Bucket wheel machine positioning data transmission method and system based on ultra wide band distance measurement

Abstract

The invention relates to the technical field of coal yard material handling equipment, in particular to a bucket wheel machine positioning data transmission method and system based on ultra wide band distance measurement. The method comprises the following steps: carrying out distance measurement by using an ultra wide band distance measurement base station and a positioning label mounted on a bucket wheel tail car to obtain position data; the motion state of the bucket wheel machine is monitored through an accelerometer installed on a tripper car, data fusion processing is conducted in combination with position data, and different data credibility parameters are automatically set according to the motion state of the bucket wheel machine; and transmitting the processed data to a cab display device by adopting 433MHz frequency band wireless transmission. According to the system, the ultra-wideband technology with the center frequency of 3993.6 MHz is adopted, the mounting positions of the tags and the base station are optimized to reduce the multipath effect, and the wireless transmitting equipment adopts electromagnetic shielding to avoid interference. The problems of insufficient positioning precision and difficult data transmission of the bucket wheel machine in a pulverized coal environment are solved, accurate positioning and reliable data transmission are realized, and an operator can obtain accurate position information without leaving a cab.

Description

Technical Field

[0001] The present invention relates to the technical field of coal yard material handling equipment, in particular to a positioning data transmission method and system for a bucket wheel stacker-reclaimer based on ultra-wideband ranging. Background Art

[0002] The bucket wheel stacker-reclaimer in a strip coal yard is a key equipment for coal stacking and reclaiming operations, and its travel positioning accuracy directly affects the efficiency and quality of coal unloading and reclaiming for blending. In practical applications, especially in night operations or environments with high coal dust, it is difficult for the bucket wheel stacker-reclaimer driver to clearly identify the distance scales on both the east and west sides, and has to leave the cab to check closely, which not only reduces the operation efficiency but also poses safety hazards.

[0003] The existing positioning technologies for bucket wheel stacker-reclaimers mainly include mechanical gear conduction precision slide resistance ranging, laser ranging, and ultra-wideband ranging. Mechanical gear conduction precision slide resistance ranging highly depends on the reliability of the mechanical structure, and with the extension of the service time, it is easy to accumulate measurement errors, affecting the positioning accuracy. Although laser ranging has high accuracy, in a coal yard environment with high dust concentration, the laser is easily scattered and attenuated, resulting in unstable ranging results and unable to meet the actual application requirements.

[0004] Although the traditional ultra-wideband ranging technology has certain anti-interference capabilities, there are still problems in practical applications such as limited ranging range, obvious signal drift, and susceptibility to interference from electromagnetic waves in the same frequency band. Moreover, since there is a dynamic relationship between the cab and the trolley during the operation of the bucket wheel stacker-reclaimer, it is difficult to transmit positioning data by wired means, with complex construction and easy damage.

[0005] In addition, the existing positioning systems generally do not consider the influence of multipath effects on ranging accuracy, nor effectively solve the influence of the acceleration of the bucket wheel stacker-reclaimer during walking on the ranging results. In a complex industrial environment, the coexistence of multiple wireless signals is also likely to cause mutual interference, affecting the stability and reliability of the positioning system.

[0006] Therefore, it is urgent to develop a positioning data transmission method and system for a bucket wheel stacker-reclaimer based on ultra-wideband ranging, which can overcome the interference of the coal dust environment, achieve stable long-distance measurement, and transmit the positioning data to the cab through a reliable wireless transmission method, providing technical support for the accurate stacking and reclaiming operations of the bucket wheel stacker-reclaimer. Summary of the Invention

[0007] In view of the problems existing in the prior art, the present invention is proposed.

[0008] Therefore, the problem to be solved by the present invention is how to address the issues existing in the traditional ultra-wideband ranging technology. Although it has a certain anti-interference ability, in practical applications, there are still problems such as limited ranging scope, obvious signal drift, and susceptibility to interference from electromagnetic waves in the same frequency band. Moreover, due to the dynamic relationship between the cab and the trolley during the operation of the bucket wheel stacker / reclaimer, it is difficult to transmit positioning data by wired means, with complex construction and easy damage.

[0009] In addition, existing positioning systems generally do not consider the influence of multipath effects on ranging accuracy, nor effectively solve the influence of the acceleration of the bucket wheel stacker / reclaimer during walking on the ranging result. In a complex industrial environment, the coexistence of multiple wireless signals easily leads to mutual interference, affecting the stability and reliability of the positioning system.

[0010] To solve the above technical problems, the present invention provides the following technical solutions:

[0011] In the first aspect, an embodiment of the present invention provides a method for transmitting positioning data of a bucket wheel stacker / reclaimer based on ultra-wideband ranging, which includes obtaining the travel data of the bucket wheel stacker / reclaimer. The obtaining of the travel data of the bucket wheel stacker / reclaimer includes obtaining first distance data by ranging between an ultra-wideband ranging base station and a positioning tag installed on the tail car of the bucket wheel stacker / reclaimer.

[0012] Performing data fusion processing on the first distance data and the accelerometer data, where the accelerometer is installed on the tail car of the bucket wheel stacker / reclaimer and is located in the same control box as the positioning tag. The data fusion processing includes determining whether the bucket wheel stacker / reclaimer is in a stationary state and setting different data confidence parameters according to the determination result.

[0013] Sending the position data after data fusion processing to a data receiver in the cab of the bucket wheel stacker / reclaimer through a wireless data transmission module, where the wireless data transmission uses the 433 MHz frequency band to avoid interfering with the ultra-wideband signal.

[0014] As a preferred solution of the method for transmitting positioning data of a bucket wheel stacker / reclaimer based on ultra-wideband ranging according to the present invention, wherein: the obtaining of the travel data of the bucket wheel stacker / reclaimer further includes:

[0015] The ultra-wideband ranging base station is installed on one side of the trolley track of the bucket wheel stacker / reclaimer and at a preset distance from the south wall to reduce multipath effects;

[0016] The positioning tag is installed at a fixed position on the tail car of the bucket wheel stacker / reclaimer, and the connection line between the tag and the base station is parallel to the trolley track.

[0017] As a preferred solution of the method for transmitting positioning data of a bucket wheel stacker / reclaimer based on ultra-wideband ranging according to the present invention, wherein: the positioning base station based on ultra-wideband ranging uses a communication channel with a center frequency of 3993.6 MHz and an occupied bandwidth of 500 MHz.

[0018] As a preferred embodiment of the method for transmitting positioning data of a bucket wheel stacker based on ultra-wideband ranging according to the present invention, specifically: the data fusion processing includes:

[0019] When the bucket wheel stacker is moving, the value of the accelerometer is not zero or will not be zero for a long time. At this time, the current ranging data is adopted with the first weight value, and the first weight value is 1.

[0020] When the bucket wheel stacker is stationary, the value of the accelerometer is less than the preset threshold. At this time, the current ranging data is adopted with the second weight value, and the average value of multiple frames of data is calculated and then fused. The second weight value is 0.5.

[0021] As a preferred embodiment of the method for transmitting positioning data of a bucket wheel stacker based on ultra-wideband ranging according to the present invention, specifically: the wireless data transmission includes:

[0022] A data wireless modulation transmitter installed in the control box of the bucket wheel stacker's tail car, and the high-frequency antenna connection part of the transmitter is subjected to electromagnetic shielding treatment.

[0023] The data wireless transmitter is installed in the driver's cab of the front car of the bucket wheel stacker and shares a control box with the data display board. The distance between the antenna of the data wireless transmitter and the antenna of the positioning tag is greater than the preset distance to avoid electromagnetic interference.

[0024] As a preferred embodiment of the method for transmitting positioning data of a bucket wheel stacker based on ultra-wideband ranging according to the present invention, specifically: the data fusion processing is executed by a microcontroller installed in the control box. The microcontroller is installed in the control box of the bucket wheel stacker's tail car, and is used to receive the data output by the positioning tag, calculate the distance between the tail car and the base station according to its message format, and perform data fusion processing.

[0025] An accelerometer, communicatively connected to the microcontroller, for detecting the motion state of the bucket wheel stacker.

[0026] As a preferred embodiment of the method for transmitting positioning data of a bucket wheel stacker based on ultra-wideband ranging according to the present invention, specifically: the microcontroller communicates with the positioning tag at a baud rate of 115,200 to improve the data calculation speed.

[0027] In a second aspect, an embodiment of the present invention provides a system for transmitting positioning data of a bucket wheel stacker based on ultra-wideband ranging, which includes a data acquisition module for acquiring the travel data of the bucket wheel stacker. The data acquisition module includes an ultra-wideband ranging base station and a positioning tag installed on the tail car of the bucket wheel stacker, and the first distance data is obtained by ranging between the base station and the tag.

[0028] A data processing module is used to perform data fusion processing on the first distance data and accelerometer data. The accelerometer is installed on the tail car of the bucket wheel stacker and is located in the same control box as the positioning tag. The data fusion processing includes determining whether the bucket wheel stacker is in a stationary state and setting different data trustworthiness parameters according to the determination result.

[0029] A data transmission module is used to wirelessly send the position data after data fusion processing to a data receiver in the cab of the bucket wheel stacker. The wireless data transmission uses the 433 MHz frequency band to avoid interfering with the ultra-wideband signal.

[0030] In a third aspect, an embodiment of the present invention provides a computer device, including a memory and a processor. The memory stores a computer program, wherein: when the computer program instructions are executed by the processor, the steps of the method for transmitting bucket wheel stacker positioning data based on ultra-wideband ranging as described in the first aspect of the present invention are implemented.

[0031] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, wherein: when the computer program instructions are executed by the processor, the steps of the method for transmitting bucket wheel stacker positioning data based on ultra-wideband ranging as described in the first aspect of the present invention are implemented.

[0032] The beneficial effects of the present invention are as follows: By designing the optimal installation positions of the base station and the tag, making the connection line between the tag and the base station parallel to the track and installing the base station at a position to reduce the multipath effect, the present invention effectively solves the problem that traditional ranging technologies are easily interfered in a dust environment, making the ranging result more accurate and linear, and providing a reliable basis for the precise positioning of the bucket wheel stacker.

[0033] By adopting the ultra-wideband ranging technology with a center frequency of 3993.6 MHz and a bandwidth of 500 MHz and combining the pulse square wave modulation method, the present invention has high penetration and anti-interference capabilities, and can maintain a ranging accuracy of centimeters even in a harsh environment with a high pulverized coal concentration, completely overcoming the defects of easy scattering of laser ranging and easy error accumulation of mechanical gear ranging in a dust environment.

[0034] The present invention realizes an innovative data fusion processing mechanism. By detecting the motion state of the bucket wheel stacker, different data trustworthiness parameters are automatically set. High-weight real-time data is used during motion to ensure the response speed, and low-weight multi-frame means are used when stationary to improve stability, achieving the best positioning effect in dynamic and static environments.

[0035] The 433MHz frequency band wireless transmission technology is adopted to replace the traditional wired connection, and through electromagnetic shielding and reasonable antenna layout, the interference to the ultra-wideband signal is avoided, solving the problem that the cable is easily damaged during the operation of the bucket wheel stacker / reclaimer. At the same time, the stability and reliability of the system communication are ensured, enabling the operator to obtain accurate position information in real time without leaving the cab, significantly improving the operation efficiency and safety. Brief Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 It is a flowchart of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging;

[0038] Figure 2 It is a computer equipment diagram of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging;

[0039] Figure 3 It is a schematic diagram of the bucket wheel data transmission of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging;

[0040] Figure 4 It is an actual installation diagram of the tail car control board of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging;

[0041] Figure 5 It is an actual installation diagram of the cab data reception and display of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging;

[0042] Figure 6 It is a schematic diagram of the MODBUS-RTU communication protocol register of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging;

[0043] Figure 7 It is a schematic diagram of receiving data and decoding to extract ranging information calculation of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging;

[0044] Figure 8 It is a schematic diagram of the core code of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging;

[0045] Figure 9 It is a schematic diagram of the receiving end button increasing or decreasing the received distance information of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging. Detailed Embodiments

[0046] To make the above objects, features, and advantages of the present invention more apparent and understandable, the following provides a detailed description of the specific embodiments of the present invention in conjunction with the accompanying drawings of the specification.

[0047] In the following description, numerous specific details are set forth to facilitate a thorough understanding of the present invention. However, the present invention may be implemented in other ways different from those described herein. Persons skilled in the art can make similar generalizations without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0048] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is separate from or mutually exclusive of other embodiments.

[0049] Embodiment 1

[0050] Referring to Figures 1 to 2 , which is the first embodiment of the present invention. This embodiment provides a method for transmitting positioning data of a bucket wheel stacker based on ultra-wideband ranging, including:

[0051] S100: Obtain the travel data of the bucket wheel stacker. Obtaining the travel data of the bucket wheel stacker includes obtaining first distance data by ranging between an ultra-wideband ranging base station and a positioning tag installed on the tail car of the bucket wheel stacker.

[0052] Obtaining the travel data of the bucket wheel stacker includes obtaining first distance data by ranging between an ultra-wideband ranging base station and a positioning tag installed on the tail car of the bucket wheel stacker.

[0053] In the embodiment of the present invention, the ranging between the ultra-wideband ranging base station and the positioning tag is implemented based on the Time of Flight (TOF) principle. Specifically, the base station sends a high-frequency narrow pulse signal, the positioning tag receives the signal and sends a response signal, and the base station receives the response signal again. The system can accurately calculate the distance between the base station and the tag by calculating the round-trip time of the signal and combining the propagation speed of electromagnetic waves. Compared with traditional ranging technologies, the ultra-wideband technology has higher measurement accuracy and can still maintain stability in a dusty environment, meeting the requirements for precise positioning of the bucket wheel stacker in a coal yard.

[0054] In a preferred embodiment, the ultra-wideband base station uses a DW1000 chip, which is a dedicated ultra-wideband transceiver developed by DecaWave Corporation. It supports the IEEE 802.15.4-2011 standard and can achieve a ranging accuracy of ±10 cm. This chip operates in the 3.1-10.6 GHz frequency band with low transmit power (less than -41.3 dBm / MHz), and will not interfere with other wireless devices. In the present invention, the positioning tag uses the same DW1000 chip as the receiving and transmitting unit to ensure signal compatibility and stability.

[0055] In an alternative embodiment, in order to further improve the ranging accuracy, the present invention also adopts the Two Way Ranging (TWR) technology. Compared with traditional one-way ranging, two-way ranging eliminates the influence of clock deviation through multiple signal exchanges, thereby greatly improving the ranging accuracy. The specific implementation process includes: the tag sends a Poll signal, the base station receives and replies with a Response signal, and then the tag sends a Final signal. By calculating the relationship between multiple timestamps, the system can more accurately determine the signal propagation time, and thus obtain a more accurate distance value.

[0056] It should be noted that the present invention also optimizes the ultra-wideband ranging system according to the characteristics of the coal yard environment. First, a low-frequency channel (Channel 1, 3993.6 MHz) with strong penetration ability is selected, which enables the system to maintain stable signal transmission in an environment with relatively thick coal dust. Second, for the multipath effect (i.e., the ranging error caused by signal reflection), advanced signal processing algorithms are adopted, including leading edge detection and multipath interference suppression technology, effectively reducing the ranging error in a complex environment. These optimization measures ensure the reliability and accuracy of the system in the actual working environment.

[0057] S101: Obtaining the travel data of the bucket wheel reclaimer further includes:

[0058] The ultra-wideband ranging base station is installed on one side of the bucket wheel reclaimer's trolley track and at a preset distance from the south wall to reduce the multipath effect;

[0059] The positioning tag is installed at a fixed position on the bucket wheel reclaimer's tail car, and the connection line between the tag and the base station is parallel to the trolley track.

[0060] In the embodiments of the present invention, the installation location of the ultra-wideband ranging base station is carefully designed to minimize ranging errors. The base station is installed at the south end of the bucket wheel stacker-reclaimer's trolley track, maintaining a distance of approximately 30 meters from the south wall. This design is mainly to avoid the multipath effect caused by wall reflections. When the base station is too close to the wall, the signal will be reflected on the wall surface, causing the receiver to receive both the direct signal and the reflected signal simultaneously, resulting in ranging errors. By reasonably setting the distance between the base station and the wall, the time difference between the reflected signal and the direct signal can be made large enough to reduce the influence of the multipath effect.

[0061] The installation location of the positioning tag is also carefully considered. It is fixed on the bucket wheel stacker-reclaimer's tail car, and it is ensured that the line connecting the tag and the base station is parallel to the trolley track. This design has two main advantages: on the one hand, the measured distance value directly corresponds to the position of the bucket wheel stacker-reclaimer on the track, without the need for complex coordinate conversion; on the other hand, since the signal propagation path is basically parallel to the track, the interference of surrounding equipment and structures to the signal is reduced, improving the linearity and accuracy of ranging.

[0062] In an alternative embodiment, to further reduce environmental interference, both the base station and the tag are installed at a height of more than 2.5 meters above the ground, which can avoid the occlusion and interference of signal by ground personnel activities. At the same time, the antenna orientations of the base station and the tag are optimized to ensure that the main lobe directions are aligned with each other, maximizing the signal strength and reception quality.

[0063] In another alternative embodiment, in response to the possible vibration problems during the operation of the bucket wheel stacker-reclaimer, the installation of the tag adopts a shock-absorbing design. The tag fixing seat is equipped with an elastic shock-absorbing pad, which can effectively absorb mechanical vibrations and prevent ranging instability caused by vibrations. At the same time, all connecting components adopt anti-loosening designs to ensure the stability of the tag position during long-term operation.

[0064] It should be noted that the installation scheme of the present invention not only considers ranging accuracy but also takes into account the maintainability of the equipment. Both the base station and the tag adopt modular designs, which are convenient for installation and replacement. The base station is equipped with a waterproof and dustproof enclosure (protection level IP67) to adapt to the dust environment in the coal yard; the positioning tag adopts a reinforced design and can withstand the vibrations and impacts during the operation of the bucket wheel stacker-reclaimer. All external interfaces adopt industrial-grade connectors to ensure reliable connection in harsh environments. In addition, the power supply and signal cables of the equipment adopt anti-wear designs, enhancing the durability and stability of the system.

[0065] S102: The positioning base station based on ultra-wideband ranging uses a communication channel with a center frequency of 3993.6 MHz and an occupied bandwidth of 500 MHz.

[0066] In the embodiments of the present invention, the core feature of the ultra-wideband technology is to use extremely narrow time-domain pulses for communication, which shows extremely wide bandwidth occupancy in the frequency domain. According to the definition of the Federal Communications Commission (FCC) of the United States, ultra-wideband communication needs to occupy a bandwidth of at least 500 MHz. The center frequency of the communication channel selected in the present invention is 3993.6 MHz, and the occupied bandwidth is 500 MHz. This configuration is based on the setting of Channel 1 of the DW1000 chip. This frequency band is within the 3.1 - 10.6 GHz range allowed for ultra-wideband use, and the transmit power is controlled below -41.3 dBm / MHz, meeting the requirements of international radio spectrum management.

[0067] There are multiple considerations for choosing 3993.6 MHz as the center frequency: First, the penetration ability of this frequency band is relatively strong, which is suitable for working in a dusty environment; second, there are relatively fewer interference sources in this frequency band, reducing the possibility of external interference; third, the wavelength in this frequency band is moderate, which is convenient for designing a compact antenna system. The selection of a 500 MHz bandwidth is based on a balance consideration of ranging accuracy and anti-interference ability. A wider bandwidth can provide higher time resolution, thereby improving ranging accuracy.

[0068] In the present invention, a modulation method combining Pulse Position Modulation (PPM) and Binary Phase Shift Keying (BPSK) is adopted. PPM modulation transmits information by changing the time position of the pulse, while BPSK represents different data bits by changing the phase of the pulse. This composite modulation method not only improves the reliability of data transmission but also enhances the anti-interference ability of the system.

[0069] In an optional embodiment, in order to further improve the reliability of signal transmission, the present invention also adopts Forward Error Correction (FEC) technology. By adding redundant information to the transmitted data, the receiving end can automatically detect and correct transmission errors to a certain extent, reducing the number of retransmissions and improving the real-time performance and reliability of the system.

[0070] In another optional embodiment, to adapt to different working environments and ranging requirements, the system supports multiple data rate settings, ranging from 110 kbps to 6.8 Mbps. In scenarios requiring high ranging accuracy, a lower data rate can be selected to obtain better signal quality; while in scenarios requiring fast response, a higher data rate can be selected to reduce latency. By flexibly adjusting these parameters, the system can achieve optimal performance under different conditions.

[0071] It should be noted that the present invention has made multiple optimizations in the use of the ultra-wideband communication channel. First, an efficient channel coding scheme is adopted to improve the anti-interference ability of the signal; second, adaptive power control is achieved, and the transmission power is automatically adjusted according to the signal strength, which not only saves energy consumption but also reduces interference to other systems; third, a fine timing control mechanism is designed to ensure the clock synchronization accuracy between the base station and the tag, which is crucial for time-based ranging. Through these technical means, the present invention realizes the system characteristics of low power consumption and low interference while maintaining high ranging accuracy, and is very suitable for long-term stable operation in industrial environments.

[0072] S200: Perform data fusion processing on the first distance data and the accelerometer data, where the accelerometer is installed on the tail car of the bucket wheel stacker and is located in the same control box as the positioning tag. The data fusion processing includes determining whether the bucket wheel stacker is in a stationary state and setting different data confidence parameters according to the determination result;

[0073] In the embodiment of the present invention, in order to improve the accuracy and stability of the positioning data, the system adopts multi-sensor data fusion technology to fuse the first distance data obtained by ultra-wideband ranging with the motion state data measured by the accelerometer. The accelerometer uses the MPU6050 three-axis accelerometer and is installed in the same control box as the positioning tag to detect the motion state of the bucket wheel stacker. The system mainly focuses on the acceleration data in the direction parallel to the bucket wheel stacker track. By monitoring the acceleration changes in this direction, it can be accurately determined whether the bucket wheel stacker is in a motion state or a stationary state.

[0074] The core of the data fusion processing is an adaptive filtering algorithm based on the motion state of the bucket wheel stacker. When the bucket wheel stacker is in a motion state, the output value of the accelerometer is significantly non-zero. At this time, the system gives a higher weight to the real-time ranging data; when the bucket wheel stacker is in a stationary state, the output of the accelerometer is close to zero. The system then reduces the weight of the real-time ranging data and averages multiple frames of ranging data to eliminate the influence of random errors. This adaptive filtering strategy makes full use of the complementary characteristics of different sensors and significantly improves the positioning accuracy of the system in different working states.

[0075] S201: The data fusion processing specifically includes:

[0076] When the bucket wheel stacker is walking, the value of the accelerometer is non-zero or will not be zero for a long time. At this time, the current ranging data is adopted with the first weight value, and the first weight value is 1;

[0077] When the bucket wheel stacker is stationary, the value of the accelerometer is less than the preset threshold. At this time, the current ranging data is adopted with the second weight value, and the multi-frame data is averaged and then fused. The second weight value is 0.5.

[0078] In the embodiment of the present invention, the core of data fusion processing is to dynamically adjust the weights of different data sources to adapt to different working conditions of the bucket wheel machine. The system monitors the motion state of the bucket wheel machine through an accelerometer and sets different data processing strategies based on this.

[0079] When the bucket wheel machine is in the moving state, since the movement of the vehicle is a variable acceleration process, the output value of the accelerometer is significantly not zero or will not remain zero for a long time. In this case, the system believes that the bucket wheel machine is moving, and the position data needs to be quickly updated to reflect the real-time position change. Therefore, the system sets the data trust parameter δ2 to a constant of 1 and δ1 to 0, that is, the current distance measurement data is fully trusted. The fusion formula is expressed as:

[0080] x n =x n-1 ×0+x Δ ×1=x Δ

[0081] Among them, x n Represents the current fused position data, x n-1 Represents the position data after the last fusion, x Δ Indicates the original distance data obtained by the current distance measurement. This processing method ensures that the system can reflect the position changes of the bucket wheel machine in real time and meet the needs of dynamic positioning.

[0082] When the bucket wheel machine is at rest, the output value of the accelerometer is close to zero and below the preset threshold (e.g. 0.05g, about 0.5m / s 2 ). In this case, the system reduces the data confidence parameter δ2 to 0.5, sets δ1 to 0.5, and replaces the current ranging data with the average value of multiple frames of data. The fusion formula is expressed as:

[0083]

[0084] in, Represents the average value of n frames of ranging data. This processing method can effectively suppress random errors and improve static positioning accuracy.

[0085] In an optional embodiment, the system uses an adaptive threshold mechanism to dynamically adjust the acceleration threshold according to the actual working environment. In an environment with large vibrations, the system will appropriately increase the threshold to prevent misjudgment; in a relatively stable environment, the threshold can be lowered to increase the sensitivity of state judgment. In addition, the system also uses historical acceleration data to assist in judgment. By analyzing the change trend of acceleration, the start and stop status of the bucket wheel machine can be more accurately identified.

[0086] In another alternative embodiment, the present invention introduces a multi-stage filtering architecture, including two stages: pre-filtering and post-filtering. The pre-filtering processes the original sensor data to eliminate high-frequency noise and outliers; the post-filtering applies different filtering strategies based on the state judgment results. This multi-stage processing method further improves the anti-interference ability and data quality of the system.

[0087] It should be noted that the data fusion algorithm of the present invention has undergone a large number of on-site tests and optimizations, especially targeted adjustments for the working characteristics of the bucket wheel stacker-reclaimer with frequent starts and stops. The algorithm not only considers static and dynamic states but also particularly focuses on the smooth processing of the state transition process. When the bucket wheel stacker-reclaimer changes from motion to rest or starts moving from rest, the system will smoothly transition the data confidence parameter within a short period (usually 0.5 to 1 second) to avoid sudden changes in position data. In addition, the system has designed a special processing mechanism for the long-term stationary state: when the bucket wheel stacker-reclaimer remains stationary for more than a preset time (such as 30 seconds), the system will further increase the weight of historical data to maximize the static positioning accuracy. These detailed processes ensure that the system can provide high-quality position data under various working conditions.

[0088] S300: Transmit the position data processed by data fusion to the data receiver in the cab of the bucket wheel stacker-reclaimer through wireless data transmission, where the wireless data transmission uses the 433 MHz frequency band to avoid interfering with the ultra-wideband signal.

[0089] In the embodiment of the present invention, to solve the problem of data transmission during the operation of the bucket wheel stacker-reclaimer, a wireless data transmission scheme based on the 433 MHz frequency band is designed. This choice mainly considers the following factors: First, the bucket wheel stacker-reclaimer has frequent switching between stacking and reclaiming operations, making it difficult to lay cables from the tail car to the cab of the bucket wheel stacker-reclaimer, and the cables are easily bent and damaged during the movement process; second, transmitting data wirelessly needs to ensure that it does not interfere with existing wireless devices and is not interfered with by other devices; finally, through experimental verification, the wireless communication in the 2.4 GHz frequency band will interfere with the ultra-wideband signal (3993.6 MHz) used by this system, and its own communication is also unstable.

[0090] The 433 MHz frequency band is part of the Industrial, Scientific and Medical (ISM) frequency band, with the advantages of strong penetration ability and long transmission distance, and is particularly suitable for data transmission in industrial environments. It is slightly higher than the frequency band used by walkie-talkies and has higher power consumption compared to the 2.4 GHz frequency band, but has strong anti-interference ability and is not restricted by space. The system adopts a one-way data transmission mode. Even though the wireless data transmission module itself has the ability of two-way communication, in this solution, it is only used to transmit the calculated positioning data from the tail car to the cab. This design simplifies the system structure and improves the reliability.

[0091] In an optional embodiment, LoRa modulation technology is adopted for wireless transmission. This is a spread-spectrum modulation technology designed specifically for low-power wide-area networks. Through spread-spectrum communication and forward error correction coding, LoRa technology can still maintain reliable data transmission in an environment with a low signal-to-noise ratio, and the transmission distance can reach hundreds of meters to several kilometers. In the application scenario of the bucket wheel stacker-reclaimer, reliable data transmission can still be ensured even in an environment with a high dust concentration and strong electromagnetic interference.

[0092] In another optional embodiment, to further improve the reliability of data transmission, the system adopts an Automatic Repeat Request (ARQ) mechanism. Although the basic design is unidirectional transmission, when data errors or losses are detected at the receiving end, a retransmission can be requested from the sending end through a backup channel to ensure the integrity and accuracy of the data.

[0093] It should be noted that the wireless data transmission solution of the present invention has undergone comprehensive system design and optimization. At the hardware level, both the transmitter and the receiver adopt industrial-grade designs, with a wide temperature range (-40°C to +85°C) and a high protection level (IP66), adapting to the harsh environment of the coal yard. In the circuit design, measures such as power filtering, signal isolation, and lightning protection are added to improve the anti-interference ability and reliability of the system. At the software level, functions such as data packetization, verification, and encryption are implemented to ensure the accuracy and security of data transmission. In addition, the system also designs a perfect exception handling mechanism: when a communication anomaly is detected, the transmission power and data rate will be automatically adjusted to attempt to restore communication; at the same time, a communication status indicator is displayed on the cab display to facilitate the operator to timely understand the operation status of the system. These designs ensure the stable operation of the system under complex working conditions.

[0094] S301: Wireless data transmission includes:

[0095] A data wireless modulation transmitter installed in the control box of the bucket wheel stacker-reclaimer tail car, and the high-frequency antenna connection part of the transmitter is subjected to electromagnetic shielding treatment;

[0096] The data wireless transmitter is installed in the cab of the front car of the bucket wheel stacker-reclaimer, sharing a control box with the data display board, and the distance between the data wireless transmitter antenna and the positioning tag antenna is greater than a preset distance to avoid electromagnetic interference.

[0097] In the embodiments of the present invention, to solve the problem of data transmission during the operation of the bucket wheel stacker-reclaimer, a wireless data transmission scheme based on the 433 MHz frequency band is designed. This choice mainly considers the following factors: First, the bucket wheel stacker-reclaimer has frequent switching between stacking and reclaiming operations. It is difficult to lay cables from the tail car to the cab of the bucket wheel stacker-reclaimer, and the cables are prone to bending and damage during movement. Second, when transmitting data wirelessly, it is necessary to ensure that it does not interfere with existing wireless devices and is not interfered by other devices. Finally, through experimental verification, the wireless communication in the 2.4 GHz frequency band will interfere with the ultra-wideband signal (3993.6 MHz) used by this system, and its own communication is also unstable.

[0098] The 433 MHz frequency band is part of the Industrial, Scientific and Medical (ISM) frequency band, which has the advantages of strong penetration ability and long transmission distance, and is particularly suitable for data transmission in industrial environments. It is slightly higher than the frequency band used by walkie-talkies and has higher power consumption compared with the 2.4 GHz frequency band, but it has strong anti-interference ability and is not restricted by space. The system adopts a one-way data transmission mode. Even though the wireless data transmission module itself has two-way communication capabilities, in this solution, it is only used to transmit the calculated positioning data from the tail car to the cab. This design simplifies the system structure and improves reliability.

[0099] In an alternative embodiment, LoRa modulation technology is adopted for wireless transmission. This is a spread-spectrum modulation technology designed specifically for low-power wide-area networks. Through spread-spectrum communication and forward error correction coding, LoRa technology can still maintain reliable data transmission in a low signal-to-noise ratio environment, and the transmission distance can reach hundreds of meters to several kilometers. In the application scenario of the bucket wheel stacker-reclaimer, even in an environment with high dust concentration and strong electromagnetic interference, reliable data transmission can still be ensured.

[0100] In another alternative embodiment, to further improve the reliability of data transmission, the system adopts an Automatic Repeat Request (ARQ) mechanism. Although the basic design is one-way transmission, when data errors or losses are detected at the receiving end, the sending end can be requested to retransmit through a backup channel to ensure the integrity and accuracy of the data.

[0101] It should be noted that the wireless data transmission solution of the present invention has undergone comprehensive system design and optimization. At the hardware level, both the transmitter and the receiver adopt industrial-grade designs, with a wide temperature range (-40°C to +85°C) and a high protection level (IP66), adapting to the harsh environment of the coal yard. In the circuit design, measures such as power filtering, signal isolation, and lightning protection are added to improve the anti-interference ability and reliability of the system. At the software level, functions such as data packetization, verification, and encryption are implemented to ensure the accuracy and security of data transmission. In addition, the system also designs a perfect exception handling mechanism: when communication anomalies are detected, the transmission power and data rate will be automatically adjusted to attempt to restore communication; at the same time, a communication status indicator is displayed on the cab display, facilitating the operator to timely understand the operation status of the system. These designs ensure the stable operation of the system under complex working conditions.

[0102] S302: The data fusion process is executed by a microcontroller installed in the control box. The microcontroller is installed in the control box of the tail car of the bucket wheel stacker-reclaimer and is used to receive the data output by the positioning tag, calculate the distance between the tail car and the base station according to its message format, and perform data fusion processing.

[0103] The accelerometer is communicatively connected to the microcontroller and is used to detect the motion state of the bucket wheel stacker-reclaimer.

[0104] In the embodiment of the present invention, the core control unit of the entire system is a microcontroller installed in the control box of the tail car of the bucket wheel stacker-reclaimer. The MSP430F149 single-chip microcomputer is selected as the main control chip in this solution. This chip is a low-power 16-bit mixed-signal processor launched by Texas Instruments (TI), with rich peripheral resources and an efficient instruction set, and is particularly suitable for battery-powered embedded systems. In this application, the microcontroller is responsible for three main tasks: receiving and parsing the data output by the ultra-wideband positioning tag, reading the accelerometer data to judge the motion state, and executing the data fusion algorithm and sending the result to the wireless module.

[0105] The data output by the ultra-wideband positioning tag is transmitted to the microcontroller through the TTL serial port using the MODBUS-RTU protocol. The microcontroller receives this data at a baud rate of 115200bps through the UART interface and parses it according to the message format specified by the MODBUS protocol to extract the distance measurement value. These original distance data are temporarily stored in the RAM of the microcontroller, waiting to be fused with the accelerometer data.

[0106] The accelerometer uses the MPU6050 three-axis acceleration sensor and communicates with the microcontroller through the I2C interface. The microcontroller regularly reads the accelerometer data (usually 10 - 20 times per second) and detects the axial acceleration value parallel to the track. Based on these acceleration data, the microcontroller judges the motion state of the bucket wheel stacker-reclaimer and then selects an appropriate data fusion strategy.

[0107] In the data fusion processing stage, the microcontroller integrates the positioning data and motion state information according to a preset algorithm. When it is determined that the motion state is in motion, the latest ranging data is directly adopted; when it is determined that the motion state is stationary, multiple frames of ranging data are averaged. The result after fusion processing is formatted into a standard data packet and sent to the wireless transmission module through another UART interface of the microcontroller, and finally transmitted to the display device in the cab.

[0108] In an optional embodiment, to improve the reliability of the system, the microcontroller implements a data validity verification function. Each time ranging data is received, the system checks whether the data is within a reasonable range (such as 0 - 300 meters), whether there is a sudden change from the previous data (a change exceeding a preset threshold), and whether the same value is continuously received (which may indicate a sensor failure). When abnormal data is detected, the system will temporarily ignore this data and can choose to use an interpolation algorithm or maintain the previous valid value to ensure the continuity and reasonableness of the output data.

[0109] In another optional embodiment, the microcontroller also implements a parameter self - adaptation function. The system analyzes the signal quality and environmental changes based on historical data and dynamically adjusts data processing parameters, such as filtering thresholds, average number of frames, etc., to adapt to different working environments and conditions. In addition, the system reserves a certain amount of computing resources for executing diagnostic programs to regularly check the hardware working status and communication quality to ensure the long - term stable operation of the system.

[0110] It should be noted that the present invention has made multiple optimizations in the microcontroller and software design. First, a modular software architecture is adopted, separating the data acquisition, processing, and output functions for easy independent testing and maintenance. Second, a reliable exception handling mechanism is implemented, so that when an exception occurs in a certain module, it will not affect the operation of the entire system. Third, the code execution efficiency is optimized, and the code for the key processing path is written in assembly language to ensure real - time requirements. In addition, the system supports remote parameter configuration and firmware update for easy later maintenance and function upgrade. Finally, for convenient debugging and fault analysis, the system implements a complete logging function to record key events and abnormal situations to help engineers quickly locate and solve problems.

[0111] S303: The microcontroller communicates with the positioning tag at a baud rate of 115200 to improve the data calculation speed.

[0112] In the embodiment of the present invention, the communication between the microcontroller and the ultra-wideband positioning tag adopts a high baud rate of 115200bps. This choice mainly takes into account the real-time requirements of the system and the data processing efficiency. Compared with the commonly used 9600bps or lower baud rates, 115200bps can provide about 12 times the data transmission rate, greatly reducing the time required for data transmission and improving the response speed of the system and the data update frequency.

[0113] The communication protocol uses the standard MODBUS-RTU format, which is an open serial communication protocol widely used in the field of industrial control. In the MODBUS-RTU protocol, each data frame contains the device address, function code, data and checksum information, and has good error detection capabilities and compatibility. The microcontroller extracts the distance value measured by the positioning tag and other status information such as signal strength, battery power, etc. by parsing these data frames.

[0114] While high baud rate communication improves efficiency, it also brings some challenges, such as signal integrity and bit error rate issues. To solve these problems, the system adopts a number of technical measures: first, all communication lines use shielded twisted pair cables to reduce external electromagnetic interference; second, appropriate terminal matching resistors are added at both ends of the signal line to reduce signal reflection; third, the UART receiving module of the microcontroller uses oversampling technology (usually 16 times sampling) to improve the accuracy of bit synchronization and reduce the bit error rate.

[0115] In an optional embodiment, the system implements an adaptive baud rate function. At initial startup or when a rising communication error rate is detected, the system will try different baud rates (such as 9600, 19200, 57600, 115200 bps, etc.) and select the highest reliable communication rate. This adaptive mechanism enables the system to maintain optimal performance in different working environments.

[0116] In another optional embodiment, in order to further improve the communication reliability, the system adopts a redundant check mechanism. In addition to the CRC check that comes with the MODBUS protocol, an additional data check algorithm is implemented at the application layer, such as a cyclic redundancy check (CRC-32) or a message digest algorithm (MD5) to ensure the integrity and accuracy of the data.

[0117] It should be noted that the present invention fully considers the particularity of the industrial environment in communication design. First, all communication interfaces adopt optoelectronic isolation technology to prevent damage to equipment caused by ground potential difference and surge current. Second, the software implements a perfect communication timeout processing and automatic retry mechanism. When communication failure is detected, it will automatically retry to establish a connection to ensure the continuity of the system. Third, the system supports dynamic configuration of communication parameters, and parameters such as baud rate, parity mode, data bits, and stop bits can be adjusted according to actual needs to improve the flexibility of the system. In addition, for the convenience of fault diagnosis, the system implements a communication status monitoring function to record and display key communication parameters and error statistics information to help maintenance personnel quickly locate problems. Finally, all communication modules have passed strict electromagnetic compatibility (EMC) tests to ensure reliable operation in a strong electromagnetic interference environment. These designs ensure the stable operation of the system in a harsh industrial environment.

[0118] Furthermore, this embodiment also provides a bucket wheel stacker-reclaimer positioning data transmission system based on ultra-wideband ranging, including

[0119] a data acquisition module for acquiring the travel data of the bucket wheel stacker-reclaimer. The data acquisition module includes an ultra-wideband ranging base station and a positioning tag installed on the tail car of the bucket wheel stacker-reclaimer. The distance between the base station and the tag is measured to obtain the first distance data;

[0120] a data processing module for performing data fusion processing on the first distance data and the accelerometer data. The accelerometer is installed on the tail car of the bucket wheel stacker-reclaimer and is located in the same control box as the positioning tag. The data fusion processing includes determining whether the bucket wheel stacker-reclaimer is in a stationary state and setting different data confidence parameters according to the determination result;

[0121] a data transmission module for wirelessly transmitting the position data after data fusion processing to a data receiver in the cab of the bucket wheel stacker-reclaimer. The wireless data transmission uses the 433 MHz frequency band to avoid interference with the ultra-wideband signal.

[0122] In summary, through the above technical solutions, the present invention realizes the precise positioning of the travel of the bucket wheel stacker-reclaimer and wireless data transmission, and solves the problems of insufficient accuracy and difficult data transmission of traditional positioning methods in a pulverized coal environment. This system has the following advantages:

[0123] Using ultra-wideband technology for ranging, it has high accuracy and is not affected by the pulverized coal environment, meeting the requirements for precise positioning of the bucket wheel stacker-reclaimer;

[0124] The installation positions of the base station and the tag are optimized to reduce multipath effects and signal interference and improve the reliability of ranging;

[0125] Adopt multi-sensor data fusion technology, combine ultra-wideband ranging and accelerometer data, and dynamically adjust the data processing strategy according to the motion state of the bucket wheel stacker-reclaimer to improve the positioning accuracy and stability;

[0126] The wireless data transmission uses the 433MHz frequency band, which avoids interference with ultra-wideband signals, and at the same time has good penetration ability and anti-interference ability to ensure reliable data transmission;

[0127] Each module of the system adopts an industrial-grade design, has good anti-interference ability and environmental adaptability, and can operate stably for a long time in the coal yard dust environment;

[0128] The modular design makes the system easy to install, maintain and upgrade, greatly reducing the use and maintenance costs.

[0129] In practical applications, this system has been successfully deployed on the bucket wheel stacker-reclaimers of multiple strip coal yards and demonstrated excellent performance. The ranging accuracy of the system reaches ±10 cm, fully meeting the precise positioning requirements of coal yard stacking and reclaiming operations. The system has been running stably for more than 6 months without manual intervention, greatly improving the operation efficiency and safety of the bucket wheel stacker-reclaimer. Especially in the environment at night and with high coal powder concentration, the advantages of this system are more obvious, enabling the operators of the bucket wheel stacker-reclaimer to accurately master the position of the equipment without leaving the cab to view closely, improving the operation efficiency and reducing the safety risk at the same time.

[0130] Embodiment 2

[0131] Refer to Figure 3 - Figure 9 , which is the second embodiment of the present invention.

[0132] During the stacking and reclaiming operations of the bucket wheel stacker-reclaimer at night in the existing strip coal yard, especially when the coal powder is relatively explosive, the distance scales on both the east and west sides are not clear. The bucket wheel stacker-reclaimer driver needs to get out of the cab to carefully identify the specific position, making it difficult to accurately unload the incoming coal and accurately reclaim the coal. The existing ranging technologies include mechanical gear conduction precision slide resistance ranging, laser ranging, and uwb ranging. The precision slide resistance highly depends on mechanical reliability and is prone to accumulating measurement errors. Laser ranging has high accuracy but is extremely susceptible to coal powder and does not meet the on-site requirements. The traditional UWB technology has a limited ranging range, signal drift, and is vulnerable to interference from electromagnetic waves in the same frequency band.

[0133] Such as Figure 3As shown in the figure, the positioning base station is installed at the south end of the traveling crane track of the bucket wheel stacker-reclaimer, about 30 meters away from the south wall, to solve the multipath effect of the base station signal. The positioning tag is installed at a fixed position on the tail car of the bucket wheel stacker-reclaimer. The connection line between the tag and the base station is basically parallel to the traveling crane track, so that the data has better linearity. The decoding control board, the data wireless modulation transmitter and the positioning tag are installed in a control box. The high-frequency antenna joint part of the transmitter is well shielded electromagnetically (grounded). The antenna of the data wireless transmitter is more than 30 cm away from the tag antenna to avoid electromagnetic interference as much as possible. The data wireless receiver is installed in the cab of the front car of the bucket wheel stacker-reclaimer and shares a control box with the data display board.

[0134] System Introduction

[0135] The UWB ultra-wideband technology realizes wireless transmission by sending and receiving extremely narrow pulses with nanosecond or sub-microsecond levels. The regulations of the Federal Communications Commission (FCC) of the United States on UWB technology are as follows: it occupies a bandwidth of more than 500 MHz in the frequency band of 3.1 - 10.6 GHz. The positioning base station adopted in this design uses a certain channel in the DW1000 chip, with a center frequency of 3993.6 MHz and a bandwidth of 500 MHz. To avoid diffraction interference of signals caused by obstacles such as people near the track, the base station and the tag are mounted at a higher position. This design uses the msp430*** chip as the main control chip, and calculates the current distance x between the tail car and the base station according to the message format of the output data of the positioning tag. Δ . Since the traveling of the bucket wheel stacker-reclaimer is a variable acceleration process, the output value Δ of a certain axis of the accelerometer during traveling must not be zero, or will not be zero for a long time. Combine x Δ with the accelerometer data Δ to obtain the data x that should be sent to the cab currently. n .

[0136] x n = x n-1 * δ1 + x Δ * δ2

[0137] Among them, x n-1 is the data calculated last time; δ1 is the data confidence level when the bucket wheel stacker-reclaimer is stationary; δ2 is the data confidence level when the bucket wheel stacker-reclaimer is traveling; xΔ is the current distance between the tail car and the base station.

[0138] That is, when the bucket wheel stacker-reclaimer is traveling, increase the data confidence level δ2 to a constant 1 and δ1 to 0. Send the calculated data to the cab in real time for the operator to observe in real time. When the accelerometer recognizes that the bucket wheel stacker-reclaimer is stationary (that is, Δ is less than a certain value), reduce the data confidence level δ2 to 0.5 and δ1 to 0.5, and replace x Δ in the above formula with:

[0139]

[0140] That is, calculate the average value of multiple frames of data, and then send the fused data to the cab of the bucket wheel stacker-reclaimer. Since the bucket wheel stacker-reclaimer switches between stacking and reclaiming operations frequently, it is difficult to lay cables from the tail car to the cab of the bucket wheel stacker-reclaimer, and it is easy to bend and damage. Therefore, this design adopts a wireless data transceiver method. The wireless data transceiver cannot interfere with all wireless devices on site, nor can it be interfered by on-site wireless devices. After testing, it is found that the 2.4GHz communication scheme causes interference to the UWB signal of this system, which cannot be eliminated, and its own communication is also unstable. This design adopts a 433MHz unidirectional data transmission scheme (wireless data transmission modules generally have two-way data transmission functions) to transmit the calculated positioning data to the cab.

[0141] Frequency Band Selection and Signal Modulation

[0142] A certain channel in the DW1000 chip is adopted for the positioning base station in this design. The center frequency is 3993.6MHZ and the occupied bandwidth is 500MHz. Pulse square wave modulation is adopted according to the symbol crosstalk characteristics of software radio. The main control chip of the positioning tag is NRF52***, which is responsible for controlling the data communication and data output between the base station. The accelerometer adopts the MPU6050 three-axis accelerometer, and the IIC protocol is used for reading. In this design, only a single axis (the axis parallel to the bucket wheel stacker-reclaimer track) is read. The wireless transceiver adopts a LoRa433MHz certain protocol transceiver module. The chip power supply voltage is uniformly 5V, the chip communication pins are pulled up, and the communication between modules directly uses TTL level communication without level conversion.

[0143] The MSP430 core code description is as Figure 8 , and the baud rate of 115200 is adopted to improve the data calculation speed. The hardware part consists of three parts: the uwb positioning base station, the ranging tag, and the wireless transmission, wireless reception and display of data calculation. The three parts are independently powered, 5V. Among them, the positioning base station is installed at the fixed point at the head of the track, and the ranging tag is installed at the tail of the bucket wheel stacker-reclaimer. There should be no obstruction between the tag and the base station. This avoids the multi-path effect and absorption of electromagnetic waves that may be caused by installing in other positions, making the distance measurement more reliable. The wireless reception and transmission of data adopt the industrial 433Mhz frequency band, which is a little higher than that of walkie-talkies, has a higher power consumption than 2.4G, and has strong anti-interference ability and is not restricted by space.

[0144] Uwb module model: D-DWM-PG4.6. As Figure 6 shown,

[0145] Through the modbus port configuration, in order to extend the ranging, the air rate is set to low speed, and the response speed meets the use requirements. Embedded processor: msp430f149. Development language: C++. The software project has been packaged in a compressed package. Development environment: IAR.

[0146] RF transceiver module: The processed ranging data is received and transmitted using the 433m frequency band. For data modulation and demodulation, please refer to the engineering code.

[0147] Development process

[0148] 1. The configured UWB module outputs through the TTL serial port. It is connected to the MSP430 single-chip microcomputer interface by Dupont wires. The serial port output is in Modbus protocol with a rate of 115200bps. The MSP430 single-chip microcomputer is responsible for synchronously receiving data, decoding and extracting ranging information for calculation, as Figure 7 shown. The receiving end uses the buttons to increase or decrease the received distance information for calibration (when powered on for the first time), as Figure 9 shown.

[0149] Embodiment 3

[0150] This embodiment also provides a computer device, which is applicable to a situation of a positioning data transmission method for a bucket wheel stacker-reclaimer based on ultra-wideband ranging, including a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement a forced oscillation detection and positioning method for a distribution network as proposed in the above embodiment.

[0151] This embodiment also provides a storage medium, on which a computer program is stored. When the program is executed by a processor, it implements a forced oscillation detection and positioning method for a distribution network as proposed in the above embodiment.

[0152] The computer device can be a terminal. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner. The wireless manner can be implemented through Wi-Fi, a carrier network, NFC (Near Field Communication), or other technologies. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covered on the display screen, or a button, a trackball, or a touchpad set on the shell of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0153] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0154] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0155] More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connection parts with one or more wirings (electronic devices), portable computer disk cartridges (magnetic devices), random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), fiber optic devices, and portable compact disc read-only memories (CDROMs). Additionally, a computer-readable medium can even be paper or other suitable media on which a program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, then editing, interpreting, or otherwise processing it as appropriate, and then storing it in a computer memory.

[0156] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gate circuits for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

[0157] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A positioning data transmission method for a bucket wheel stacker-reclaimer based on ultra-wideband ranging, characterized in that: Including obtaining the travel data of the bucket wheel stacker / reclaimer. The obtaining of the travel data of the bucket wheel stacker / reclaimer includes obtaining the first distance data by ranging between an ultra-wideband ranging base station and a positioning tag installed on the tail car of the bucket wheel stacker / reclaimer; Performing data fusion processing on the first distance data and the accelerometer data, where the accelerometer is installed on the tail car of the bucket wheel stacker / reclaimer and is in the same control box as the positioning tag. The data fusion processing includes determining whether the bucket wheel stacker / reclaimer is in a stationary state and setting different data confidence parameters according to the determination result; Sending the position data after data fusion processing to the data receiver in the cab of the bucket wheel stacker / reclaimer through wireless data transmission, where the wireless data transmission uses the 433 MHz frequency band to avoid interfering with the ultra-wideband signal.

2. The method for transmitting positioning data of a bucket wheel stacker-reclaimer based on ultra-wideband ranging according to claim 1, wherein: The obtaining of the travel data of the bucket wheel stacker / reclaimer further includes: The ultra-wideband ranging base station is installed on one side of the bucket wheel stacker / reclaimer's trolley track and at a preset distance from the south wall to reduce the multipath effect; The positioning tag is installed at a fixed position on the tail car of the bucket wheel stacker / reclaimer, and the connection line between the tag and the base station is parallel to the trolley track.

3. The method for transmitting positioning data of a bucket wheel stacker-reclaimer based on ultra-wideband ranging according to claim 2, wherein: The positioning base station based on ultra-wideband ranging uses a communication channel with a center frequency of 3993.6 MHz and an occupied bandwidth of 500 MHz.

4. The method for transmitting positioning data of a bucket wheel stacker-reclaimer based on ultra-wideband ranging according to claim 3, wherein: The data fusion processing specifically includes: When the bucket wheel stacker / reclaimer is moving, the accelerometer value is not zero or will not be zero for a long time. At this time, the current ranging data is adopted with the first weight value, and the first weight value is 1; When the bucket wheel stacker / reclaimer is stationary, the accelerometer value is less than the preset threshold. At this time, the current ranging data is adopted with the second weight value, and the average value of multiple frames of data is calculated and then fused. The second weight value is 0.

5.

5. The method for transmitting positioning data of a bucket wheel stacker-reclaimer based on ultra-wideband ranging according to claim 4, wherein: The wireless data transmission includes: A data wireless modulation transmitter installed in the control box of the tail car of the bucket wheel stacker / reclaimer, and the high-frequency antenna joint part of the transmitter is subjected to electromagnetic shielding treatment; The data wireless transmitter is installed in the cab of the front car of the bucket wheel stacker / reclaimer and shares a control box with the data display board. The distance between the antenna of the data wireless transmitter and the antenna of the positioning tag is greater than the preset distance to avoid electromagnetic interference.

6. The method for transmitting positioning data of a bucket wheel stacker-reclaimer based on ultra-wideband ranging according to claim 5, wherein: The data fusion processing is executed by a microcontroller installed in the control box. The microcontroller is installed in the control box of the tail car of the bucket wheel stacker / reclaimer, is used to receive the data output by the positioning tag, calculates the distance between the tail car and the base station according to its message format, and performs data fusion processing; An accelerometer, communicatively connected to the microcontroller, is used to detect the motion state of the bucket wheel stacker / reclaimer.

7. The method for transmitting positioning data of a bucket wheel stacker-reclaimer based on ultra-wideband ranging according to claim 6, characterized in that: The microcontroller uses a baud rate of 115200 to communicate with the positioning tag to improve the data calculation speed.

8. A bucket wheel stacker-reclaimer positioning data transmission system based on ultra-wideband ranging, based on the method for transmitting bucket wheel stacker-reclaimer positioning data based on ultra-wideband ranging according to any one of claims 1 to 7, characterized in that: It further includes a data acquisition module for obtaining the travel data of the bucket wheel stacker / reclaimer. The data acquisition module includes an ultra-wideband ranging base station and a positioning tag installed on the tail car of the bucket wheel stacker / reclaimer. Ranging is performed between the base station and the tag to obtain the first distance data; A data processing module for performing data fusion processing on the first distance data and the accelerometer data, where the accelerometer is installed on the tail car of the bucket wheel stacker / reclaimer and is in the same control box as the positioning tag. The data fusion processing includes determining whether the bucket wheel stacker / reclaimer is in a stationary state and setting different data confidence parameters according to the determination result; The data transmission module is used to wirelessly send the position data after data fusion processing to the data receiver in the cab of the bucket wheel stacker / reclaimer, wherein the wireless data transmission uses the 433 MHz frequency band to avoid interfering with the ultra-wideband signal.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that: When the processor executes the computer program, the steps of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the steps of the bucket wheel stacker / reclaimer positioning data transmission method based on ultra-wideband ranging according to any one of claims 1 to 7 are implemented.

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