Portable positioning instrument for detecting quality of UWB (Ultra Wideband) signal in underground coal mine and detection method thereof
By designing a portable positioner and integrating the UWB ranging module and signal quality testing APP, the problem of difficulty in digitizing and visualizing UWB signal quality detection in coal mines is solved, and signal quality detection and management in two-dimensional areas are realized, which improves work efficiency and production safety management efficiency.
Patent Information
- Application Number
- CN202411738489.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-29
- Publication Date
- 2025-03-14
AI Technical Summary
The existing UWB signal quality detection methods for underground coal mines cannot achieve digital and visual management, especially in two-dimensional areas, which is difficult to effectively check low-signal quality areas, affecting the normal safety production management of coal mines.
A portable positioner is designed, integrating the main control module, power module and user interface components, and PDOA positioning is realized through three UWB ranging modules, and equipped with a signal quality testing APP, which can draw a signal strength map downhole, save base station signal data, and realize visual detection of signal quality.
The UWB signal quality detection in the two-dimensional area of the coal mine underground has been realized, the work efficiency of employees has been improved, the cycle of mine safety production construction has been shortened, and the underground UWB signal coverage can be more effectively managed and optimized.
Smart Images
Figure CN119619988A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of mine production safety, in particular to a portable locator for detecting quality of UWB signals in coal mines and a detection method thereof. Background Art
[0002] As an important source of information for the dispatching and command center to obtain real-time production conditions underground, the precise positioning system for underground personnel in coal mines plays an important role in the current safety management of coal mines. The current mainstream precise positioning system for underground personnel (hereinafter referred to as the "positioning system") adopts a system composition method of distributed installation of UWB positioning base stations (hereinafter referred to as "base stations") underground and UWB precise positioning cards (hereinafter referred to as "positioning cards") carried by pedestrians or locomotives. The coverage quality of the UWB signal of the underground base station directly determines the actual performance of the positioning system, and is therefore an important reference indicator of the positioning system.
[0003] At present, the common UWB positioning method in the mine is to equip a base station with two UWB antennas responsible for the front and rear signals respectively. The distance between the positioning card and the two antennas is used to determine whether the positioning card is located in the positive or negative direction of the base station, thereby realizing one-dimensional positioning in the tunnel (the tunnel is narrow and long, and can be considered as a one-dimensional linear). In other wider areas of the mine, such as the return yard, working surface, wellhead, etc. (which can be considered as a two-dimensional area), the main function of the base station is to count the number of people entering and identify their identities. The relevant data is used for attendance management, regional limit statistics management, etc.
[0004] During the actual installation of the positioning system, due to the influence of factors such as the complex underground environment, multipath effects, installation plans and construction technology levels, the coverage of UWB signals underground is not uniform and comprehensive, and there will be areas with poor signal quality or even no signal. In areas where personnel statistics are required, such as working faces, if the number of people counted is not equal to the number of people currently inspected in real time, an abnormal alarm for limited personnel will be triggered, affecting the normal safety production management of coal mines. The existing signal testing method is to gradually discover areas with poor signals through actual use and experience, and then improve them by adjusting antennas or installing base stations. This method is time-consuming and labor-intensive, and cannot achieve digital and visual management, especially in two-dimensional areas. It is more difficult to troubleshoot areas with low signal quality. Summary of the invention
[0005] A technical problem to be solved by the present invention is: in order to solve the problems existing in the prior art in the above-mentioned background technology, a portable locator for detecting the quality of UWB signals in underground coal mines is provided.
[0006] The technical solution adopted by the present invention to solve its technical problems is: a portable locator for UWB signal quality detection in coal mines, the locator comprising a main control module, a power module and a user interface component, the power module is used to provide a safe power supply to the locator; the main control module comprises a main control MCU and three UWB ranging modules, the main control MCU is pre-installed with an Android operating system, the three UWB ranging modules use the same crystal oscillator to achieve clock synchronization, and are used to perform PDOA positioning of a positioning base station; the user interface component comprises an IPS touch screen, and an operator performs interface interaction with the main control MCU through the IPS touch screen.
[0007] Furthermore, the main control module also includes a gyroscope and an acceleration sensor, which are used to provide the locator with accurate movement and direction data.
[0008] Furthermore, the user interface component also includes a power button, an external speaker and a status indicator light. The main control MCU receives instructions from the power button to turn on, shut down and turn off the screen. The external speaker broadcasts the instructions from the main control MCU, and the status indicator light is used to display the status of the locator.
[0009] Furthermore, the power module includes a Type-C charging interface, a charging management circuit, a lithium battery and an intrinsically safe circuit, the Type-C charging interface is connected to an interface of an external power supply, and the charging management circuit controls voltage and current to charge the lithium battery.
[0010] Furthermore, a signal quality test APP is installed on the main control MCU.
[0011] Another technical problem to be solved by the present invention is to provide a method for detecting the quality of UWB signals in underground coal mines.
[0012] The technical solution adopted by the present invention to solve its technical problem is: a method for detecting the quality of UWB signals underground in a coal mine, a portable positioning device for detecting the quality of UWB signals underground in a coal mine using the above-mentioned solution, an operator holding the positioning device and entering the coal mine and walking along the underground path, turning on the positioning device by pressing the power button (302), measuring the distance between the positive and negative antennas of the nearby base station, and using the PDOA method to locate itself according to the base station coordinates, the distance from the base station and the relative angle, performing a signal quality test on its own position, drawing a signal strength map in the signal quality test APP, and saving all detected base station positive and negative antenna signal data.
[0013] Furthermore, the specific steps for positioning oneself are: S1. Set a UWB ranging module as the main module, and send a UWB ranging signal to the base station antenna at time t. This UWB ranging module is the main antenna S mainThe remaining two UWB ranging modules are used as slave antennas, namely slave antenna 1 S1 and slave antenna 2 S2, and the main antenna S main , slave antenna 1 S1 and slave antenna 2 S2 are on the main antenna S main After sending the ranging request, wait for the return signal from the base station antenna; S2, according to the slave antenna S1, slave antenna S2 and the main antenna S main The phase difference of the received signal is used to obtain the distance difference p1 and p2 when the base station ranging signal reaches them and the main antenna, which is specifically: The phases φ1 and φ2 of the base station return signal are directly read from the main control chips of the two UWB ranging modules. main The ranging phase difference is: , then the ranging difference p1 between it and the main antenna is: , where λ is the signal wavelength; Antenna 2 S2 and main antenna S main The ranging phase difference is: , then the distance difference p2 between it and the main antenna is: ; S3, main antenna S main Continue to communicate with the base station antenna to obtain the distance r between it and the base station main Then, according to the signal arrival distance differences p1 and p2 in step S2, the distances from antenna 1 S1 and antenna 2 S2 to the base station are obtained. The specific formula is as follows: ; ; S4. Get the accurate location of the base station through the three-sided positioning algorithm.
[0014] Furthermore, the frequency of the UWB signal emitted by the UWB ranging module in step S1 is 3.9 GHZ, and the installation distance between antenna 1 S1 and antenna 2 S2 is less than or equal to 1 / 2 of the UWB signal wavelength λ, wherein the UWB signal wavelength λ is 7.6 cm.
[0015] Furthermore, the signal quality test APP is connected to the precise positioning system server when used for the first time, and the point-line relationship and coordinate data in the GIS map of the entire mine are loaded from the system server. The 3D modeling algorithm program is used to draw each segmented three-dimensional tunnel according to the point-line relationship, and the spatial model collision detection is performed at the intersection point, and the intersection processing is performed to ensure the internal connectivity of the underground 3D tunnel map; After the operator carries the locator into the well, he opens the signal quality test APP and turns on the signal test mode. Then, dynamic positioning and ranging are performed between the locator and the base station. The position of the person relative to the base station is obtained based on the positioning results of the locator and the base station, and then the operator's model is drawn into the 3D tunnel map. The position of the operator's model in the 3D tunnel map is refreshed in real time due to movement.
[0016] Furthermore, the period of the ranging signal emitted by the UWB ranging module is 1 second. During the test, the latest 7 consecutive ranging results are used as the signal representation data source. The operator selects the content to be displayed in the interactive interface of the signal quality test APP to display the graphical test results in the three-dimensional map; Signal quality is divided into 5 levels: when the signal quality level is 1, the number of packet losses is 0, and the characterizing color is dark green; when the signal quality level is 2, the number of packet losses is 1-2, and the characterizing color is light green; when the signal quality level is 3, the number of packet losses is 3-4, and the characterizing color is yellow-green; when the signal quality level is 4, the number of packet losses is 5-6, and the characterizing color is orange; when the signal quality level is 5, the number of packet losses is 7, and the characterizing color is red.
[0017] Beneficial effects of the present invention: The positioning device of the present invention integrates three UWB ranging modules into the main control board and uses the same crystal oscillator to achieve clock synchronization, so as to perform PDOA positioning of the positioning base station; The locator of the present invention can be carried around, and after entering the mine, the signal test can be performed anytime and anywhere, and the UWB signal strength of the measured position can be understood, and the data can be drawn and displayed and saved through the user interface component. The design method of the locator of the present invention realizes obtaining the relative position and distance between itself and the base station within a small internal space, and then obtains its own coordinates in the GIS system according to the coordinates of the base station in the underground GIS system, thereby realizing two-dimensional positioning of a single machine and autonomous offline; The present invention solves the problem that the signal coverage quality in the UWB-based underground precise positioning system cannot be quantified and displayed graphically, and can only be gradually optimized through empirical testing. It greatly improves the work efficiency of practitioners and shortens the cycle of mine safety production construction. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The present invention is further described below in conjunction with the accompanying drawings and embodiments.
[0019] Figure 1 It is a structural schematic diagram of the positioning device of the present invention.
[0020] Figure 2 It is a schematic diagram of the PDOA positioning method of the present invention.
[0021] Figure 3 It is a schematic diagram of the present invention during detection.
[0022] Figure 4 It is a model diagram of the underground 3D tunnel of the present invention.
[0023] Figure 5 It is a model diagram of the 3D tunnel when the locator of the present invention performs detection.
[0024] Figure 6 It is an example diagram of the signal quality test results in the lane displayed by the locator of the present invention.
[0025] Figure 7 It is a schematic diagram of the extended functions of the locator of the present invention.
[0026] In the figure: 100, main control module; 101, main control MCU; 102, UWB ranging module; 103, gyroscope; 104, acceleration sensor; 200, power module; 201, Type-C charging interface; 202, charging management circuit; 203, lithium battery; 204, intrinsically safe circuit; 300, user interface component; 301, IPS touch screen; 302, power on / off button; 303, external speaker; 304, status indicator light. DETAILED DESCRIPTION
[0027] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.
[0028] like Figure 1 As shown, a portable locator for UWB signal quality detection in coal mines, the locator includes a main control module 100, a power module 200 and a user interface component 300, the power module 200 is used to provide a safe power supply for the locator, specifically, the power module 200 includes a Type-C charging interface 201, a charging management circuit 202, a lithium battery 203 and an intrinsically safe circuit 204, the Type-C charging interface 201 is connected to the interface of an external power supply, the charging management circuit 202 charges the lithium battery 203 by controlling the charging voltage and current, the intrinsically safe circuit 204 refers to a circuit in which any electric spark or any thermal effect generated under the conditions specified by the standard (including normal operation and fault conditions specified by the standard) cannot ignite the specified explosive gas environment, the inside and lead wires of the power module 200 are safe whether in normal operation or in a fault state, and the electric spark generated will not ignite the explosive mixture in the surrounding environment.
[0029] The main control module 100 includes a main control MCU 101, three UWB ranging modules 102, a gyroscope 103 and an acceleration sensor 104. The main control MCU 101 is pre-installed with an Android operating system and a signal quality test APP. The three UWB ranging modules use the same crystal oscillator to achieve clock synchronization, which is used to perform PDOA positioning of the positioning base station; the gyroscope 103 and the acceleration sensor 104 are used to provide the locator with accurate motion and direction data.
[0030] The user interface component 300 includes an IPS touch screen 301, a power button 302, an external speaker 303 and a status indicator light 304. The operator interacts with the main control MCU 101 through the IPS touch screen 301. The main control MCU 101 receives instructions from the power button 302 to turn on, shut down and turn off the screen. The external speaker 303 broadcasts the instructions from the main control MCU 101. The status indicator light 304 is used to display the status of the locator.
[0031] A method for detecting the quality of UWB signals in an underground coal mine. An operator holds a locator and enters the coal mine, walks along an underground path, and turns on the locator by pressing a power button 302. The locator draws a signal strength map in the underground through a signal quality test APP, measures the distance of positive and negative antennas of nearby base stations, and uses a PDOA method to locate itself according to the base station coordinates, the distance to the base station and the relative angle, performs a signal quality test on its own position, and saves all detected base station positive and negative antenna signal data.
[0032] like Figure 3 As shown, when positioning itself, a UWB ranging module is set as the main module, which sends a UWB ranging signal to the base station antenna at time t. This UWB ranging module 102 is the main antenna S main The remaining two UWB ranging modules 102 are slave antennas, namely slave antenna 1 S1 and slave antenna 2 S2, and the main antenna S main , slave antenna 1 S1 and slave antenna 2 S2 are on the main antenna S main After sending the ranging request, wait for the return signal from the base station antenna; according to the slave antenna S1, slave antenna S2 and the main antenna S main The phase difference of the received signal is used to obtain the distance difference p1 and p2 when the base station ranging signal reaches them and the main antenna, which is specifically: The phase angles φ1 and φ2 of the base station return signal are directly read from the main control chips of the two UWB ranging modules 102. main The ranging phase difference is: , then the ranging difference p1 between it and the main antenna is: , where λ is the signal wavelength; Antenna 2 S1 and main antenna S main The ranging phase difference is: , then the distance difference p2 between it and the main antenna is: ; Main Antenna S main Continue to communicate with the base station antenna to obtain the distance r between it and the base station main Then, according to the signal arrival distance differences p1 and p2 in step S2, the distances from antenna 1 S0 and antenna 2 S1 to the base station are obtained. The specific formula is: ; ; Finally, the accurate location of the base station is obtained through the three-sided positioning algorithm.
[0033] Among them, only the main antenna S is needed main To measure the distance with the base station, the distance between the slave antenna and the base station needs to be equivalently converted into the distance difference through the phase difference of the ranging signal returned by the base station between the master and slave antennas, and then the distance from the antenna to the base station is obtained (the master antenna ranging value - the distance difference). The purpose of this design is to effectively eliminate the influence of the UWB ranging error. Even if the main antenna has an error of 10cm, 20cm, etc., the distance difference between the slave antenna and the base station relative to the main antenna will not have an error, so the calculation result of the trilateral positioning method is slightly affected, and the calculation result error of the base station coordinates will not be amplified.
[0034] The three-sided positioning method measures the distance between three reference points on the same plane, where these three points cannot be on the same straight line. The position of the point to be measured is measured in combination with the position of the reference point and the distance of the three sides is estimated. The position is calculated through a set of relational equations.
[0035] In this embodiment, the frequency of the UWB signal emitted by the UWB ranging module 102 is 3.9 GHZ, and the installation distance between the antenna 1 S1 and the antenna 2 S2 is less than or equal to 1 / 2 of the UWB signal wavelength λ, wherein the UWB signal wavelength λ is approximately 7.6 cm.
[0036] The signal quality test APP is connected to the precise positioning system server when used for the first time, and the point-line relationship and coordinate data in the GIS map of the entire mine are loaded from the system server. The 3D modeling algorithm program is used to draw each segmented three-dimensional tunnel according to the point-line relationship, and the spatial model collision detection is performed at the intersection point, and the intersection processing is performed to ensure the internal connectivity of the underground 3D tunnel map, such as Figure 5 As shown in the figure; after the operator carries the positioning instrument into the well, Figure 4As shown in the figure, open the signal quality test APP and turn on the signal test mode. Then the locator and the base station will perform dynamic positioning and ranging. According to the positioning results of the locator and the base station, the position of the person relative to the base station is obtained, and then the model of the operator is drawn into the 3D tunnel map. The position of the operator model in the 3D tunnel map is refreshed in real time due to movement, as shown in the figure. Figure 6 shown.
[0037] After successfully drawing the 3D map of the entire mine for the first time, each time you open the signal quality test app, first check whether the map data in the server has been updated. If so, synchronize the map data. If there is no update or the server cannot be connected, use the currently saved map information data.
[0038] After the operator enters the mine with the locator, it automatically scans the positive and negative antennas of the nearby base station and communicates with it. The ranging cycle is 1 second (adjustable). During the test, the latest 7 consecutive ranging results are used as the signal representation data source. The operator selects the content to be displayed in the interactive interface of the signal quality test APP to display the graphical test results in the 3D map, such as Figure 7 The signal quality is divided into 5 levels, and the corresponding relationship between the number of packet losses and signal quality is shown in Table 1.
[0039] Table 1 Fixed-point test signal quality comparison table
[0040] In addition to one-dimensional tunnels, operators can use handheld locators to walk and test in any relatively wide two-dimensional area such as the return yard and work surface, and can accurately test the signal quality of their own location. All detected base station antenna signal data can be saved in two ways: (a) saved separately by antenna; (b) saved by location. Saving separately by antenna is mainly used for the review and display of base station signal quality data in the tunnel. You can graphically see the attenuation process of the signal of a certain base station from strong to weak as the distance increases. When saving by location, the best base station signal at a certain location will be selected and saved (because there may be a situation where the signals of two or more base stations are cross-covered at a certain location) to avoid data redundancy. Operators can select the content they want to display in the interactive interface of the signal quality test APP to graphically display the test results on the map, and then adjust and maintain the areas with abnormal signal coverage.
[0041] In addition, if Figure 7 As shown, the locator of this embodiment can directly use the "target positioning" function, select a nearby UWB tag device to enter the quick search function interface, and the IPS touch screen 301 will draw and display the target's position and distance in real time in the style of radar scanning, greatly improving the user experience.
[0042] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.
Claims
1. A portable locator for detecting UWB signal quality in coal mines, characterized by: The locator comprises a main control module (100), a power module (200) and a user interface component (300), wherein the power module (200) is used to provide a safe power supply to the locator; the main control module (100) comprises a main control MCU (101) and three UWB ranging modules (102), wherein the main control MCU (101) is pre-installed with an Android operating system, and the three UWB ranging modules (102) use the same crystal oscillator to achieve clock synchronization, and are used to perform PDOA positioning on a positioning base station; the user interface component (300) comprises an IPS touch screen (301), and an operator performs interface interaction with the main control MCU (101) via the IPS touch screen (301).
2. The portable locator for detecting UWB signal quality in coal mines according to claim 1, characterized in that: The main control module (100) further comprises a gyroscope (103) and an acceleration sensor (104), which are used to provide the locator with accurate movement and direction data.
3. The portable locator for detecting UWB signal quality in coal mines according to claim 1, characterized in that: The user interface component (300) further comprises a power button (302), an external speaker (303) and a status indicator light (304); the main control MCU (101) receives instructions from the power button (302) to perform power on, power off and screen off actions; the external speaker (303) broadcasts the instructions received from the main control MCU (101); and the status indicator light (304) is used to display the status of the locator.
4. The portable locator for detecting UWB signal quality in coal mines according to claim 1, characterized in that: The power module (200) comprises a Type-C charging interface (201), a charging management circuit (202), a lithium battery (203) and an intrinsically safe circuit (204); the Type-C charging interface (201) is connected to an interface of an external power source; and the charging management circuit (202) controls voltage and current to charge the lithium battery (203).
5. The portable locator for detecting UWB signal quality in coal mines according to claim 1, characterized in that: A signal quality test APP is installed on the main control MCU (101).
6. A method for detecting the quality of UWB signals in underground coal mines, characterized in that: Using a locator as described in any one of claims 1 to 5, an operator holds the locator in hand and enters a coal mine shaft and walks along an underground path. The operator turns on the locator by pressing a power button (302), measures the distance between the positive and negative antennas of a nearby base station, and uses the PDOA method to locate the operator according to the base station coordinates, the distance from the base station and the relative angle. The operator performs a signal quality test on the operator's location, draws a signal strength map in a signal quality test APP, and saves all detected base station positive and negative antenna signal data.
7. The method for detecting the quality of UWB signals in underground coal mines according to claim 6, characterized in that: The specific steps to position yourself are: S1. A UWB ranging module (102) is set as a main module, and sends a UWB ranging signal to a base station antenna at time t. The UWB ranging module (102) is the main antenna S main The remaining two UWB ranging modules (102) are used as slave antennas, namely slave antenna 1 S1 and slave antenna 2 S2, and the main antenna S main , slave antenna 1 S1 and slave antenna 2 S2 are on the main antenna S main After sending the ranging request, wait for the return signal from the base station antenna; S2, according to the slave antenna S1, slave antenna S2 and the main antenna S main The phase difference of the received signal is used to obtain the distance difference p1 and p2 when the base station ranging signal reaches them and the main antenna, which is specifically: The phases φ1 and φ2 of the base station return signal are directly read from the main control chips of the two UWB ranging modules (102). ... main The ranging phase difference is: , then the ranging difference p1 between it and the main antenna is: , where λ is the signal wavelength; Antenna 2 S2 and main antenna S main The ranging phase difference is: , then the distance difference p2 between it and the main antenna is: ; S3, main antenna S main Continue to communicate with the base station antenna to obtain the distance r between it and the base station main Then, according to the signal arrival distance differences p1 and p2 in step S2, the distances from antenna 1 S1 and antenna 2 S2 to the base station are obtained. The specific formula is as follows: ； ； S4. Get the accurate location of the base station through the three-sided positioning algorithm.
8. The method for detecting the quality of UWB signals in underground coal mines according to claim 7, characterized in that: The frequency of the UWB signal emitted by the UWB ranging module (102) in step S1 is 3.9 GHZ, and the installation distance between antenna 1 S1 and antenna 2 S2 is less than or equal to 1 / 2 of the wavelength λ of the UWB signal, wherein the wavelength λ of the UWB signal is 7.6 cm.
9. The method for detecting the quality of UWB signals in underground coal mines according to claim 6, characterized in that: The signal quality test APP is connected to the precise positioning system server when used for the first time, and the point-line relationship and coordinate data in the GIS map of the entire mine are loaded from the system server. The 3D modeling algorithm program is used to draw each segmented three-dimensional tunnel according to the point-line relationship, and the spatial model collision detection is performed at the intersection point, and the intersection processing is performed to ensure the internal connectivity of the underground 3D tunnel map; After the operator carries the locator into the well, he opens the signal quality test APP and turns on the signal test mode. Then, dynamic positioning and ranging are performed between the locator and the base station. The position of the person relative to the base station is obtained based on the positioning results of the locator and the base station, and then the operator's model is drawn into the 3D tunnel map. The position of the operator's model in the 3D tunnel map is refreshed in real time due to movement.
10. The method for detecting the quality of UWB signals in underground coal mines according to claim 6, characterized in that: The period of the ranging signal emitted by the UWB ranging module is 1 second. During the test, the latest 7 consecutive ranging results are used as the data source for signal characterization. The operator can display the graphical test results in the three-dimensional map by selecting the content to be displayed in the interactive interface of the signal quality test APP; Signal quality is divided into 5 levels: when the signal quality level is 1, the number of packet losses is 0, and the characterizing color is dark green; when the signal quality level is 2, the number of packet losses is 1-2, and the characterizing color is light green; when the signal quality level is 3, the number of packet losses is 3-4, and the characterizing color is yellow-green; when the signal quality level is 4, the number of packet losses is 5-6, and the characterizing color is orange; when the signal quality level is 5, the number of packet losses is 7, and the characterizing color is red.