power supply is connected to the inertial measurement unit and the airborne auxiliary calibration sensor respectively.

[0032] Preferably, the interface conversion component includes an inertial measurement unit, an encoder, a CAN conversion module, a debugging serial port and a network port respectively connected to the FPGA;

[0033] The inertial measurement unit is connected to the FPGA via an RS422 isolation transceiver;

[0034] The encoder and the CAN conversion module are respectively connected to the FPGA through a protection / matching circuit, an isolated CAN transceiver, a CAN bus controller and a CAN level converter which are connected in sequence;

[0035] The debugging serial port is connected to the FPGA via an RS232 driver and a level converter;

[0036] The network port is connected to the FPGA via an Ethernet transformer and an Ethernet transceiver.

[0037] Preferably, the airborne 5G CPE communication module includes an interface board and an antenna unit, the interface board includes a CPU and a 5G module, and the interface board is connected to the antenna unit through a low-frequency antenna, a medium-frequency antenna, a high-frequency antenna and a GPS antenna, respectively.

[0038] In another aspect, the present invention provides a coal mine underground airborne inertial navigation 5G wireless communication method of the system, comprising:

[0039] The mine-borne inertial navigation device collects the position and attitude information of the mining machine at the underground working face of the coal mine in real time during the production process; the acquired position and attitude information of the mining machine is transmitted to the mine-used 5G base station;

[0040] The mining 5G base station analyzes and amplifies the baseband signal, receives the 5G CPE communication module signal from the mining inertial navigation device, and transmits it to the mining 5G base station controller after digital processing;

[0041] The mining 5G base station controller performs local traffic diversion configuration, and the mining inertial navigation data is forwarded, solved and processed locally through the 5G edge computing server;

[0042] The mining 5G base station controller uploads the real-time collected mining machine position and posture information to the mining 5G private network core switch, and realizes the interconnection between the mining 5G private network and the 10G industrial ring network through the security isolation firewall, so as to realize the communication between the mining inertial navigation device and the inertial navigation system server;

[0043] The 5GC core network server, the 5G private network core switch for mining, the 5G base station controller for mining and the 5G base station for mining together constitute the 5G private network for mining, realizing the data transmission of the 5G private network for mining;

[0044] The inertial navigation system server receives the working status of the mining inertial navigation device and the position and posture information of the mining machine through the mining 5G private network, and stores and solves them;

[0045] The control host of the ground dispatching information center and the control host of the underground centralized control center realize the display of the WEB interface of the inertial navigation system server data and the operation control of the mining inertial navigation device; the control host of the underground centralized control center realizes the operation control and parameter configuration of the mining inertial navigation device through the connection of the 10 Gigabit industrial ring network switch of the underground working face with the 10 Gigabit industrial ring network switch on the ground.

[0046] As a preferred method, the mine-borne inertial navigation device collects the position and posture information of the mining machine at the underground working face of the coal mine in real time during the production process, including:

[0047] S101, the working face mining machine starts the inertial measurement unit, the inertial measurement unit is connected to the 5G CPE communication module through the interface conversion component, and sends the mining machine position and posture information to the 5G CPE communication module;

[0048] S102, 5G CPE communication module is connected to the 5G base station for mining at the working face through the RF antenna;

[0049] S103, receiving the control command issued by the mining 5G base station through the 5G CPE communication module, the inertial measurement unit completes the alignment and enters the navigation state by feeding back the working status to the mining 5G base station in real time;

[0050] S104, the inertial measurement unit uploads the position and attitude information of the mining machine in real time through the mine 5G private network, and receives the operation instructions of the inertial navigation system server through the 10G industrial ring network switch, the 10G ring network switch of the underground working face and the mine 5G private network;

[0051] S105, the mining machine stops, and the inertial navigation system server, the ground dispatch command center control host and the underground centralized control center control host detect that the communication of the inertial navigation measurement device is interrupted until the inertial measurement unit and the airborne 5G CPE communication module are turned on and run again. After connecting to the mining 5G private network, the system repeats the work process of steps S101 to S104.

[0052] The present invention adopts the above technical solution, which has the following beneficial effects:

[0053] 1. The present invention adopts a method of configuring a mining inertial navigation device on the electrical control box of an underground mining machine, communicating with the 5G private network through a 5G CPE communication module, and realizing the conversion of the inertial navigation interface protocol from serial communication to Ethernet communication protocol through an interface conversion component, thereby realizing the network adaptation application of the 5G CPE communication module and the interface conversion component, and solving the current situation in which the existing communication technology cannot meet the application of inertial navigation system communication engineering in terms of real-time performance, stability, installation and maintenance convenience, etc.

[0054] 2. Through the security isolation firewall protection strategy and routing parameter configuration, the integration and docking of the mining 5G private network and the mining 10G industrial ring network are realized, and the data interaction and end-to-end data communication between the 5G terminal equipment (mining inertial navigation device) and the inertial navigation system server are realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute an improper limitation of the present invention. In the drawings:

[0056] Figure 1 This is the architecture diagram of the mining inertial navigation 5G wireless communication system;

[0057] Figure 2 This is the communication architecture diagram between the mine inertial navigation device and the mine 5G system on the working face;

[0058] Figure 3 This is the working flow diagram of the mining inertial navigation device based on 5G communication;

[0059] Figure 4 This is the system architecture diagram of the interface conversion component;

[0060] Figure 5 This is the system architecture diagram of the 5GCPE communication module.

[0061] Figure 6 This is the layout diagram of the 5G private network communication system for the underground coal mining face in a coal mine. DETAILED DESCRIPTION

[0062] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0063] like Figure 1 As shown, the coal mine underground airborne inertial navigation 5G wireless communication system provided by the embodiment of the present invention includes a ground dispatching information center and a mining working face communication system.

[0064] Among them, the ground dispatching information center includes the ground dispatching command center control host, 10 Gigabit industrial ring network switch, inertial navigation system server, mining 5G private network core switch, 5GC core network server and security isolation firewall.

[0065] The control host of the ground dispatching and command center is used to log in to the inertial navigation system server, realize the display of the inertial navigation system software interface, check the system communication status, operation status, working face excavation information, query the system historical trajectory curve data, configure and modify the working face parameters, communication methods, etc.

[0066] The 10 Gigabit industrial ring network switch is used to connect to the 10 Gigabit ring network switch of the underground working face, the inertial navigation system server and the 5G private network core switch respectively, to realize the three-layer interconnection of the mine industrial production network, the configuration of the underground related network segment gateway, routing and other parameters, and to realize the access control and integrated docking of the industrial network and the mine 5G private network based on the three-layer interconnection.

[0067] The inertial navigation system server is used to realize the automatic solution of the inertial navigation data uploaded in real time based on the core switch of the 5G private network for mining through the inertial navigation system host computer service software and database software, and to display the position and posture information of the mining machine obtained through the coal mining face of the underground mining machine in real time, automatically store the straightness detection curve of the working face, and calculate and output the straightening parameters of the hydraulic support electro-hydraulic control system. When the operation instructions are issued to the underground mining inertial navigation device of the coal mine through the 10G industrial ring network switch, and the interface conversion component forwards the operation instruction data to the security isolation firewall, the security isolation firewall forwards the operation instruction data to the built-in 5G CPE module of the inertial navigation under the 5G private network through the cross-segment (5G network segment, industrial ring network segment) intercommunication strategy, communication protocol, and port configuration through the three-layer interconnection routing, so as to realize the operation and control of the inertial navigation by the inertial navigation system server (industrial cloud server) or the control host.

[0068] Among them, the 5G network segment is a 5G private network for mining, which is composed of 5GC core network servers, 5G private network core switches for mining, 5G base station controllers for mining and 5G base stations for mining. The industrial ring network segment is an industrial production network, which is composed of 10G industrial ring network switches and 10G ring network switches for underground working faces.

[0069] The 5G private network core switch for mining is used to configure the gateway, routing and other parameters of the relevant network segments of the 5G private network for mining, and realize access control and integration with the underground 5G base station controller and the 10G industrial ring network switch. The 5G private network core switch for mining converges and connects the 5GC core network server, the 5G base station controller for mining, and the security isolation firewall. The three types of equipment are interconnected and integrated through the three-layer interconnection routing configuration: (1) The 5GC core network server realizes access and mobility management and session management functions through the 5G private network core switch for mining, and performs authentication services for the 5G CPE module or smart terminal 5G private network access request, realizing the bearing and management of the core business of the 5G private network for mining. (2) The 5G base station controller for mining reports the area establishment request and terminal access request to the 5GC core network server by connecting to the 5G private network core switch routing. (3) The security isolation firewall controls the data interaction requests of the mining 5G private network to the mine's 10 Gigabit industrial ring network through the three-layer interconnection of the mining 5G private network core switch, thereby achieving secure isolation between the 10 Gigabit industrial ring network and the mining 5G private network.

[0070] The 5GC core network server is used to realize information carrying and management with the core switch of the mining 5G private network based on the 3GPP R15 standard protocol through network element structures such as the mining 5G private network service software (mainly including access and mobility management functions, session management functions, user plane functions, authentication server functions, unified data management functions, and storage functions).

[0071] The security isolation firewall is installed in the computer room of the ground dispatching information center. It connects the 10G industrial ring network switch and the mining 5G private network core switch through the three-layer interconnection interface address. It is used to isolate and protect the mining 5G private network core switch and the 10G industrial ring network switch network. Through network segment division, security policy configuration, communication protocol management, routing management and other parameter configurations, it realizes data interoperability control and business management between the mining 5G private network and the industrial production network.

[0072] Among them, the underground mining face communication system includes the underground working face 10 Gigabit Network switch, the underground centralized control center control host, the 5G edge computing server, the mine inertial navigation device, the mine 5G base station controller and the mine 5G base station.

[0073] The 10 Gigabit network switch at the underground working face is used for the converged access and data interaction of various control hosts in the underground coal mining working face centralized control center, realizing the converged access and routing forwarding of mining 5G private network business data and industrial ring network production control data.

[0074] The control host of the underground centralized control center is used for the installation, deployment and system display of the service software of each production system of the mining face. The production technicians at the production site can remotely control the mining machines on the working face through the control host, thereby realizing remote centralized management and operational control of the production equipment of the mining working face.

[0075] The 5G edge computing server is used for the containerized installation and deployment of the inertial navigation system host service software. When the underground working face requires a control operation and solution efficiency of less than 10ms for the inertial navigation system data of the underground working face mining inertial navigation device and the inertial navigation system server data communication, the mine 5G base station controller is used for local diversion, and the 5G edge computing server is used to carry the inertial navigation system service, further reducing the communication delay.

[0076] The 5G base station controller for mining is an access unit for mining base stations. It is used for signal modulation, demodulation and protocol analysis of 5G base stations for mining. It uses digital technology and transmits wireless signals based on optical fiber to provide 5G signal coverage for mines. The 5G base station controller for mining is installed in the monitoring center of the underground mining face. The controller is connected to the 5G private network core switch deployed on the ground through a 10G optical link to achieve communication with the 5GC core network server, realize 5G private network baseband signal modulation, demodulation and protocol analysis, realize the configuration and establishment of the 5G area, and the inertial navigation 5G communication module can achieve normal signal access in the area.

[0077] The mining 5G base station is used to analyze and amplify the baseband signal of the mining 5G base station controller, receive the signal from the 5G terminal communication module on the mining isolation and intrinsically safe gyroscope, and perform digital processing and transmit it to the mining 5G base station controller.

[0078] The mining inertial navigation device is installed and deployed in the electrical control box of the coal mining machine at the underground coal mining face. It is used to measure the position and posture information of the mining machinery in real time, upload information data through the mine 5G private network, and receive control commands issued by the control host and server.

[0079] like Figure 2 As shown, the mining inertial navigation device includes an inertial measurement unit, an interface conversion component and a 5G CPE communication module, and the supporting airborne components include a power supply system unit and an auxiliary calibration sensor. The power supply system unit includes a power protection unit and an AC / DC power supply; the inertial measurement unit, the interface conversion component and the airborne 5G CPE communication module are connected in sequence, and the auxiliary calibration sensor is connected through the interface conversion component, and the AC / DC power supply of the power supply system unit is respectively connected to the inertial measurement unit and the airborne auxiliary calibration sensor.

[0080] During the production process, the mining inertial navigation device collects the position and posture information of the mining machine in real time through the 5G CPE communication module, and transmits the information to the interface conversion component of the present invention through the serial communication interface. The interface conversion component combines and calculates the auxiliary calibration sensor data and the inertial navigation data of the 5G CPE communication module, and converts the signal into an Ethernet protocol. Through the mining 5G base station installed on the working face, the mining 5G private network access and data interaction of the inertial navigation data information are realized.

[0081] After the working face mining machine is started, the inertial measurement unit measures the position and posture information of the coal mining machine and mining machine in real time, and sends the data to the interface conversion component through serial communication. The interface conversion component parses and performs combined navigation operations on the received inertial navigation data and auxiliary calibration sensor data, and converts them into Ethernet communication. The airborne 5G module converts the solved data into 5G wireless cellular network communication, realizing 5G communication of inertial navigation data.

[0082] like Figure 3 As shown in the figure, the working process of the mining inertial navigation device is as follows:

[0083] S101: Before the start of mining production, first restore the normal power supply for the main production equipment and communication system equipment in the mining working face, and power on the mining machine and the 5G base station for the working face. Check whether the equipment connection is normal. After the connection is normal, start the inertial measurement unit of the working face carrier. If there is an abnormality, give the inertial measurement unit communication status abnormality prompt to the inertial navigation system server.

[0084] S102, after the inertial measurement unit is powered on, it outputs the operating status to the inertial navigation system server through the device self-test. After the 5G CPE communication module is connected normally, the inertial measurement unit connects to the 5G CPE communication module through the interface conversion component, and feeds back the device communication status and working status to the built-in 5G CPE communication module;

[0085] S103, the 5G CPE communication module is connected to the interface conversion component to receive the status word and data information of the inertial measurement unit. The WAN port of the 5G CPE communication module realizes the access to the 5G private network for mining through the radio frequency antenna; after the 5G CPE communication module is normally started, it starts to search for 5G radio frequency communication signals in real time, and uploads the built-in SIM card information and 5G network access request of the 5G CPE communication module to the 5G base station for mining in real time; after successful access to the network, it will obtain the IP address assigned by the 5G core network for mining and enter the normal communication working state; the 5G CPE communication module realizes the access application of the 5G private network of inertial navigation data information through the communication and conversion protocol;

[0086] S104, after the communication link is established normally, if the communication status and signal quality can meet the application requirements, the feedback inertial measurement unit receives the initialization alignment command issued by the mining 5G base station through the airborne 5G communication module; the inertial measurement unit also feeds back the working status to the mining 5G base station in real time until the alignment is completed and enters the normal navigation state;

[0087] S105: In the normal working mode of the inertial measurement unit, the position and attitude information data of the mining machine is uploaded in real time through the mine 5G private network, and the data is transmitted back to the inertial navigation system server through the 10G industrial ring network switch, the 10G ring network switch of the underground working face and the mine 5G private network to receive the server operation instructions;

[0088] S106, the mining machine stops running, and the inertial navigation system server, the ground dispatch command center control host and the underground centralized control center control host detect that the communication of the inertial navigation measurement device is interrupted until the inertial measurement unit and the airborne 5G CPE communication module are started up again and connected to the mining 5G private network. Then the system repeats the above workflow.

[0089] like Figure 4 As shown, the interface conversion component includes an inertial measurement unit, an encoder, a CAN conversion module, a debugging serial port and a network port which are respectively connected to the FPGA; the inertial measurement unit is connected to the FPGA via an RS422 isolation transceiver; the encoder is connected to the FPGA via a protection / matching circuit 2, an isolated CAN2 transceiver, a CAN2 bus controller and a CAN2 level converter which are connected in sequence; the CAN conversion module is connected to the FPGA via a protection / matching circuit 1, an isolated CAN1 transceiver, a CAN1 bus controller and a CAN1 level converter which are connected in sequence; the debugging serial port is connected to the FPGA via an RS232 driver and a level converter; the network port is connected to the FPGA via an Ethernet transformer and an Ethernet transceiver.

[0090] like Figure 5 As shown, the airborne 5G CPE communication module includes an interface board and an antenna unit. The interface board includes a CPU and a 5G module. The interface board is connected to the antenna unit through a low-frequency antenna, a medium-frequency antenna, a high-frequency antenna and a GPS antenna.

[0091] The present invention realizes underground airborne inertial navigation 5G communication in coal mines based on the underground airborne inertial navigation 5G communication system in coal mines, and the specific method includes the following steps:

[0092] Step 1: Install the mining airborne inertial navigation device on the mining machine at the underground working face of the coal mine to collect the position and attitude information of the mining machine in real time during the production process; transmit the acquired mining machine position and attitude inertial navigation data information to the mining 5G base station through the processed interface conversion components and the mining intrinsically safe 5G CPE communication module;

[0093] Step 2: The mining 5G base station parses and amplifies the baseband signal, receives the 5G CPE communication module terminal signal from the mining inertial navigation device, performs digital processing and transmits it to the mining 5G base station controller.

[0094] Step 3: Sink the 5G edge computing server to the underground mining and production working face of the coal mine. Through the local diversion configuration of the mine 5G base station controller, the mine inertial navigation data is forwarded to the 5G edge computing server installed on the working face. The data does not need to be transmitted back to the mine surface for on-site solution and processing, which improves the real-time communication of the inertial navigation system service data (latency measured ≤10ms, minimum 6ms) and the solution efficiency. Under the condition of local service of the centralized control center of the underground coal mining working face, the mine 5G base station controller and 5G edge computing server installed and deployed on the mining working face can realize the nearby forwarding, on-site solution and processing of the mine inertial navigation data.

[0095] Step 4: The inertial navigation system uploads the real-time collected carrier position and attitude information to the core switch of the 5G private network for mining through the 5G base station controller for mining. The 5G private network for mining and the 10G industrial ring network are interconnected through the security isolation firewall installed on the ground, and the communication between the mining inertial navigation device and the inertial navigation system server is realized;

[0096] Step 5: The 5GC core network server, the 5G private network core switch for mining, the 5G base station controller for mining and the 5G base station for mining jointly form the 5G private network for mining, realizing the data transmission of the 5G private network for mining;

[0097] Step 6: The inertial navigation system server receives the working status of the mining inertial navigation device and the position and posture information of the mining machine through the mining 5G private network, and stores and solves them;

[0098] Step 7, the control host of the ground dispatch information center and the control host of the underground centralized control center realize the display of the WEB interface of the inertial navigation system server data and the operation control of the mine inertial navigation device; the control host of the underground centralized control center realizes the operation control and parameter configuration of the mine inertial navigation device through the connection of the 10 Gigabit industrial ring network switch of the underground working face with the 10 Gigabit industrial ring network switch on the ground.

[0099] The present invention is further illustrated by a specific embodiment below.

[0100] The inertial navigation system is applied to a coal mine example, such as Figure 6 shown.

[0101] (1) Mine equipment installation

[0102] The mine ground elevation is about 1246m, the well depth is about 262m, the length of the coal mining face is 300m, the average thickness of the coal seam is 9.5m, 150 sets of hydraulic supports are installed, one mining 5G base station controller is installed on the working face (installed in the working face centralized control center), and five mining 5G base stations are installed (one is installed for every 40 sets of hydraulic supports inside the working face, and one is installed in the working face centralized control center). After the coal mining machine is modified and adapted, one set of mining 5G inertial navigation device is installed in the fuselage electrical control box (including Figure 2The relevant unit modules within the dashed frame of the electric control box of the mine inertial navigation vehicle shown in the figure) and the installation and deployment of the mine 5G private network and inertial navigation system related equipment in the coal mining face are as follows Figure 1 shown.

[0103] The 5G private network communication system of the underground fully-mechanized mining face in a coal mine is mainly composed of mine-used 5G base stations, feeders, 5G RF antennas, and airborne 5Gcpe communication module units.

[0104] The mining 5G base station is installed in the middle of the four-link hydraulic support of the working face. Two feeder lines extend to the front edge of the column through the top beam of the hydraulic support, and 5G signal coverage to the left and right sides is achieved through the plate-shaped directional antenna.

[0105] Based on factors such as the length of the cutting eye and the terrain undulations of the working face, multiple mining 5G base station equipment are installed and deployed to achieve mining 5G private network signal coverage of the entire working face.

[0106] The mining inertial navigation device and 5G module are installed inside the electrical control box of the carrier (coal mining machine). The RF feeder is connected to the omnidirectional antenna through the RF communication port of the electrical control box to realize the reception of 5G private network signals.

[0107] (2) 5G private network access for mining

[0108] The inertial navigation system device (inertial measurement unit, interface conversion component, 5G CPE communication module and other modules) is installed and fixed inside the electric control box of the coal mining machine in the fully mechanized mining face by processing the transition mounting plate. The equipment accesses the 5G radio frequency signal through the four mining 5G base stations and directional plate-shaped radio frequency antennas installed on the working face.

[0109] (3) Inertial navigation system communication

[0110] After actual testing, the communication delay between the industrial cloud server of the inertial navigation system and the inertial navigation network is stable at 9ms~45ms. The system communication rate: uplink communication rate ulTp (320Mbps~340Mbps), downlink communication rate dlTp (120Mbps~140Mbps). The communication stability and signal quality fully meet the communication requirements of the inertial navigation system. Detailed data are shown in Table 1.

[0111] Table 1 Inertial navigation system communication configuration

[0112]

[0113] The present invention can be applied underground in coal mines to realize data interaction and end-to-end data communication between 5G terminal equipment, mining inertial navigation devices and inertial navigation system servers, thus avoiding the shortcomings of insufficient stability, low communication rate, and real-time communication of wired communications.

[0114] The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solution disclosed in the present invention, technicians in this field can make some substitutions and deformations to some technical features therein according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. A coal mine underground airborne inertial navigation 5G wireless communication system, characterized in that: Including ground dispatch information center and mining face communication system; The ground dispatch information center includes the ground dispatch command center control host, 10G industrial ring network switch, inertial navigation system server, mining 5G private network core switch, 5GC core network server and security isolation firewall; The mining face communication system includes a 10G network switch for the underground working face, a control host for the underground centralized control center, a 5G edge computing server, a mine inertial navigation device, a mine 5G base station controller, and a mine 5G base station; The signal of the mine inertial navigation device is connected to the mine 5G base station, the signal of the mine 5G base station is connected to the mine 5G base station controller, and the signal of the mine 5G base station controller is connected to the 5G edge computing server and the mine 5G private network core switch respectively, so as to transmit the position and posture of the mining machine and the inertial navigation data information during the production process to the ground; The mining inertial navigation device includes an inertial measurement unit, an interface conversion component and a 5G CPE communication module, a power supply system unit and an auxiliary calibration sensor; the inertial measurement unit, the interface conversion component and the 5G CPE communication module are connected in sequence, and the auxiliary calibration sensor is connected through the interface conversion component; The power supply system unit includes a power protection unit and an AC / DC power supply, and the AC / DC power supply is connected to the inertial measurement unit and the airborne auxiliary calibration sensor respectively; The interface conversion component includes an inertial measurement unit, an encoder, a CAN conversion module, a debugging serial port and a network port respectively connected to the FPGA; The inertial measurement unit is connected to the FPGA via an RS422 isolation transceiver; The encoder and the CAN conversion module are respectively connected to the FPGA through a protection / matching circuit, an isolated CAN transceiver, a CAN bus controller and a CAN level converter which are connected in sequence; The debugging serial port is connected to the FPGA via an RS232 driver and a level converter; The network port is connected to the FPGA via an Ethernet transformer and an Ethernet transceiver; The control host of the underground centralized control center is connected to the 10G industrial ring network switch through the 10G network switch of the underground working face; the core switch of the mining 5G private network is connected to the 10G industrial ring network switch through the security isolation firewall; the 10G industrial ring network switch is connected to the inertial navigation system server to send and receive data from the mining inertial navigation device; the 10G industrial ring network switch is connected to the control host of the ground dispatching and command center to receive data from the mining inertial navigation device and send inertial navigation control instructions; The core switch of the mining 5G private network is connected to the 5GC core network server, the mining 5G base station controller and the security isolation firewall respectively, and realizes access and mobility management, and reports access requests and security isolation on the core network through three-layer interconnection routing configuration.

2. The coal mine underground airborne inertial navigation 5G wireless communication system according to claim 1, characterized in that: The ground dispatch information center includes: The control host of the ground dispatch command center is used to log in to the inertial navigation system server and configure and modify the working surface parameters and communication methods; The 10G industrial ring network switch is used to connect to the 10G ring network switch of the underground working face, the inertial navigation system server and the 5G private network core switch, respectively, to achieve access control and integrated docking between the industrial network and the mining 5G private network based on three-layer interconnection; The inertial navigation system server is used to calculate the inertial navigation data uploaded by the core switch of the 5G private network for mining in real time, display the position and posture information of the underground mining machine in real time, and issue operation instructions to the mining inertial navigation device in the coal mine; The 5G private network core switch for mining is used for access control and integration with the 5G base station controller for mining and the 10G industrial ring network switch; 5GC core network server, used to realize information carrying and management with the core switch of the mining 5G private network; The security isolation firewall is used to isolate and protect the mining 5G private network core switch and the 10G industrial ring network switch network.

3. The coal mine underground airborne inertial navigation 5G wireless communication system according to claim 1, characterized in that: The mining face communication system includes: The underground centralized control center control host is used to remotely control the mining machines on the working face, realizing remote centralized management and operation control of the production equipment on the mining working face; The 10G network switch of the underground working face is used to aggregate the access and data exchange of various control hosts in the centralized control center of the underground coal mining working face, and realize the aggregation access and routing forwarding of mining 5G private network business data and industrial ring network production control data; 5G edge computing server, used for local traffic diversion of mining 5G base station controller; The mining inertial navigation device is installed and deployed on the body of the mining machine at the underground coal mining face. It is used to measure the position and posture information of the mining machinery in real time, upload information data through the mining 5G private network, and receive control instructions issued by the control host and inertial navigation system server of the ground dispatching command center; Mine 5G base station controller, used for 5G base station signal modulation, demodulation and protocol analysis, wireless signal transmission, and providing 5G signal coverage for mines; The mining 5G base station is used to analyze and amplify the baseband signal of the mining 5G base station controller, receive the 5G CPE communication module signal from the mining inertial navigation device, and digitally process and transmit it to the mining 5G base station controller.

4. The coal mine underground airborne inertial navigation 5G wireless communication system according to claim 3, characterized in that: When it is necessary to improve the real-time and solution efficiency of data communication between the mining inertial navigation device and the inertial navigation system server at the underground working face, the 5G edge computing server is used to carry the inertial navigation system service and reduce communication delay.

5. The coal mine underground airborne inertial navigation 5G wireless communication system according to claim 3, characterized in that: The mining 5G base station controller is installed in the underground mining face monitoring center. It is connected to the mining 5G private network core switch deployed on the ground through a 10 Gigabit optical link to achieve communication with the 5GC core network server, 5G private network baseband signal modulation, demodulation and protocol analysis.

6. The coal mine underground airborne inertial navigation 5G wireless communication system according to claim 1, characterized in that: The airborne 5GCPE communication module includes an interface board and an antenna unit. The interface board includes a CPU and a 5G module. The interface board is connected to the antenna unit through a low-frequency antenna, a medium-frequency antenna, a high-frequency antenna and a GPS antenna respectively.

7. A coal mine underground airborne inertial navigation 5G wireless communication method of the system according to any one of claims 1 to 6, characterized in that: include: The mine-borne inertial navigation device collects the position and attitude information of the mining machine at the underground working face of the coal mine in real time during the production process; the acquired position and attitude information of the mining machine is transmitted to the mine-used 5G base station; The mining 5G base station analyzes and amplifies the baseband signal, receives the 5G CPE communication module signal from the mining inertial navigation device, and transmits it to the mining 5G base station controller after digital processing; The mining 5G base station controller performs local traffic diversion configuration, and the mining inertial navigation data is forwarded, solved and processed locally through the 5G edge computing server; The mining 5G base station controller uploads the real-time collected mining machine position and posture information to the mining 5G private network core switch, and realizes the interconnection between the mining 5G private network and the 10G industrial ring network through the security isolation firewall, so as to realize the communication between the mining inertial navigation device and the inertial navigation system server; The 5GC core network server, the 5G private network core switch for mining, the 5G base station controller for mining and the 5G base station for mining together constitute the 5G private network for mining, realizing the data transmission of the 5G private network for mining; The inertial navigation system server receives the working status of the mining inertial navigation device and the position and posture information of the mining machine through the mining 5G private network, and stores and solves them; The control host of the ground dispatching information center and the control host of the underground centralized control center realize the display of the WEB interface of the inertial navigation system server data and the operation control of the mining inertial navigation device; the control host of the underground centralized control center realizes the operation control and parameter configuration of the mining inertial navigation device through the connection of the 10 Gigabit industrial ring network switch of the underground working face with the 10 Gigabit industrial ring network switch on the ground.

8. The coal mine underground airborne inertial navigation 5G wireless communication method according to claim 7, characterized in that: The mine-borne inertial navigation device collects the position and posture information of the mining machine at the underground working face of the coal mine in real time during the production process, including: S101, the working face mining machine starts the inertial measurement unit, the inertial measurement unit is connected to the 5G CPE communication module through the interface conversion component, and sends the mining machine position and posture information to the 5G CPE communication module; S102, 5G CPE communication module is connected to the 5G base station of the working face mine through the radio frequency antenna; S103, receiving the control command issued by the mining 5G base station through the 5G CPE communication module, the inertial measurement unit completes the alignment and enters the navigation state by feeding back the working status to the mining 5G base station in real time; S104, the inertial measurement unit uploads the position and attitude information of the mining machine in real time through the mine 5G private network, and receives the operation instructions of the inertial navigation system server through the 10G industrial ring network switch, the 10G ring network switch of the underground working face and the mine 5G private network; S105, the mining machine stops, and the inertial navigation system server, the ground dispatch command center control host and the underground centralized control center control host detect that the communication of the inertial navigation measurement device is interrupted until the inertial measurement unit and the airborne 5G CPE communication module are turned on again and connected to the mining 5G private network. Then the system repeats steps S101~S104.

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