A mine positioning system, an intrinsically safe mine mobile phone and a mine positioning method

Abstract

The present invention discloses a mine positioning system, an intrinsically safe mine mobile phone and a mine positioning method, including: a positioning beacon, a positioning service module and a mine mobile phone; wherein the mine mobile phone includes: an application control module for sending a first control signal, a wireless communication module for scanning the positioning beacon in the surrounding area at a preset time interval according to the first control signal, and if the signal strength of the positioning beacon is greater than a preset threshold, the positioning information of the positioning beacon is sent to the UWB positioning module; the UWB positioning module is used to send the positioning information to the positioning service module through the first UWB definition information, and simultaneously measure the distance to generate the distance information; the positioning service module is used to locate the mine mobile phone according to the positioning information and the distance information. By arranging the positioning beacon and using the mine mobile phone to communicate with the positioning service module and the positioning beacon, it is possible to accurately identify the location of the mine mobile phone and avoid the problem of inaccurate positioning in the well.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of positioning technology, and in particular to a mining positioning system, an intrinsically safe mining mobile phone, and a mining positioning method. Background Art

[0002] Accurate positioning of personnel and vehicles in mines is an important tool for underground safety production and emergency support, but the serious attenuation of underground radio signal transmission, the complex and changeable radio transmission attenuation model, the inability of satellite positioning signals to penetrate coal seams and rock formations to reach the underground, and the need to cover tunnels up to 10km in length restrict the direct application of ground positioning technology in mines. Early underground personnel positioning systems in coal mines mainly used RFID technology, which could not accurately locate and could only determine which substation identification area the identification card was in, which did not meet the requirements of rescue or search and rescue in special circumstances. Summary of the invention

[0003] The present invention provides a mine positioning system, an intrinsically safe mine mobile phone and a mine positioning method. By arranging positioning beacons and utilizing the mine mobile phone to communicate with a positioning service module and the positioning beacon, the location of the mine mobile phone can be accurately identified, thereby avoiding the problem of inaccurate positioning in the well.

[0004] In a first aspect, an embodiment of the present invention provides a mining positioning system, comprising: a positioning beacon, a positioning service module and a mining mobile phone; wherein the mining mobile phone comprises: an application control module, a UWB positioning module and a wireless communication module;

[0005] The application control module is communicatively connected to the wireless communication module, and the wireless communication module is communicatively connected to the UWB positioning module;

[0006] The application control module is used to send a first control signal, and the wireless communication module is used to scan the positioning beacon in the surrounding area at a preset time interval according to the first control signal, and if the signal strength of the positioning beacon is greater than a preset threshold, the positioning information of the positioning beacon is sent to the UWB positioning module;

[0007] The UWB positioning module is used to send the positioning information to the positioning service module through the first UWB definition information, and simultaneously measure the distance to generate the distance information;

[0008] The positioning service module is used to locate the mining mobile phone according to the positioning information and the ranging information.

[0009] Optionally, the wireless communication module is used to scan the positioning beacon in the surrounding area at a preset time interval according to the first control signal, and if the positioning beacon is not scanned or the signal strength of the positioning beacon is less than a preset threshold, the positioning information of the positioning beacon is not sent;

[0010] The UWB positioning module is used to perform ranging to generate ranging information, and send the ranging information to the positioning service module through the first UWB definition information.

[0011] Optionally, the positioning service module includes a card reader, a transmission base station and a positioning server;

[0012] The card reader is connected to the transmission base station; the transmission base station is connected to the positioning server; the card reader is used to receive the first UWB definition information; the transmission base station is used to send the first UWB definition information to the positioning server, and the first UWB definition information includes the positioning information and the ranging information.

[0013] Optionally, the mining positioning system further comprises a health bracelet, which is communicatively connected to the wireless communication module and is used to collect health information of the wearer;

[0014] The wireless communication module is also used to send the health information to the UWB positioning module;

[0015] The UWB positioning module is also used to send the health information to the positioning service module through the second UWB definition information, and simultaneously measure the distance to generate the distance information;

[0016] The positioning service module locates the mining mobile phone and performs health analysis on the wearer according to the health information and the distance measurement information.

[0017] Optionally, the mining positioning system further comprises an environment detection device, the environment detection device is communicatively connected to the wireless communication module, and the environment detection device is used to detect environmental information of the surrounding environment;

[0018] The wireless communication module is also used to send the environmental information to the UWB positioning module;

[0019] The UWB positioning module is also used to send the environmental information to the positioning service module through the third UWB definition information, and simultaneously measure the distance to generate the distance information;

[0020] The positioning service module locates the mining mobile phone according to the environmental information and the ranging information and performs environmental analysis on the environmental information.

[0021] Optionally, the UWB positioning module includes an NRF52840 chip;

[0022] The wireless communication module includes a MK8000 chip.

[0023] In a second aspect, an embodiment of the present invention provides an intrinsically safe mining mobile phone, the mining mobile phone comprising: an application control module, a UWB positioning module and a wireless communication module;

[0024] The application control module is communicatively connected to the wireless communication module, and the wireless communication module is communicatively connected to the UWB positioning module;

[0025] The application control module is used to send a first control signal, and the wireless communication module is used to scan the positioning beacons in the surrounding area at a preset time interval according to the first control signal, and if the signal strength of the positioning beacon is greater than a preset threshold, the positioning information of the positioning beacon is sent to the UWB positioning module;

[0026] The UWB positioning module is used to send the positioning information to the positioning service module through the first UWB definition information, and simultaneously measure the distance to generate the distance information.

[0027] Optionally, the wireless communication module is communicatively connected to a health bracelet, and the health bracelet is used to collect health information of the wearer;

[0028] The wireless communication module is also used to send the health information to the UWB positioning module;

[0029] The UWB positioning module is also used to send the health information to the positioning service module through the second UWB definition information, and simultaneously measure the distance to generate the distance information.

[0030] Optionally, the wireless communication module is communicatively connected to an environment detection device, and the environment detection device is used to detect environmental information of the surrounding environment;

[0031] The wireless communication module is also used to send the environmental information to the UWB positioning module;

[0032] The UWB positioning module is also used to send the environmental information to the positioning service module through the third UWB definition information, and simultaneously measure the distance to generate the distance information.

[0033] In a third aspect, an embodiment of the present invention provides a mine positioning method, which is executed by a mine positioning system, wherein the mine positioning system comprises: a positioning beacon, a positioning service module and a mine mobile phone; wherein the mine mobile phone comprises: an application control module, a UWB positioning module and a wireless communication module;

[0034] The application control module sends a first control signal;

[0035] The wireless communication module scans the positioning beacon in the surrounding area at a preset time interval according to the first control signal, and sends the positioning information of the positioning beacon to the UWB positioning module if the signal strength of the positioning beacon is greater than a preset threshold;

[0036] The UWB positioning module sends the positioning information to the positioning service module through the first UWB definition information, and simultaneously measures the distance to generate the distance information;

[0037] The positioning service module positions the mining mobile phone according to the positioning information and the ranging information.

[0038] The mining positioning system provided by the embodiment of the present invention includes: a positioning beacon, a positioning service module and a mining mobile phone; the mining mobile phone includes: an application control module, a UWB positioning module and a wireless communication module; the application control module is used to send a first control signal, and the wireless communication module is used to scan the positioning beacon in the surrounding area at a preset time interval according to the first control signal, and if the signal strength of the positioning beacon is greater than the preset threshold, the positioning information of the positioning beacon is sent to the UWB positioning module; the UWB positioning module is used to send the positioning information to the positioning service module through the first UWB definition information, and at the same time measure the distance to generate the distance information; the positioning service module is used to locate the mining mobile phone according to the positioning information and the distance information. Therefore, by arranging the positioning beacon and using the mining mobile phone to communicate with the positioning service module and the positioning beacon, it is possible to accurately identify the location of the mining mobile phone and avoid the problem of inaccurate positioning in the well. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A structural schematic diagram of a mining positioning system is provided for an embodiment of the present invention;

[0040] Figure 2 A positioning schematic diagram provided by an embodiment of the present invention;

[0041] Figure 3 A structural schematic diagram of another mining positioning system is provided for an embodiment of the present invention;

[0042] Figure 4 A structural schematic diagram of another mining positioning system is provided for an embodiment of the present invention;

[0043] Figure 5 A structural diagram of another mining positioning system is provided for an embodiment of the present invention

[0044] Figure 6 A schematic diagram of the structure of a mining mobile phone is provided for an embodiment of the present invention;

[0045] Figure 7 A structural schematic diagram of another intrinsically safe mining mobile phone is provided for an embodiment of the present invention;

[0046] Figure 8 A schematic flow chart of a mine positioning method is provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Figure 1 A structural schematic diagram of a mine positioning system is provided for an embodiment of the present invention, comprising: a positioning beacon 110, a positioning service module 120 and a mine mobile phone 130; wherein the mine mobile phone 130 comprises: an application control module 131, a UWB positioning module 132 and a wireless communication module 133;

[0049] The application control module 131 is connected to the wireless communication module 133 for communication, and the wireless communication module 133 is connected to the UWB positioning module 132 for communication;

[0050] The application control module 131 is used to send a first control signal, and the wireless communication module 133 is used to scan the positioning beacon 110 in the surrounding area at a preset time interval according to the first control signal, and if the signal strength of the positioning beacon 110 is greater than a preset threshold, the positioning information of the positioning beacon 110 is sent to the UWB positioning module 132;

[0051] The UWB positioning module 132 is used to send the positioning information to the positioning service module 120 through the first UWB definition information, and simultaneously measure the distance to generate the distance information;

[0052] The positioning service module 120 is used to locate the mining mobile phone 130 according to the positioning information and the distance measurement information.

[0053] Specifically, the positioning beacon 110 is a radio transmitting device used to periodically send positioning information to the surrounding environment. The positioning beacon 110 can be set at any location in the application environment. For example, in the application scenario of a mine, it can be set in a tunnel, a workroom, and various types of operating equipment. The mining mobile phone 130 can operate normally in a harsh mining environment and meet the communication needs of miners working for a long time through special design and protective measures. The mining mobile phone 130 is provided with an application control module 131, a UWB positioning module 132, and a wireless communication module 133, wherein the application control module 131 can be configured as a mobile application installed in the mining mobile phone 130, and the corresponding control instructions and corresponding information display are set through the interaction between the wearer and the mobile application. The UWB positioning module 132 has a positioning function and is built into the mining mobile phone 130. The UWB positioning module 132 establishes a communication connection with the positioning service module 120 through the UWB communication protocol. UWB (Ultra Wideband) technology is a wireless carrier communication technology that uses nanosecond non-sinusoidal narrow pulses to transmit data. UWB technology has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy.

[0054] The application control module 131 sets a first control signal to be sent to the wireless communication module 133. The wireless communication module 133 can scan the positioning beacon 110 in the surrounding area at a preset time interval according to the first control signal, and the duration of each scan can be set as needed. Among them, the communication type of the positioning beacon 110 and the wireless communication module 133 is adapted. Exemplarily, the positioning beacon 110 and the wireless communication module 133 can both use low-power Bluetooth communication. When the signal strength of the positioning beacon 110 scanned by the wireless communication module 133 is greater than the preset threshold, it means that the mining mobile phone 130 is closest to the positioning beacon 110, and the wireless communication module 133 sends the positioning information of the positioning beacon 110 to the UWB positioning module 132. The UWB positioning module 132 sends the positioning information to the positioning service module 120 through the first UWB definition information, and measures the distance between the UWB positioning module 132 and the positioning service module 120 to generate ranging information. The first UWB definition information is communication information determined according to the UWB communication protocol, wherein the first UWB definition information includes positioning information and ranging information. When the distance between the mining mobile phone 130 and the positioning beacon 110 is constantly changing, the positioning information can be updated in time by scanning the positioning beacons 110 in the surrounding area at intervals by the UWB positioning module 132, so that the real-time position of the mining mobile phone 130 can be obtained.

[0055] The positioning service module 120 can obtain the transmission distance between the positioning service module 120 and the UWB positioning module 132 according to the ranging information. Since the position of the positioning service module 120 is fixed, the first positioning information of the mining mobile phone 130 can be obtained. The positioning service module 120 uses the position of the positioning beacon 110 as the reference position according to the positioning information, and can obtain the distance of the UWB positioning module 132 relative to the reference position. Since the position of the positioning beacon 110 is also fixed, the second positioning information of the mining mobile phone 130 can be obtained. Combining the first positioning information and the second positioning information can improve the positioning accuracy of the mining mobile phone 130.

[0056] For example, Figure 2 A positioning schematic diagram provided by an embodiment of the present invention, see Figure 2 Exemplarily, the positioning service module 120 is a signal receiving end, and its position coordinates are (X1, Y1, Z1). The position coordinates of the positioning beacon 110 scanned by the mining mobile phone 130 are (X2, Y2, Z2). The UWB positioning module 132 sends the positioning information to the positioning service module 120 through the first UWB definition information, and measures the distance between the UWB positioning module 132 and the positioning service module 120 to generate ranging information. The positioning service module 120 can obtain the transmission distance between the positioning service module 120 and the UWB positioning module 132 as a based on the ranging information. The positioning service module 120 uses the position of the positioning beacon 110 as the reference position based on the positioning information, and can obtain the distance of the UWB positioning module 132 relative to the reference position as b. Therefore, the mining mobile phone 130 can be located, and the obtained position information is (X3, Y3, Z3). Therefore, by arranging positioning beacons 110 at different positions and utilizing the mining mobile phone 130 to communicate with the positioning service module 120 and the positioning beacon 110, the location of the mining mobile phone 130 can be accurately identified, thereby avoiding the problem of inaccurate positioning in the well.

[0057] The mining positioning system provided by the embodiment of the present invention includes: a positioning beacon 110, a positioning service module 120 and a mining mobile phone 130; the mining mobile phone 130 includes: an application control module 131, a UWB positioning module 132 and a wireless communication module 133; the application control module 131 is used to send a first control signal, and the wireless communication module 133 is used to scan the positioning beacons 110 in the surrounding area at a preset time interval according to the first control signal. If the signal strength of the positioning beacon 110 is greater than a preset threshold, the positioning information of the positioning beacon 110 is sent to the UWB positioning module 132; the UWB positioning module 132 is used to send the positioning information to the positioning service module 120 through the first UWB definition information, and simultaneously measure the distance to generate the distance information; the positioning service module 120 is used to locate the mining mobile phone 130 according to the positioning information and the distance information. Therefore, by deploying the positioning beacon 110 and utilizing the mining mobile phone 130 to communicate with the positioning service module 120 and the positioning beacon 110, the location of the mining mobile phone 130 can be accurately identified, thereby avoiding the problem of inaccurate positioning in the well.

[0058] Optionally, when the wireless communication module 133 scans the positioning beacon 110 in the surrounding area at a preset time interval according to the first control signal, if the positioning beacon 110 is not scanned or the signal strength of the positioning beacon 110 is less than a preset threshold, the positioning information of the positioning beacon 110 is not sent;

[0059] The UWB positioning module 132 is used to perform ranging to generate ranging information, and send the ranging information to the positioning service module 120 through the first UWB definition information.

[0060] Specifically, when the wireless communication module 133 fails to scan the positioning beacon 110, or the signal strength of the scanned positioning beacon 110 is less than the preset threshold, it means that there is no positioning beacon 110 in the surrounding area of ​​the mining mobile phone 130, or the mining mobile phone 130 is far away from the positioning beacon 110, then the UWB positioning module 132 no longer sends the positioning information of the positioning beacon 110, but measures the distance between the UWB positioning module 132 and the positioning service module 120, generates ranging information, and sends the ranging information to the positioning service module 120 through the first UWB definition information. At this time, the positioning service module 120 can obtain the transmission distance between the positioning service module 120 and the UWB positioning module 132 according to the ranging information, thereby obtaining the positioning information of the mining mobile phone 130. In other words, when there is no positioning beacon 110 in the surrounding area, the location information between the UWB positioning module 132 and the positioning service module 120 can be used to perform positioning to avoid target loss.

[0061] Based on the above embodiments, the embodiments of the present invention provide an application scenario of a mine positioning system. For example, the positioning beacon 110 is set on a transport vehicle in a mine. When the wearer wears the mine mobile phone 130, the first control signal is sent through the application control module 131 configured in the mine mobile phone 130. The wireless communication module 133 can scan the positioning beacon 110 in the surrounding area at a preset time interval according to the first control signal, and the duration of each scan can be set as needed. When the signal strength of the positioning beacon 110 scanned by the wireless communication module 133 is greater than the preset threshold, it means that the distance between the mine mobile phone 130 and the positioning beacon 110 of the transport vehicle is the closest. If the signal strength is large enough, it can be considered that the wearer has boarded the transport vehicle, and the wireless communication module 133 sends the positioning information of the positioning beacon 110 to the UWB positioning module 132. The UWB positioning module 132 sends the positioning information to the positioning service module 120 through the first UWB definition information, and measures the distance between the UWB positioning module 132 and the positioning service module 120 to generate ranging information. When the wireless communication module 133 does not scan the positioning beacon 110 within multiple preset time intervals, or the scanned signal strength is less than the preset threshold, it means that the mining mobile phone 130 is far away from the positioning beacon 110 of the transport vehicle, and it can be considered that the wearer has left the transport vehicle. The same is true for other operating equipment. Therefore, by using the communication between the mining mobile phone 130 and the positioning service module 120 and the positioning beacon 110, not only can the mining mobile phone 130 be located, but also the status of the wearer's operating equipment can be timely understood.

[0062] Figure 3 A structural diagram of another mining positioning system is provided for an embodiment of the present invention, see Figure 3 , the positioning service module 120 includes a card reader 121, a transmission base station 122 and a positioning server 123;

[0063] The card reader 121 is connected to the transmission base station 122; the transmission base station 122 is connected to the positioning server 123; the card reader 121 is used to receive the first UWB definition information; the transmission base station 122 is used to send the first UWB definition information to the positioning server 123, and the first UWB definition information includes positioning information and ranging information.

[0064] Specifically, the card reader 121 is used to receive the first UWB definition information, and the card reader 121 and the transmission base station 122 can be connected by CAN communication wired connection to meet the real-time data transmission requirements and are suitable for high-speed data transmission. The number of transmission base stations 122 can be set to multiple according to the application scenario, and the transmission base station 122 is used to further accurately locate the mining mobile phone 130. Exemplarily, multiple transmission base stations 122 can be arranged in the mine space, and the mining mobile phone 130 is used as a signal transmission source to transmit the first UWB definition information, which is received by multiple transmission base stations 122 in the surrounding area. The transmission base station 122 can obtain the distance from the mining mobile phone 130 according to the ranging information, and the position of the mining mobile phone 130 can be obtained through the intersection area of ​​multiple transmission base stations 122, so as to further accurately locate the mining mobile phone 130 using the transmission base station 122. The transmission base station 122 is also used to send the first UWB definition information to the positioning server 123, and the positioning server 123 performs positioning analysis on the mining mobile phone 130 according to the positioning information and ranging information. The positioning server 123 can receive and process the data related to the first UWB definition information, and store and manage the data. It can also provide location data output in different formats so that other applications or systems can use it. The positioning server 123 can also be equipped with other functions, such as alarm and notification functions, to promptly notify the administrator when the mining mobile phone 130 leaves the designated area or an abnormal situation occurs.

[0065] Figure 4 A structural diagram of another mining positioning system is provided for an embodiment of the present invention, see Figure 4 , the mining positioning system also includes a health bracelet 210, which is communicatively connected to the wireless communication module 133, and the health bracelet 210 is used to collect health information of the wearer;

[0066] The wireless communication module 133 is also used to send health information to the UWB positioning module 132;

[0067] The UWB positioning module 132 is also used to send the health information to the positioning service module 120 through the second UWB definition information, and simultaneously measure the distance to generate the distance information;

[0068] The positioning service module 120 locates the mining mobile phone 130 and performs health analysis on the wearer according to the health information and the distance measurement information.

[0069] Specifically, the health bracelet 210 can achieve wireless connection with the mining mobile phone 130 through the wireless communication module 133. Exemplarily, the communication types of the health bracelet 210 and the wireless communication module 133 are adapted, for example, low-power Bluetooth communication is used. The health bracelet 210 can collect the wearer's health information, such as heart rate, blood pressure, electrocardiogram and other information. The health bracelet 210 can send the health information to the UWB positioning module 132 through the wireless communication module 133. The UWB positioning module 132 sends the health information to the positioning service module 120 through the second UWB definition information, and simultaneously generates distance measurement information; the second UWB definition information is the communication information determined according to the UWB communication protocol. Based on the above embodiment, illustratively, the UWB positioning module 132 sends the second UWB definition information to the transmission base station 122, and the transmission base station 122 can be used to locate the mining mobile phone 130. Further, the positioning server 123 can analyze the position and health of the wearer based on the distance measurement information and health information, so as to timely detect the wearer's physical abnormalities, thereby achieving timely rescue in the event of abnormalities. The mining mobile phone 130 can be an intermediate device, and the mining mobile phone 130 is used to complete the sending and receiving functions, so as to connect more external devices that are suitable for communication, and realize the functional expansion of the positioning system.

[0070] Figure 5 A structural diagram of another mining positioning system is provided for an embodiment of the present invention, see Figure 5 The mining positioning system further includes an environment detection device 220, which is communicatively connected to the wireless communication module 133, and the environment detection device 220 is used to detect environmental information of the surrounding environment;

[0071] The wireless communication module 133 is also used to send environmental information to the UWB positioning module 132;

[0072] The UWB positioning module 132 is also used to send the environmental information to the positioning service module 120 through the third UWB definition information, and simultaneously measure the distance to generate the distance information;

[0073] The positioning service module 120 locates the mining mobile phone 130 according to the environmental information and the distance measurement information and performs environmental analysis on the environmental information.

[0074] Specifically, the environment detection device 220 can achieve wireless connection with the mining mobile phone 130 through the wireless communication module 133. Exemplarily, the communication types of the environment detection device 220 and the wireless communication module 133 are adapted to each other, for example, low-power Bluetooth communication is adopted. The environment detection device 220 can detect environmental information of the surrounding environment, such as temperature, humidity, air pressure and other information. The environment detection device 220 can send the environmental information to the UWB positioning module 132 through the wireless communication module 133. The UWB positioning module 132 sends the environmental information to the positioning service module 120 through the third UWB definition information, and generates ranging information at the same time; the third UWB definition information is the communication information determined according to the UWB communication protocol. Based on the above embodiment, illustratively, the UWB positioning module 132 sends the third UWB definition information to the transmission base station 122, and the transmission base station 122 can be used to locate the mining mobile phone 130. Further, the positioning server 123 can analyze the location of the mining mobile phone 130 and the environment where the mining mobile phone 130 is located based on the environmental information and ranging information, so as to detect the surrounding environment and promptly discover the safety hazards caused by environmental changes. The mining mobile phone 130 can be an intermediate device, and the mining mobile phone 130 is used to complete the sending and receiving functions, so as to connect more external devices that are suitable for communication and realize the functional expansion of the positioning system.

[0075] Figure 6 A schematic diagram of the structure of a mining mobile phone is provided in accordance with an embodiment of the present invention. Figure 6 The UWB positioning module 132 includes an NRF52840 chip; the wireless communication module 133 includes an MK8000 chip.

[0076] Specifically, the application control module 131 is connected to the wireless communication module 133, and the wireless communication module 133 is connected to the UWB positioning module 132; the application control module 131 can be configured as a mobile application installed in the mining mobile phone 130, and the wearer can interact with the mobile application to set corresponding control instructions and corresponding information display. The application control module 131 and the NRF52840 chip communicate through the serial port.

[0077] Exemplarily, the process of the application control module 131 sending and receiving data to the NRF52840 chip through the serial port is as follows:

[0078] The application control module 131 pulls down the IRQ pin voltage, waits for a certain period of time (for example, 1ms), sends and receives data through the serial port, and completes the data sending and receiving; pulls up the IRQ pin voltage; the application control module 131 performs a serial port heartbeat communication with the NRF52840 chip every 60 seconds to prevent the NRF52840 chip from entering sleep mode, and obtains the current battery power of the NRF52840 chip through the serial port heartbeat communication, and whether the application control module 131 is in a keep-alive state.

[0079] The process of NRF52840 chip sending data to application control module 131 through the serial port:

[0080] Pull down the voltage of the RDY pin, wait for a certain period of time (illustratively, 1 ms), the serial port sends and receives data, and the serial port sends and receives data; pull up the voltage of the RDY pin.

[0081] The communication process between NRF52840 chip and MK8000 chip:

[0082] The MK8000 chip is set as the active communication party, which wakes up only by itself and is not passively woken up by the NRF52840 chip. Active communication can resist the influence of interference signals and ensure the accuracy and reliability of transmitted data. For example, the MK8000 chip normally interacts with the NRF52840 chip once a minute through the serial port heartbeat.

[0083] When the NRF52840 chip has data that needs to be read, it pulls down its own STAT_in pin voltage. The MK8000 chip wakes up to read the level status of STAT_in. If it is low level, the MK8000 chip communicates with the NRF52840 through the serial port.

[0084] The MK8000 chip can actively communicate with the NRF52840 chip through the serial port. Before data interaction, the UWB_IRQ pin voltage is first pulled down, and a certain period of time (for example, 1ms) is waited for serial port data to be sent and received. The NRF52840 chip can be awakened by the UWB_IRQ pin voltage and initialize the system, waiting for serial port data, and exiting and entering sleep mode after receiving data or timeout.

[0085] by Figure 5 Taking the China Mining Positioning System as an example, the data communication process can be: the wireless communication module 133 is connected to the environmental detection device 220, and the environmental information detected by the environmental detection device 220 is sent to the NRF52840 chip through the serial port protocol. The NRF52840 chip caches the environmental information and lowers the STAT_in pin voltage to wait for the 8000 chip to read. After the MK8000 chip reads successfully, it is sent to the transmission base station 122 through the third UWB definition message, and finally sent to the positioning server 123.

[0086] Based on the above embodiment, the NRF52840 chip is also connected to the audio / vibration circuit 134 and the button, power supply and other units 135 in the mining mobile phone 130. The mining mobile phone 130 supports two modes of upward calling and downward calling: through the button of the mining mobile phone 130, the upward calling working mode is activated, and the mining mobile phone 130 enters the alarm mode. After entering the alarm mode, it can display words such as "SOS alarm successful" accompanied by vibration and other prompts. There are two modes for downward calling: Mode 1: Emergency call, after the mobile phone receives the call, the buzzer "beeps" twice, displays "emergency call in progress", vibrates for 2s, the breathing light flashes and the flashlight flashes 3 times, each time at an interval of 1s. Repeat the above actions every 20s within 1 minute of the alarm. Mode 2: Extended alarm, after the mobile phone receives the call, the buzzer "beeps" twice, the APP displays the communication content, vibrates for 2s, the breathing light flashes and the flashlight flashes 3 times, each time at an interval of 1s. Repeat the above actions every 20s within 1 minute of the alarm. Mode 2: Extended alarm, after the mobile phone receives the call, the buzzer "beeps" twice, the APP displays the communication content, vibrates for 2s, the breathing light flashes and the flashlight flashes 3 times, each time at an interval of 1s. Repeat the above actions every 20s within 1 minute of the alarm. The control of buzzer, vibration motor and warning light can be completed by GR5515.

[0087] Figure 7 A structural schematic diagram of another intrinsically safe mining mobile phone is provided for the embodiment of the present invention, see Figure 7 , the mining mobile phone 130 includes: an application control module 131, a UWB positioning module 132 and a wireless communication module 133;

[0088] The application control module 131 is connected to the wireless communication module 133 for communication, and the wireless communication module 133 is connected to the UWB positioning module 132 for communication;

[0089] The application control module 131 is used to send a first control signal, and the wireless communication module 133 is used to scan the positioning beacon 110 in the surrounding area at a preset time interval according to the first control signal, and if the signal strength of the positioning beacon 110 is greater than a preset threshold, the positioning information of the positioning beacon 110 is sent to the UWB positioning module 132;

[0090] The UWB positioning module 132 is used to send the positioning information to the positioning service module 120 through the first UWB definition information, and simultaneously measure the distance to generate the distance information.

[0091] Specifically, the positioning beacon 110 is a radio transmitting device used to periodically send positioning information to the surrounding environment. The positioning beacon 110 can be set at any location in the application environment. For example, in the application scenario of a mine, it can be set in a tunnel, a workroom, and various types of operating equipment. The mining mobile phone 130 can operate normally in a harsh mining environment and meet the communication needs of miners working for a long time through special design and protective measures. The mining mobile phone 130 is provided with an application control module 131, a UWB positioning module 132, and a wireless communication module 133, wherein the application control module 131 can be configured as a mobile application installed in the mining mobile phone 130, and the corresponding control instructions and corresponding information display are set through the interaction between the wearer and the mobile application. The UWB positioning module 132 has a positioning function and is built into the mining mobile phone 130. The UWB positioning module 132 establishes a communication connection with the positioning service module 120 through the UWB communication protocol. UWB (Ultra Wideband) technology is a wireless carrier communication technology that uses nanosecond non-sinusoidal narrow pulses to transmit data. UWB technology has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy.

[0092] The application control module 131 sets a first control signal to be sent to the wireless communication module 133. The wireless communication module 133 can scan the positioning beacon 110 in the surrounding area at a preset time interval according to the first control signal, and the duration of each scan can be set as needed. Among them, the communication type of the positioning beacon 110 and the wireless communication module 133 is adapted. Exemplarily, the positioning beacon 110 and the wireless communication module 133 can both use low-power Bluetooth communication. When the signal strength of the positioning beacon 110 scanned by the wireless communication module 133 is greater than the preset threshold, it means that the mining mobile phone 130 is closest to the positioning beacon 110, and the wireless communication module 133 sends the positioning information of the positioning beacon 110 to the UWB positioning module 132. The UWB positioning module 132 sends the positioning information to the positioning service module 120 through the first UWB definition information, and measures the distance between the UWB positioning module 132 and the positioning service module 120 to generate ranging information. The first UWB definition information is communication information determined according to the UWB communication protocol, wherein the first UWB definition information includes positioning information and ranging information. When the distance between the mining mobile phone 130 and the positioning beacon 110 is constantly changing, the positioning information can be updated in time by scanning the positioning beacons 110 in the surrounding area at intervals by the UWB positioning module 132, so that the real-time position of the mining mobile phone 130 can be obtained.

[0093] The positioning service module 120 can obtain the transmission distance between the positioning service module 120 and the UWB positioning module 132 according to the ranging information. Since the position of the positioning service module 120 is fixed, the first positioning information of the mining mobile phone 130 can be obtained. The positioning service module 120 uses the position of the positioning beacon 110 as the reference position according to the positioning information, and can obtain the distance of the UWB positioning module 132 relative to the reference position. Since the position of the positioning beacon 110 is also fixed, the second positioning information of the mining mobile phone 130 can be obtained. Combining the first positioning information and the second positioning information can improve the positioning accuracy of the mining mobile phone 130.

[0094] Optionally, the wireless communication module 133 is connected to the health bracelet 210 for communication, and the health bracelet 210 is used to collect the health information of the wearer;

[0095] The wireless communication module 133 is also used to send health information to the UWB positioning module 132;

[0096] The UWB positioning module 132 is further used to send the health information to the positioning service module 120 through the second UWB definition information, and simultaneously perform distance measurement to generate distance measurement information.

[0097] Specifically, the health bracelet 210 can achieve wireless connection with the mining mobile phone 130 through the wireless communication module 133. Exemplarily, the communication types of the health bracelet 210 and the wireless communication module 133 are adapted, for example, low-power Bluetooth communication is used. The health bracelet 210 can collect the wearer's health information, such as heart rate, blood pressure, electrocardiogram and other information. The health bracelet 210 can send the health information to the UWB positioning module 132 through the wireless communication module 133. The UWB positioning module 132 sends the health information to the positioning service module 120 through the second UWB definition information, and simultaneously generates distance measurement information; the second UWB definition information is the communication information determined according to the UWB communication protocol. Based on the above embodiment, illustratively, the UWB positioning module 132 sends the second UWB definition information to the transmission base station 122, and the transmission base station 122 can be used to locate the mining mobile phone 130. Further, the positioning server 123 can analyze the position and health of the wearer based on the distance measurement information and health information, so as to timely detect the wearer's physical abnormalities, thereby achieving timely rescue in the event of abnormalities. The mining mobile phone 130 can be an intermediate device, and the mining mobile phone 130 is used to complete the sending and receiving functions, so as to connect more external devices that are suitable for communication, and realize the functional expansion of the positioning system.

[0098] Optionally, the wireless communication module 133 is in communication connection with the environment detection device 220, and the environment detection device 220 is used to detect environmental information of the surrounding environment;

[0099] The wireless communication module 133 is also used to send environmental information to the UWB positioning module 132;

[0100] The UWB positioning module 132 is further configured to send the environment information to the positioning service module 120 via the third UWB definition information, and simultaneously perform distance measurement to generate distance measurement information.

[0101] Specifically, the environment detection device 220 can achieve wireless connection with the mining mobile phone 130 through the wireless communication module 133. Exemplarily, the communication types of the environment detection device 220 and the wireless communication module 133 are adapted to each other, for example, low-power Bluetooth communication is adopted. The environment detection device 220 can detect environmental information of the surrounding environment, such as temperature, humidity, air pressure and other information. The environment detection device 220 can send the environmental information to the UWB positioning module 132 through the wireless communication module 133. The UWB positioning module 132 sends the environmental information to the positioning service module 120 through the third UWB definition information, and generates ranging information at the same time; the third UWB definition information is the communication information determined according to the UWB communication protocol. Based on the above embodiment, illustratively, the UWB positioning module 132 sends the third UWB definition information to the transmission base station 122, and the transmission base station 122 can be used to locate the mining mobile phone 130. Further, the positioning server 123 can analyze the location of the mining mobile phone 130 and the environment where the mining mobile phone 130 is located based on the environmental information and ranging information, so as to detect the surrounding environment and promptly discover the safety hazards caused by environmental changes. The mining mobile phone 130 can be an intermediate device, and the mining mobile phone 130 is used to complete the sending and receiving functions, so as to connect more external devices that are suitable for communication and realize the functional expansion of the positioning system.

[0102] Figure 8 A flowchart of a method for mine positioning is provided for an embodiment of the present invention. This embodiment is applicable to the situation of mine positioning. The method can be executed by a mine positioning system. The mine positioning system includes: a positioning beacon 110, a positioning service module 120 and a mine mobile phone 130; wherein the mine mobile phone 130 includes: an application control module 131, a UWB positioning module 132 and a wireless communication module 133; the mine positioning can be implemented by hardware and / or software. The method specifically includes the following steps:

[0103] S110, the application control module 131 sends a first control signal;

[0104] S120, the wireless communication module 133 scans the positioning beacon 110 in the surrounding area at a preset time interval according to the first control signal, and if the signal strength of the positioning beacon 110 is greater than a preset threshold, the positioning information of the positioning beacon 110 is sent to the UWB positioning module 132;

[0105] Specifically, the positioning beacon 110 is a radio transmitting device used to periodically send positioning information to the surrounding environment. The positioning beacon 110 can be set at any location in the application environment. For example, in the application scenario of a mine, it can be set in a tunnel, a workroom, and various types of operating equipment. The mining mobile phone 130 can operate normally in a harsh mining environment and meet the communication needs of miners working for a long time through special design and protective measures. The mining mobile phone 130 is provided with an application control module 131, a UWB positioning module 132, and a wireless communication module 133, wherein the application control module 131 can be configured as a mobile application installed in the mining mobile phone 130, and the corresponding control instructions and corresponding information display are set through the interaction between the wearer and the mobile application. The UWB positioning module 132 has a positioning function and is built into the mining mobile phone 130. The UWB positioning module 132 establishes a communication connection with the positioning service module 120 through the UWB communication protocol. UWB (Ultra Wideband) technology is a wireless carrier communication technology that uses nanosecond non-sinusoidal narrow pulses to transmit data. UWB technology has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy.

[0106] The application control module 131 sets a first control signal to be sent to the wireless communication module 133. The wireless communication module 133 can scan the positioning beacon 110 in the surrounding area at a preset time interval according to the first control signal, and the duration of each scan can be set as needed. Among them, the communication types of the positioning beacon 110 and the wireless communication module 133 are adapted. Exemplarily, the positioning beacon 110 and the wireless communication module 133 can both use low-power Bluetooth communication. When the signal strength of the positioning beacon 110 scanned by the wireless communication module 133 is greater than the preset threshold, it means that the mining mobile phone 130 is closest to the positioning beacon 110, and the wireless communication module 133 sends the positioning information of the positioning beacon 110 to the UWB positioning module 132.

[0107] S130, the UWB positioning module 132 sends the positioning information to the positioning service module 120 through the first UWB definition information, and simultaneously measures the distance to generate the distance information;

[0108] Specifically, the UWB positioning module 132 sends the positioning information to the positioning service module 120 through the first UWB definition information, and measures the distance between the UWB positioning module 132 and the positioning service module 120 to generate ranging information. The first UWB definition information is the communication information determined according to the UWB communication protocol, wherein the first UWB definition information includes positioning information and ranging information. When the distance between the mining mobile phone 130 and the positioning beacon 110 is constantly changing, the positioning information can be updated in time by scanning the positioning beacons 110 in the surrounding area at intervals by the UWB positioning module 132, so that the real-time position of the mining mobile phone 130 can be obtained.

[0109] S140. The positioning service module 120 positions the mining mobile phone 130 according to the positioning information and the distance measurement information.

[0110] Specifically, the positioning service module 120 can obtain the transmission distance between the positioning service module 120 and the UWB positioning module 132 according to the ranging information. Since the position of the positioning service module 120 is fixed, the first positioning information of the mining mobile phone 130 can be obtained. The positioning service module 120 uses the position of the positioning beacon 110 as the reference position according to the positioning information, and can obtain the distance of the UWB positioning module 132 relative to the reference position. Since the position of the positioning beacon 110 is also fixed, the second positioning information of the mining mobile phone 130 can be obtained. Combining the first positioning information and the second positioning information can improve the positioning accuracy of the mining mobile phone 130.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mining positioning system, characterized in that: include: Positioning beacon, positioning service module and mining mobile phone; wherein, the mining mobile phone includes: application control module, UWB positioning module and wireless communication module; The application control module is communicatively connected to the wireless communication module, and the wireless communication module is communicatively connected to the UWB positioning module; The application control module is used to send a first control signal, and the wireless communication module is used to scan the positioning beacon in the surrounding area at a preset time interval according to the first control signal, and if the signal strength of the positioning beacon is greater than a preset threshold, the positioning information of the positioning beacon is sent to the UWB positioning module; The UWB positioning module is used to send the positioning information to the positioning service module through the first UWB definition information, and simultaneously measure the distance to generate the distance information; The positioning service module is used to locate the mining mobile phone according to the positioning information and the ranging information.

2. The mining positioning system according to claim 1, characterized in that: The wireless communication module is used to scan the positioning beacon in the surrounding area at a preset time interval according to the first control signal, and if the positioning beacon is not scanned or the signal strength of the positioning beacon is less than a preset threshold, the positioning information of the positioning beacon is not sent; The UWB positioning module is used to perform ranging to generate ranging information, and send the ranging information to the positioning service module through the first UWB definition information.

3. The mining positioning system according to any one of claims 1 to 2, characterized in that: The positioning service module includes a card reader, a transmission base station and a positioning server; The card reader is connected to the transmission base station; the transmission base station is connected to the positioning server; the card reader is used to receive the first UWB definition information; The transmission base station is used to send the first UWB definition information to the positioning server, where the first UWB definition information includes the positioning information and the ranging information.

4. The mining positioning system according to claim 3, characterized in that: It also includes a health bracelet, which is communicatively connected to the wireless communication module and is used to collect health information of the wearer; The wireless communication module is also used to send the health information to the UWB positioning module; The UWB positioning module is also used to send the health information to the positioning service module through the second UWB definition information, and simultaneously measure the distance to generate the distance information; The positioning service module locates the mining mobile phone and performs health analysis on the wearer according to the health information and the distance measurement information.

5. The mining positioning system according to claim 3, characterized in that: It also includes an environment detection device, which is communicatively connected to the wireless communication module and is used to detect environmental information of the surrounding environment; The wireless communication module is also used to send the environmental information to the UWB positioning module; The UWB positioning module is also used to send the environmental information to the positioning service module through the third UWB definition information, and simultaneously measure the distance to generate the distance information; The positioning service module locates the mining mobile phone according to the environmental information and the ranging information and performs environmental analysis on the environmental information.

6. The mining positioning system according to claim 1, characterized in that: The UWB positioning module includes an NRF52840 chip; The wireless communication module includes a MK8000 chip.

7. An intrinsically safe mining mobile phone, characterized in that: The mining mobile phone includes: an application control module, a UWB positioning module and a wireless communication module; The application control module is communicatively connected to the wireless communication module, and the wireless communication module is communicatively connected to the UWB positioning module; The application control module is used to send a first control signal, and the wireless communication module is used to scan the positioning beacons in the surrounding area at a preset time interval according to the first control signal, and if the signal strength of the positioning beacon is greater than a preset threshold, the positioning information of the positioning beacon is sent to the UWB positioning module; The UWB positioning module is used to send the positioning information to the positioning service module through the first UWB definition information, and simultaneously measure the distance to generate the distance information.

8. The intrinsically safe mining mobile phone according to claim 7, characterized in that: The wireless communication module is connected to a health bracelet for collecting health information of the wearer; The wireless communication module is also used to send the health information to the UWB positioning module; The UWB positioning module is also used to send the health information to the positioning service module through the second UWB definition information, and simultaneously measure the distance to generate the distance information.

9. The intrinsically safe mining mobile phone according to claim 7, characterized in that: The wireless communication module is in communication connection with an environment detection device, and the environment detection device is used to detect environmental information of the surrounding environment; The wireless communication module is also used to send the environmental information to the UWB positioning module; The UWB positioning module is also used to send the environmental information to the positioning service module through the third UWB definition information, and simultaneously measure the distance to generate the distance information.

10. A mine positioning method, performed by a mine positioning system, characterized in that: The mine positioning system includes: a positioning beacon, a positioning service module and a mine mobile phone; wherein the mine mobile phone includes: an application control module, a UWB positioning module and a wireless communication module; The application control module sends a first control signal; The wireless communication module scans the positioning beacon in the surrounding area at a preset time interval according to the first control signal, and sends the positioning information of the positioning beacon to the UWB positioning module if the signal strength of the positioning beacon is greater than a preset threshold; The UWB positioning module sends the positioning information to the positioning service module through the first UWB definition information, and simultaneously measures the distance to generate the distance information; The positioning service module positions the mining mobile phone according to the positioning information and the ranging information.

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