Underground unmanned aerial vehicle turning positioning device and use method

Abstract

The invention belongs to the technical field of embedded system application, and particularly relates to an underground unmanned aerial vehicle turning positioning device and a use method. The device is characterized by comprising a chip scale packaging radio frequency transmitting module, a magnetic ID installation accessory, a multi-channel position receiving module, a transmitting device embedded software system and a receiving device software system. The 2.4 G frequency band wireless radio frequency technology is combined with an ultra-low power consumption embedded system, after a radio frequency device is installed at the determined position, when a vehicle passes, receiving equipment in the vehicle receives a radio frequency signal, and the absolute position of a curve in a mine, the distance relative to the emission position and the safe curve entering speed are decoded according to radio frequency information.

Description

Technical Field

[0001] The invention belongs to the technical field of embedded system application, and in particular relates to a turning positioning device for an underground unmanned aerial vehicle and a use method thereof. Background Art

[0002] The underground unmanned vehicle driving system is an important research topic in the mining industry. Effectively avoiding mine locomotive collisions during unmanned driving has a great impact on the underground environment, personal safety, and the development of unmanned driving in the mining industry. Most of the materials and equipment in the mine are transported by mining locomotives in the mine. Usually, there will be multiple locomotives running at the same time in a mine, and the extension of the tunnel will produce many forks. The locomotive runs fast and may collide or derail at the fork, causing injuries to people and damage to materials, which seriously affects the safety of mine production. Ensuring that the locomotive passes through the curve safely and smoothly has great application prospects and strategic value for reducing property losses and casualties, reducing transportation costs, and improving mining efficiency.

[0003] The traditional solution is to install a bend sound and light alarm device on the top of the fork lane, which will sound an alarm for a period of time when a locomotive is about to arrive and after the locomotive passes, and then the alarm will be lifted. However, it cannot effectively solve the problem of safety control of locomotives in an unmanned state.

[0004] Generally speaking, the radius of curvature of a curve has a decisive influence on the safe speed of a locomotive when it is turning. A smaller radius of curvature requires the locomotive to reduce its speed to ensure safe turning. But at the same time, the load of the locomotive will also affect the safe speed. A heavier load may require a lower speed. In addition, underground track conditions, the health of locomotive equipment, and the relative distance between the locomotive and the curve will also affect the safe speed of the locomotive when turning.

[0005] Chinese patent CN 114690780A discloses a method for unmanned rail locomotives to navigate slopes and curves in deep confined spaces. Based on the collected IMU data, the current position of the solid-state laser radar is calculated, and then the length and position of the uphill and downhill slopes, the curvature and position of the curve are obtained, so that the unmanned rail locomotive can identify the uphill and downhill slopes and curves, thereby ensuring the smooth passage of the unmanned rail locomotive in the mine.

[0006] Chinese patent CN 115981337 A discloses a decision-making system and method for underground unmanned vehicles based on multi-source information. The system includes a laser radar sensor, a millimeter-wave radar sensor, an ultrasonic radar sensor, a binocular camera, an edge computing module, a CAN-to-Ethernet module, a switch, and an on-board industrial computer. The invention collects and summarizes data sensed by multiple sensors of underground unmanned vehicles, and uses multi-source perception information to make efficient and accurate decisions on mine unmanned vehicles, ensuring that mine unmanned vehicles can drive safely in underground tunnels.

[0007] However, due to the dark environment underground and the unevenness of the tunnel walls, the laser radar carried by the drone vehicle has difficulty accurately identifying curves during driving.

[0008] Chinese patent CN 116001845 A discloses an unmanned mining rail locomotive and automatic transportation system based on 5G transmission. One of the automatic transportation systems has the following working process: after setting the running route, drive the tram; move the locomotive along the track by positioning the signal receiver and the camera sensor; when passing through a curve, the water pump sprays the corresponding wheels; until the route is completed. The present invention can reduce wheel damage, has a high degree of automation, and saves labor. However, the signal transmitter at the curve and the signal receiver on the locomotive used in the invention are only used to obtain the current position information of the locomotive for adjustment and correction, and do not involve specific information of the curve, such as the length of the curve, the radius of curvature, etc., and cannot control the locomotive through the curve. Summary of the invention

[0009] The purpose of the present invention is to provide an underground unmanned vehicle turning positioning device and a method of use, so that the vehicle can receive the length, curvature radius, position in the entire mine and the relative position of the locomotive and the current curve before entering the curve, thereby assisting the locomotive to smoothly pass the curve at a safe speed.

[0010] The objective of the present invention is achieved through the following technical solutions:

[0011] The underground unmanned aerial vehicle turning positioning device of the present invention is characterized in that it includes a chip-level packaged radio frequency transmitting module, a magnetic ID installation accessory, a multi-channel position receiving module, a transmitting device embedded software system and a receiving device software system. The chip-level packaged radio frequency transmitting module includes a SOC core, a wireless charging chip and a Hall array. The magnetic ID installation accessory includes a bolt mounting hole and a magnetic mounting hole position. The multi-channel position receiving module includes a DCDC power supply system, a SOC core and an interface circuit. The transmitting device embedded software system includes an RTOS system, a radio frequency transceiver driver, frequency hopping and other high-reliability communication algorithms and update processing. The receiving device software system includes an RTOS system, a radio frequency transceiver driver, frequency hopping and other high-reliability communication algorithms, data update services, interface services and information processing.

[0012] A method for using an underground unmanned vehicle turning positioning device, characterized in that the 2.4G frequency band wireless radio frequency technology is combined with an ultra-low power embedded system. After the radio frequency device is installed at a determined position, when a vehicle passes by, a receiving device in the vehicle receives the radio frequency signal, and decodes the absolute position of the curve in the mine, the distance relative to the transmitting position, and the safe curve entry speed according to the radio frequency information;

[0013] The basic process of the chip-scale packaging radio frequency transmission module includes the following steps:

[0014] A1, fixed installation launch magnetic base;

[0015] A2, set the mounting base ID, and install the magnetic block in the 8-hole position;

[0016] A3, magnetically insert the launch positioning device into the fixing seat;

[0017] A4, enter the boot program and determine whether the magnetic attraction triggers an interrupt. If so, power on the system and initialize related settings. Further, the system is reset and restarted, and re-enters A4; if not, enter A5;

[0018] A5, simple kernel startup, initialization of peripheral devices;

[0019] A6, read ID settings and call ID location data;

[0020] A7, start broadcasting and receiving;

[0021] The basic process of the multi-channel position receiving module includes the following steps:

[0022] S1, the system power is turned on and the boot program is entered;

[0023] S2, determine whether there is a firmware update, if so, update the firmware and then return to S1; if not, enter S3;

[0024] S3, RTOS starts and initializes peripheral devices;

[0025] S4, determine whether it is the first time to power on, if so, load the initialization parameters, write the data to the file system, and then return to S1; if not, enter S5;

[0026] S5, mount the file system and read the ID and location data in the form of files;

[0027] S6, turn on the radio frequency system and wait for receiving 6CH radio frequency link data;

[0028] S7, after receiving the data, the host computer software interprets the JSON through the USB interface;

[0029] S8, start searching and executing functions;

[0030] S9, returns the remote execution result;

[0031] S10, returns to the host computer software through the USB interface, and transmits data back to the 6CH radio frequency link at the same time.

[0032] Advantages of the present invention:

[0033] (1) The underground unmanned vehicle turning positioning device and use method of the present invention uses 2.4G frequency band wireless radio frequency technology combined with an ultra-low power embedded system. When a vehicle passes by, the receiving device in the vehicle will receive the radio frequency signal and decode the absolute position of the curve in the mine, the distance relative to the transmitting position, and the safe turning speed according to the radio frequency information;

[0034] (2) The underground unmanned vehicle turning positioning device and use method of the present invention, the special mounting accessories can make the mine curve positioning unit with the same software and hardware show different equipment characteristics and data characteristics without any manual setting, meet the use and maintenance requirements of the complex environment of the mine, and avoid mine accidents caused by data deviation due to human factors in installation, setting and maintenance;

[0035] (3) The underground unmanned vehicle turning positioning device and use method of the present invention utilizes the moving vehicle to quickly update the equipment installed in a complex environment without touching the equipment in the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of a locomotive entering a curve provided in an embodiment of the present invention.

[0037] Figure 2 An angled 3D main schematic diagram provided for an embodiment of the present invention.

[0038] Figure 3 A 3D main schematic diagram from another angle provided for an embodiment of the present invention.

[0039] Figure 4 This is a schematic diagram of the chip-level packaged radio frequency transmission module of the underground locomotive curve positioning device provided in an embodiment of the present invention.

[0040] Figure 5 A schematic diagram of an angle installation accessory for an underground locomotive curve positioning device provided in an embodiment of the present invention.

[0041] Figure 6 This is a schematic diagram of installing accessories at another angle for the underground locomotive curve positioning device provided in an embodiment of the present invention.

[0042] Figure 7 This is the principle of the multi-channel position receiving module provided in the embodiment of the present invention.

[0043] Figure 8 The following are the basic process steps of the transmitting module provided in the embodiment of the present invention.

[0044] Fig. 9 The following are the basic process steps of the receiving module provided in the embodiment of the present invention. DETAILED DESCRIPTION

[0045] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings.

[0046] like Figure 1-9 As shown, the underground unmanned aerial vehicle turning positioning device of the present invention is characterized in that it includes a chip-level packaged radio frequency transmitting module, a magnetic ID installation accessory, a multi-channel position receiving module, a transmitting device embedded software system and a receiving device software system. The chip-level packaged radio frequency transmitting module includes a SOC core, a wireless charging chip and a Hall array. The magnetic ID installation accessory includes a bolt mounting hole and a magnetic mounting hole position. The multi-channel position receiving module includes a DCDC power supply system, a SOC core and an interface circuit. The transmitting device embedded software system includes an RTOS system, a radio frequency transceiver driver, frequency hopping and other high-reliability communication algorithms and update processing. The receiving device software system includes an RTOS system, a radio frequency transceiver driver, frequency hopping and other high-reliability communication algorithms, data update services, interface services and information processing.

[0047] A method for using an underground unmanned vehicle turning positioning device, characterized in that the 2.4G frequency band wireless radio frequency technology is combined with an ultra-low power embedded system. After the radio frequency device is installed at a determined position, when a vehicle passes by, a receiving device in the vehicle receives the radio frequency signal, and decodes the absolute position of the curve in the mine, the distance relative to the transmitting position, and the safe curve entry speed according to the radio frequency information;

[0048] The basic process of the chip-scale packaging radio frequency transmission module includes the following steps:

[0049] A1, fixed installation launch magnetic base;

[0050] A2, set the mounting base ID, and install the magnetic block in the 8-hole position;

[0051] A3, magnetically insert the launch positioning device into the fixing seat;

[0052] A4, enter the boot program and determine whether the magnetic attraction triggers an interrupt. If so, power on the system and initialize related settings. Further, the system is reset and restarted, and re-enters A4; if not, enter A5;

[0053] A5, simple kernel startup, initialization of peripheral devices;

[0054] A6, read ID settings and call ID location data;

[0055] A7, start broadcasting and receiving;

[0056] The basic process of the multi-channel position receiving module includes the following steps:

[0057] S1, the system power is turned on and the boot program is entered;

[0058] S2, determine whether there is a firmware update, if so, update the firmware and then return to S1; if not, enter S3;

[0059] S3, RTOS starts and initializes peripheral devices;

[0060] S4, determine whether it is the first time to power on, if so, load the initialization parameters, write the data to the file system, and then return to S1; if not, enter S5;

[0061] S5, mount the file system and read the ID and location data in the form of files;

[0062] S6, turn on the radio frequency system and wait for receiving 6CH radio frequency link data;

[0063] S7, after receiving the data, the host computer software interprets the JSON through the USB interface;

[0064] S8, start searching and executing functions;

[0065] S9, returns the remote execution result;

[0066] S10, returns to the host computer software through the USB interface, and transmits data back to the 6CH radio frequency link at the same time.

[0067] The present invention considers sending information such as curve curvature radius, curve position, curve length, and relative distance between the locomotive and the curve to the locomotive before the locomotive enters the curve, and assists the locomotive in controlling the driving speed after comprehensively considering other factors, thereby ensuring that the locomotive passes the curve smoothly at a safe speed.

[0068] 1. Relationship between bending radius (R) and speed (v)

[0069] When a vehicle turns, it needs centripetal force to maintain its stable driving on the curve. This centripetal force is provided by the friction between the wheel and the track. According to the principles of physics, the centripetal force F c The relationship between the vehicle mass m, the square of the speed v and the turning radius R is:

[0070] F c =mv 2 / R

[0071] In order to ensure that the vehicle can turn safely without skidding or losing control, the centripetal force cannot exceed the maximum static friction Fμ between the wheel and the track. s ,Right now:

[0072] mv 2 / R≤μ s ×m×g

[0073] Among them, μs is the coefficient of static friction between the wheel and the track, and g is the acceleration due to gravity.

[0074] From the above formula, we can solve the upper limit of the safe speed v:

[0075]

[0076] 2. Relationship between the relative distance (d) between the vehicle and the curve

[0077] The relative distance d between the vehicle and the curve refers to the distance between the vehicle and the starting point of the curve before entering the curve. This distance should be long enough so that the driver has enough time to observe the road conditions, judge the curve conditions and adjust the speed.

[0078] The determination of the relative distance d usually needs to take into account the driver's reaction time t r , the braking performance of the vehicle (i.e. deceleration a b ) and the current vehicle speed v. According to the kinematic formula in physics, the distance d that the driver travels during the reaction time can be calculated r and braking distance d b :d r =v×t r

[0079] d b =v 2 / 2a b

[0080] Therefore, the relative distance d between the vehicle and the curve should be at least:

[0081] d≥d r +d b =v×t r + v 2 / 2a b

[0082] like Figure 1 , Figure 2 , Figure 3 As shown, the present invention provides an underground unmanned vehicle turning positioning device, which consists of a chip-level packaged radio frequency transmitter module, a magnetic ID installation accessory, a multi-channel position receiving module, a transmitter embedded software system, and a receiver software system. Among them,

[0083] Chip-scale packaging RF transmitter module. The principle of chip-scale packaging RF transmitter module is as follows Figure 4 shown.

[0084] The SOC core uses the Cortex-M4 core, with built-in 1MB Flash storage and 256KB RAM; the SOC integrates a 6-channel RF front end with +8dBm RF transmission power.

[0085] The wireless charging chip uses TI's integrated chip with an IIC interface. The SOC can easily set relevant parameters and query the status of the charging device. The charging antenna uses a planar antenna manufactured based on PCB, which is convenient for the later curing and packaging of the device.

[0086] The Hall array is used to read the ID set by the installation accessory. The ID corresponds to the internal storage of the relevant mine data (position, turning angle of the curve). When the device is installed on the accessory, it will be activated to exit the dormant state and enter the working state, so that the equipment inventory shipped from the factory will not lose power (because the anti-immersion cannot have a power switch). At the same time, the Hall array reads the 8-bit magnetic hole installation status in the accessory as the working ID.

[0087] Among them, the chip-level packaged RF transmitter module uses 2.4GHz frequency band wireless RF technology combined with ultra-low power embedded systems. Compared with 5GHz, 2.4G Hz has a lower transmission rate, but it has a larger coverage range, a stronger ability to bypass obstacles, and a longer transmission distance, making it more suitable for underground environments.

[0088] Magnetic ID mounting accessories. Mounting accessories such as Figure 5 , Figure 6 shown.

[0089] Bolt mounting holes. Standard bolt mounting holes are used to fasten the device to the mine wall.

[0090] Magnetic mounting holes. 8 magnetic mounting holes are used to set the location ID according to the site. The 8 holes can be combined into 256 location IDs according to the different N and S ends. The 8 strong magnetic mounting positions also provide strong mounting suction to absorb the RF transmitter. When replacement or maintenance is required, just pull out the device with force. When the RF transmitter is installed on the accessory, it will automatically set all the parameters (ID, absolute position in the mine, turning angle of the curve, length of the curve) of this installation position, etc., which solves the installation errors caused by human factors and the accidents caused by sending wrong location and curve data.

[0091] Among them, in order to facilitate equipment maintenance and secondary charging, special installation accessories are designed. The installation accessories can also provide the identification ID of the RF device. The traditional dip switch cannot be used for ID setting in water-proof. The 8 magnetic suction holes in the installation accessories combined with the Hall device of the RF transmitting unit can automatically determine the current position ID. Therefore, the RF transmitting device in this system can be installed arbitrarily, and there will be no accidents due to position errors caused by incorrect installation of the device, because the location ID of the equipment is determined by the installation accessories, and the installation accessories are fixed.

[0092] Multi-channel position receiving module. The receiving module has multiple RF channels like the transmitting module. The advantage of multiple channels can increase the data transmission bandwidth and can also be used to improve the reliability of data transmission. In combination with the frequency hopping algorithm at the software layer, the possibility of data packet loss can be greatly reduced in the case of small amounts of data transmission. The principle of the multi-channel position receiving module is as follows: Figure 7 shown.

[0093] The DCDC power system uses a synchronous buck module. The system power comes from the 5V power supply of the USB, which is stepped down to 3.3V for use by the SOC and other circuits.

[0094] The SOC core uses an integrated multi-channel RF front end based on the ARM-Cortex-M4 core, with 1M Flash and 256KB RAM.

[0095] The interface circuit is set up with two channels, one using TTL to RS232 and the other using USB interface. The USB-Device class of SOC uses HID protocol to communicate with the host computer without driver, which can save system driver development, and the two sets of interfaces are used as backup for each other.

[0096] Embedded software system of the launcher.

[0097] RTOS system. The real-time operating system is mainly used to encapsulate various system resources of SOC, coordinate the processing of interrupt requests, sleep processing, etc.

[0098] RF transceiver driver. The RF transceiver driver is mainly used to configure the parameters of the transceiver front end and encapsulate functions to facilitate system calls.

[0099] Frequency hopping and reliable communication algorithm. The frequency hopping algorithm mainly uses the external radio environment fed back by the RF front end during communication, and when the custom channel is affected by the environment, the transceiver starts the hopping mechanism to avoid communication packet loss; at the same time, the multi-channel transceiver capability of the RF front end is used to minimize the unreliability of communication.

[0100] Update processing. It is mainly used to process energy and load corresponding data according to the installation accessories with different IDs when the equipment is initialized; a small database of FLASH is used to record the operation change status of the equipment, and a dedicated RF channel is used to wirelessly update the mine data and the equipment firmware, so as to modify and add the database or upgrade the system firmware of the SOC.

[0101] Receiving device software system.

[0102] RTOS system. The real-time operating system is mainly used to encapsulate various system resources of SOC, coordinate the processing of interrupt requests, sleep processing, etc.

[0103] RF transceiver driver. The RF transceiver driver is mainly used to configure the parameters of the transceiver front end and encapsulate functions to facilitate system calls.

[0104] Frequency hopping and other high-reliability communication algorithms. As with the embedded software system of the transmitter, the frequency hopping algorithm mainly uses the external radio environment fed back by the RF front end during communication, and when the custom channel is affected by the environment, the transceiver starts the hopping mechanism to avoid communication packet loss; at the same time, the multi-channel transceiver capability of the RF front end is used to minimize the unreliability of communication.

[0105] Data update service. When there is data that needs to be updated for the RF transmitter in the mine, the vehicle equipped with the receiving device will start this service, using a dedicated RF channel to send data to the transmitter (ID database update, transmitter SOC firmware update) when the vehicle passes by. This allows the mine data to be updated and the system firmware to be updated without touching the transmitter installed in the mine.

[0106] Interface service. Provides a set of JSON-based general API interfaces for higher-level software to call and operate the functions of the entire system.

[0107] Information processing. Mainly processes some information collected from the RF transmitter, such as the RF transmitter unit at a certain ID and location needs to be charged and maintained. Among them, the RF transmitter unit is an electronic device with integrated solidification anti-immersion level (50 meters waterproof).

[0108] The basic process steps of the transmitter module are as follows Figure 8 As shown:

[0109] A1, fixed installation launch magnetic base;

[0110] A2, set the mounting base ID, and install the magnetic block in the 8-hole position;

[0111] A3, magnetically insert the launch positioning device into the fixing seat;

[0112] A4, enter the boot program and determine whether the magnetic attraction triggers an interrupt. If so, power on the system and initialize related settings. Further, the system is reset and restarted, and re-enters A4; if not, enter A5;

[0113] A5, simple kernel startup, initialization of peripheral devices;

[0114] A6, read ID settings and call ID location data;

[0115] A7, start broadcasting and receiving;

[0116] The basic process steps of the receiving module are as follows Fig. 9 As shown:

[0117] S1, the system power is turned on and the boot program is entered;

[0118] S2, determine whether there is a firmware update, if so, update the firmware and then return to S1; if not, enter S3;

[0119] S3, RTOS starts and initializes peripheral devices;

[0120] S4, determine whether it is the first time to power on, if so, load the initialization parameters, write the data to the file system, and then return to S1; if not, enter S5;

[0121] S5, mount the file system and read the ID and location data in the form of files;

[0122] S6, turn on the radio frequency system and wait for receiving 6CH radio frequency link data;

[0123] S7, after receiving the data, the host computer software interprets the JSON through the USB interface;

[0124] S8, start searching and executing functions;

[0125] S9, returns the remote execution result;

[0126] S10, returns to the host computer software through the USB interface, and transmits data back to the 6CH radio frequency link at the same time;

[0127] The underground unmanned vehicle turning positioning device and use method of the present invention use 2.4G frequency band wireless radio frequency technology in combination with an ultra-low power consumption embedded system. When a vehicle passes by, a receiving device in the vehicle will receive the radio frequency signal, and decode the absolute position of the curve in the mine, the distance relative to the transmitting position, and the safe curve entry speed according to the radio frequency information; special mounting accessories can allow the mine curve positioning unit with the same software and hardware to show different equipment characteristics and data characteristics without any manual settings, so as to meet the use and maintenance requirements of the complex environment of the mine, and at the same time avoid mine accidents caused by data deviation due to human factors in installation, setting, and maintenance; the equipment installed in the complex environment is quickly updated by using the moving vehicle without touching the equipment in the mine.

Claims

1. A turning positioning device for an underground unmanned aerial vehicle, characterized in that It includes a chip-level packaged RF transmitting module, a magnetic ID installation accessory, a multi-channel position receiving module, a transmitting device embedded software system and a receiving device software system. The chip-level packaged RF transmitting module includes a SOC core, a wireless charging chip and a Hall array. The magnetic ID installation accessory includes a bolt mounting hole and a magnetic mounting hole. The multi-channel position receiving module includes a DCDC power supply system, a SOC core and an interface circuit. The transmitting device embedded software system includes an RTOS system, a RF transceiver driver, frequency hopping and other high-reliability communication algorithms and update processing. The receiving device software system includes an RTOS system, a RF transceiver driver, frequency hopping and other high-reliability communication algorithms, data update services, interface services and information processing.

2. A method for using an underground unmanned aerial vehicle turning positioning device, characterized in that: Using 2.4G frequency band wireless radio frequency technology combined with ultra-low power embedded systems, after the radio frequency device is installed at the determined location, when a vehicle passes by, the receiving device in the vehicle receives the radio frequency signal and decodes the absolute position of the curve in the mine, the distance relative to the transmitting position, and the safe speed to enter the curve based on the radio frequency information; The basic process of chip-level packaging RF transmitter module The following steps are involved: A1, fixed installation launch magnetic base; A2, set the mounting base ID, and install the magnetic block in the 8-hole position; A3, magnetically insert the launch positioning device into the fixing seat; A4, enter the boot program and determine whether the magnetic attraction triggers an interrupt. If so, power on the system and initialize related settings. Further, the system is reset and restarted, and re-enters A4; if not, enter A5; A5, simple kernel startup, initialization of peripheral devices; A6, read ID settings and call ID location data; A7, start broadcasting and receiving; The basic process of the multi-channel position receiving module includes the following steps: S1, the system power is turned on and the boot program is entered; S2, determine whether there is a firmware update, if so, update the firmware and then return to S1; if not, enter S3; S3, RTOS starts and initializes peripheral devices; S4, determine whether it is the first time to power on, if so, load the initialization parameters, write the data to the file system, and then return to S1; if not, enter S5; S5, mount the file system and read the ID and location data in the form of files; S6, turn on the radio frequency system and wait for receiving 6CH radio frequency link data; S7, after receiving the data, the host computer software interprets the JSON through the USB interface; S8, start searching and executing functions; S9, returns the remote execution result; S10, returns to the host computer software through the USB interface, and transmits data back to the 6CH radio frequency link at the same time.

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