Multi-modal fusion mining accurate positioning device

Abstract

The invention provides a multi-mode fusion mining accurate positioning device, and relates to the technical field of mining safety positioning, and the device comprises a uwb base station, the lower surface of the uwb base station is fixedly connected with a protective shell, the rear surface of the protective shell is fixedly connected with a fixed shell, the rear of the uwb base station is provided with a signal reflecting plate, the lower surface of the protective shell is fixedly connected with two fixed seats, and the fixed seats are fixedly connected with a signal receiving plate. The connecting plates are arranged in the two fixing seats, the two hoops are arranged below the two fixing seats, the controller can increase the input power of the heating pipe, the heating pipe can generate more heat, and therefore the temperature is increased, when the actual temperature is higher than the set temperature, the controller can reduce the input power of the heating pipe and reduce the heating value of the heating pipe, and the heating efficiency is improved. The internal temperature of the uwb base station can be integrally increased, it is ensured that electronic components are in a proper working temperature range, the conditions of communication interruption or signal quality reduction and the like caused by low temperature are reduced, the application range of the uwb base station is expanded, and the uwb base station can normally operate under various atrocious weather conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine safety positioning, and more specifically, relates to a multi-modal fusion mine precision positioning device. Background Art

[0002] Multimodal fusion mining precision positioning devices play a key role in safe production and efficient operations in mines. They are an important technical means to ensure the safety of personnel and equipment and improve mining efficiency. By integrating multiple positioning technologies and sensor data, the device can achieve precise positioning in complex mine environments, providing key support for automated mine management. In actual mining operations, multimodal fusion mining precision positioning devices typically rely on the following main components to function:

[0003] 1. UWB base station: As the core positioning component, it transmits and receives ultra-wideband pulse signals and uses algorithms such as time of flight (TOF) to accurately measure the distance to the target and then determine its position. It has the characteristics of high precision and strong anti-interference ability.

[0004] 2. Protective shell: It protects the internal equipment and prevents dust, water vapor, etc. from entering the mine. At the same time, a heating tube is installed in the protective shell to maintain the normal operating temperature of the equipment in a low temperature environment.

[0005] 3. Signal reflector: It can adjust the reflection direction of UWB signals, enhance the multipath coverage of signals in complex environments, optimize positioning accuracy, and improve the stability of the positioning system in obstructed environments.

[0006] 4. Shock-absorbing and dispersion mechanism: It consists of a clamp, a fixing frame, a connecting ring, a dispersion plate, a shock-absorbing spring and a damping telescopic rod. It can effectively buffer the impact of external vibrations on the base station, protect internal components, and ensure stable signal transmission.

[0007] Currently, the industry employs a variety of technologies and equipment to achieve precise positioning in mines. Some mines rely on a single positioning technology, such as Bluetooth or Wi-Fi-based positioning systems, which leverage Bluetooth's low power consumption and Wi-Fi's wide coverage. Other mines employ inertial navigation systems, which measure equipment acceleration and angular velocity to infer position changes. Furthermore, some large mines employ satellite positioning systems for auxiliary positioning, using satellite signals to obtain location information.

[0008] However, the above implementation still has the following problems. In terms of environmental adaptability, a single positioning technology performs poorly in the complex environment of a mine. Bluetooth and Wi-Fi signals are easily blocked and interfered with, resulting in a decrease in positioning accuracy. The inertial navigation system has an error accumulation problem, and the positioning deviation is large after long-term use; the satellite positioning system cannot receive satellite signals underground. In terms of equipment stability, harsh conditions such as vibration, high and low temperatures in the mine can easily affect the normal operation of the equipment. The shock absorption and temperature regulation functions of the existing devices are insufficient, resulting in a high equipment failure rate. In terms of signal coverage and accuracy, the complex mine environment makes the signal prone to blockage and attenuation, making it difficult to achieve comprehensive and accurate positioning. To address these problems, this application proposes a multimodal fusion mining precision positioning device, which integrates the advantages of multiple positioning technologies, has efficient shock absorption and temperature regulation functions, can effectively improve signal coverage and positioning accuracy, ensure stable and accurate positioning in complex mine environments, and ensure safe production and efficient operation of mines. Summary of the Invention

[0009] In order to solve the above technical problems, the present invention provides a multi-modal fusion mining precision positioning device to solve the above problems.

[0010] A multimodal fusion mining precision positioning device, comprising a UWB base station, wherein the lower surface of the UWB base station is fixedly connected to a protective shell, the rear surface of the protective shell is fixedly connected to a fixed shell, a signal reflection plate is arranged behind the UWB base station, the lower surface of the protective shell is fixedly connected to two fixing seats, a connecting plate is arranged in each of the two fixing seats, two holding hoops are arranged below the two fixing seats, two fixing frames and two fixing blocks are fixedly connected to the lower surfaces of the two fixing seats respectively, a group of heating tubes is arranged in the protective shell, a group of fans are arranged in the protective shell, a connecting ring is arranged below the two connecting plates, the annular side surfaces of the two connecting rings are fixedly connected to two connecting shafts, and the surface of each connecting shaft is rotating. The cam is fixedly provided with a toothed plate, and the toothed plate is fixedly provided with a toothed plate, and the toothed plate is fixedly provided with a toothed plate.

[0011] Preferably, each group of rotating shafts is fixedly connected to each group of shock-absorbing springs and each group of damping telescopic rods, the two fixed blocks are fixedly connected to two fixing frames, the two fixing frames are fixedly connected to two clamps, and a protective net is provided between the protective shell and the fixed shell.

[0012] Preferably, two brackets are fixedly connected to the surface of the connecting block located on the left side of the two connecting blocks, and the two brackets are fixedly connected to the two fixed blocks respectively. The rear surface of the limiting plate located at the rear of the two limiting plates is fixedly connected to a support frame, and a servo motor 1 is fixedly installed on the upper surface of the support frame. The support frame is rotatably connected to the fixed shaft of the signal reflecting plate, and the output shaft of the servo motor 1 is fixedly connected to the fixed shaft of the signal reflecting plate.

[0013] Preferably, a servo motor 2 is fixedly mounted on the lower surface of the support plate, the output shaft of the servo motor 2 is fixedly connected to the right-angle gear, and a group of tooth grooves are provided on the opposite surfaces of the two limit bars, and the two groups of tooth grooves are movably engaged with the right-angle gear.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] In the present invention, the controller will increase the input power of the heating tube, so that the heating tube generates more heat, thereby increasing the temperature. When the actual temperature is higher than the set temperature, the controller will reduce the input power of the heating tube, reduce the heat generated by the heating tube, and lower the temperature. The overall internal temperature of the UWB base station can be improved, ensuring that the electronic components are in a suitable operating temperature range, thereby ensuring the normal operation of the UWB base station, reducing communication interruptions or signal quality degradation caused by low temperature, and expanding the application range of the UWB base station so that it can operate normally under various harsh weather conditions.

[0016] In the present invention, the protective net is firmly fixed to the protective shell, which not only plays a protective role, but also can guide the airflow to be evenly distributed. After the second fan is started, the airflow it generates can dissipate heat comprehensively and evenly inside the protective shell, effectively taking away the residual heat after the heating tube stops working. By quickly dissipating heat, this thermal stress change can be effectively reduced, ensuring that the heating tube's resistance wire and other components can still work accurately and reliably when it is used next time, maintaining a stable heating effect.

[0017] In the present invention, the signal reflecting plate can periodically change the reflection direction of the UWB signal through precise position and angle adjustment. In a complex mine environment, there are a large number of obstructions and interference sources. This adjustment mechanism of the signal reflecting plate can enhance the multipath coverage effect of the UWB signal. After the adjustment is completed, the signal reflecting plate will be fixed at the optimal signal reflection angle, thereby optimizing the static positioning accuracy of the UWB base station, realizing dynamic adjustment of the signal coverage range, significantly improving the stability of the UWB positioning system in an obstructed environment, and ensuring the accuracy and reliability of the positioning signal.

[0018] In the present invention, the shock-absorbing spring can convert the vibration force into elastic potential energy through its own elastic deformation, thereby playing a role in buffering vibration. The damping telescopic rod can provide a stable damping force during the expansion and contraction process of the shock-absorbing spring, suppress excessive vibration of the spring, and make the vibration buffering process smoother. Through the synergistic effect of the shock-absorbing spring and the damping telescopic rod, the vibration force can be effectively buffered and attenuated, greatly reducing the impact of vibration on the UWB base station.

[0019] In the present invention, the rubber sheet has good elasticity and buffering properties. When subjected to vibration, it can effectively absorb and disperse the vibration energy. At the same time, the rubber sheet drives the fixing frame and two connecting blocks fixed thereto to move together. The fixing frame adopts an overall triangular design. This design utilizes the stability principle of the triangle and can further enhance the stability of the structure during the vibration transmission process, reducing the displacement and deformation caused by vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the protective shell structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the overall explosion structure of the present invention;

[0023] Figure 4 It is a schematic structural diagram of the fixing seat of the present invention;

[0024] Figure 5 It is a schematic structural diagram of the connecting plate of the present invention;

[0025] Figure 6 1 is a schematic diagram of the connecting ring structure of the present invention;

[0026] Figure 7 This is a schematic diagram of the heating tube structure of the present invention;

[0027] Figure 8 It is a schematic diagram of the fixed shell structure of the present invention;

[0028] Figure 9It is a schematic diagram of the right-angle gear structure of the present invention;

[0029] In the figure, the correspondence between the component names and the drawing numbers is: 1. UWB base station; 2. Protective shell; 3. Clamp; 4. Fixed frame; 5. Fan 1; 6. Signal reflector; 7. Fixed shell; 8. Heating tube; 9. Fixed seat; 10. Connecting block; 11. Bracket; 12. Fixed block; 13. Connecting plate; 14. Dispersion plate; 15. Connecting ring; 16. Block; 17. Connecting shaft; 18. Rotating shaft; 19. Shock-absorbing spring; 20. Damping telescopic rod; 21. Servo motor 1; 22. Support frame; 23. Protective net; 24. Right-angle gear; 25. Limit plate; 26. Limit bar; 27. Servo motor 2; 28. Tooth groove; 29. Support plate; 30. Fan 2; 31. Rubber sheet. DETAILED DESCRIPTION

[0030] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0031] See also Figure 1 - Figure 9The present invention provides a multimodal fusion mining precision positioning device, including a uwb base station 1, a protective shell 2 is fixedly connected to the lower surface of the uwb base station 1, a fixed shell 7 is fixedly connected to the rear surface of the protective shell 2, a signal reflection plate 6 is arranged behind the uwb base station 1, two fixing seats 9 are fixedly connected to the lower surface of the protective shell 2, a connecting plate 13 is arranged in each of the two fixing seats 9, two clamps 3 are arranged below the two fixing seats 9, and two fixing frames 4 and two fixing blocks 12 are fixedly connected to the lower surfaces of the two fixing seats 9 respectively, a group of heating tubes 8 are arranged in the protective shell 2, a group of fans 5 are arranged in the protective shell 2, a connecting ring 15 is arranged below the two connecting plates 13, and the annular side surfaces of the two connecting rings 15 are fixedly connected to two connecting shafts 17, each connecting shaft 17 surfaces are rotatably connected to two dispersion plates 14, and the surfaces of the two groups of dispersion plates 14 are rotatably connected to the card blocks 16. A group of shock-absorbing springs 19 and a group of damping telescopic rods 20 are provided above the two connecting rings 15. The lower surfaces of the two connecting rings 15 are fixedly connected to the connecting blocks 10, and a rubber sheet 31 is fixedly connected between the two connecting blocks 10. Two limit bars 26 are movably connected in the fixed shell 7, and the back surfaces of the two limit bars 26 are fixedly connected to the limit plates 25. A support plate 29 is fixedly connected in the fixed shell 7, and the upper surface of the support plate 29 is rotatably connected to the right-angle gear 24. A group of fan 2 30 is fixedly installed on the front surface of the limit plate 25 located in the front of the two limit plates 25, and a group of shock-absorbing springs 19 are respectively movably connected to a group of damping telescopic rods 20. The two groups The surfaces of the dispersion plate 14 and the two groups of card blocks 16 are fixedly connected with a rotating shaft 18. The signal generator inside the UWB base station 1 will generate a series of ultra-wideband pulse signals with very narrow pulse widths. These pulse signals have a very wide spectrum range and can occupy a bandwidth of several GHz. Then, these ultra-wideband pulse signals are radiated to the surrounding space through the antenna. The emitted ultra-wideband pulse signals propagate in the space in the form of electromagnetic waves. When the mobile device (UWB tag) receives the signal transmitted by the UWB base station 1, it will process and analyze the signal. Combining the information of multiple base stations, the position of the mobile device can be calculated. During use, it is fixed to the connecting rod through two clamps 3 to complete the installation of the UWB base station 1. The UWB base station 1 is provided with a protective shell 2 below, and a group of heating tubes 8 are provided in the protective shell 2 to heat the UWB base station 1. In low temperature environments such as high-altitude cold mountainous areas and cold northern mining areas in winter, the battery performance in the UWB base station 1 will drop significantly, and the parameters of the electronic components will also change, resulting in unstable operation of the device or even failure to start normally. The heating tube 8 can maintain the internal temperature of the UWB base station 1 within a suitable range to ensure the normal operation of the device. There is a resistance wire inside the heating tube 8. When current passes through the resistance wire, due to the existence of resistance, the current will encounter obstacles in the flow of the resistance wire. The current generates heat when passing through the resistance wire, and the electrical energy is converted into thermal energy, which increases the temperature of the resistance wire. The heat generated by the resistance wire is transferred to the outer shell of the heating tube 8 by heat conduction.The heating tube 8 generates heat and transfers it to the UWB base station 1. A temperature sensor is installed inside the UWB base station 1 to monitor the temperature signal in real time and transmit the monitored temperature signal to the controller. The controller compares the received temperature signal with the set temperature value. When the actual temperature is lower than the set temperature, the controller increases the input power of the heating tube 8, causing the heating tube 8 to generate more heat, thereby raising the temperature. When the actual temperature is higher than the set temperature, the controller reduces the input power of the heating tube 8, reducing the heat generated by the heating tube 8 and lowering the temperature. This can increase the internal temperature of the UWB base station 1 as a whole, ensuring that the electronic components are within the appropriate operating temperature range, thereby ensuring the normal operation of the UWB base station 1, reducing communication interruptions or signal quality degradation caused by low temperatures, and expanding the application range of the UWB base station 1, so that it can operate normally under various harsh weather conditions.

[0032] Each set of rotating shafts 18 is fixedly connected to each set of shock-absorbing springs 19 and each set of damping telescopic rods 20, respectively. The two fixed blocks 12 are fixedly connected to the two fixing frames 4, respectively. The two fixing frames 4 are fixedly connected to the two clamps 3, respectively. A protective net 23 is provided between the protective shell 2 and the fixed shell 7. When the heating tube 8 stops running, a set of fans 1 5 in the protective shell 2 is immediately started to quickly dissipate heat for the heating tube 8. In order to further improve the uniformity and efficiency of heat dissipation, by starting the servo motor 27, its output shaft will drive the right-angle gear 24 fixed thereto to rotate precisely. During the rotation process, the right-angle gear 24, by virtue of its unique tooth structure, is tightly engaged with the tooth grooves 28 provided on the two limit bars 26, thereby driving the two limit bars 26. It moves linearly in a specific direction. During this transmission process, the movement of the two limit bars 26 will synchronously drive the limit plate 25 fixedly connected thereto to move together. Among them, a group of fans 2 30 are fixedly installed on the front surface of the limit plate 25 in the front. As the limit plate 25 moves, the fans 2 30 also perform a linear reciprocating motion. This group of fans 2 30 is arranged in the protective net 23. The protective net 23 is firmly fixed to the protective shell 2, which not only plays a protective role but also guides the airflow to be evenly distributed. After the fans 2 30 are started, the airflow generated by them can fully and evenly dissipate the heat inside the protective shell 2, effectively taking away the residual heat after the heating tube 8 stops working. After the heating tube 8 stops working, its internal structure is still in a high temperature state due to the previous heating process. If the heat is not dissipated quickly and in time, the material of the heating tube 8 will be accelerated to age and deform due to being in a high temperature environment for a long time. This will not only significantly shorten the service life of the heating tube 8 and increase the replacement cost, but also have a serious impact on its performance stability. Frequent thermal shocks will cause the heating tube 8 to produce large thermal stress changes during the cooling process, thereby affecting the performance of key components such as its internal resistance wire, causing fluctuations in the heating effect. By quickly dissipating the heat, this thermal stress change can be effectively reduced to ensure that the heating tube 8, when used next time, its resistance wire and other components can still work accurately and reliably to maintain a stable heating effect. In addition, during the linear reciprocating movement of the fan 2 30, the limit plate 25 at the rear will also move accordingly. The two limit plates The plates 25 are in a staggered moving state. This design enables the limit plate 25 at the rear to drive the support frame 22 fixed thereon to move synchronously when it moves. The support frame 22 will drive the signal reflecting plate 6 connected to its rotation to adjust its position. At the same time, the servo motor 21 is started, and its output shaft drives the fixed shaft fixed on the signal reflecting plate 6 to rotate, so that the signal reflecting plate 6 can rotate left and right in the horizontal direction, so as to select a suitable angle. The signal reflecting plate 6 can periodically change the reflection direction of the UWB signal through precise position and angle adjustment. In a complex mine environment, there are a large number of obstructions and interference sources. This adjustment mechanism of the signal reflecting plate 6 can enhance the multipath coverage effect of the UWB signal. After the adjustment is completed,The signal reflector 6 will be fixed at the optimal signal reflection angle, thereby optimizing the static positioning accuracy of the UWB base station 1, achieving dynamic adjustment of the signal coverage range, significantly improving the stability of the UWB positioning system in an obstructed environment, and ensuring the accuracy and reliability of the positioning signal.

[0033] The surface of the connecting block 10 on the left side of the two connecting blocks 10 is fixedly connected to two brackets 11, and the two brackets 11 are fixedly connected to the two fixed blocks 12 respectively. The rear surface of the limiting plate 25 located at the rear of the two limiting plates 25 is fixedly connected to a support frame 22, and a servo motor 1 21 is fixedly installed on the upper surface of the support frame 22. The support frame 22 is rotatably connected to the fixed axis of the signal reflecting plate 6, and the output shaft of the servo motor 1 21 is fixedly connected to the fixed axis of the signal reflecting plate 6. A servo motor 27 is fixedly installed on the lower surface of the support plate 29, and the output shaft of the servo motor 27 is fixedly connected to the right-angle gear 24. A group of tooth grooves 28 are provided on the opposite surfaces of the two limiting bars 26, and the two groups of tooth grooves 28 are movably engaged with the right-angle gear 24. When the uwb base station 1 is affected by external vibration When the vibration is transmitted, the vibration will first be transmitted through the connecting rod fixed by the clamp 3. A rubber sheet 31 is attached between the clamp 3 and the connecting rod. The rubber sheet 31 has good elasticity and buffering performance. When subjected to vibration, it can effectively absorb and disperse the vibration energy. At the same time, the rubber sheet 31 drives the fixing frame 4 and the two connecting blocks 10 fixed thereto to move together. The fixing frame 4 adopts an overall triangular design. This design utilizes the stability principle of the triangle, which can further enhance the stability of the structure during the vibration transmission process and reduce the displacement and deformation caused by the vibration. After receiving the vibration, the fixing frame 4 and the two connecting blocks 10 transmit the vibration force to the two fixing blocks 12 fixed thereto. At this time, the two fixing frames 4 and the two fixing blocks 12 will transfer the vibration force The force is transmitted to the connecting frame arranged in the fixing seat 9. After being subjected to the vibration force, the connecting frame will squeeze the connecting ring 15 downward. After being subjected to pressure, the connecting ring 15 will evenly disperse the pressure to a group of dispersion plates 14. When subjected to pressure, a group of dispersion plates 14 will rotate around the connecting shaft 17 and cooperate with the clamping block 16 to squeeze the shock-absorbing spring 19 and the damping telescopic rod 20. The shock-absorbing spring 19 and the damping telescopic rod 20 form a set of efficient shock-absorbing and buffering system. The shock-absorbing spring 19 can convert the vibration force into elastic potential energy through its own elastic deformation, thereby playing a role in buffering vibration. The damping telescopic rod 20 can provide a stable damping force during the expansion and contraction of the shock-absorbing spring 19, suppress excessive vibration of the spring, and make the vibration buffering process more stable. Through the synergistic effect of the shock-absorbing spring 19 and the damping telescopic rod 20, the vibration force can be effectively buffered and attenuated, greatly reducing the impact of vibration on the UWB base station 1. This shock-absorbing dispersion mechanism can effectively prevent the internal components of the UWB base station 1 from being displaced, damaged or the solder joints from loosening due to vibration, thereby extending the service life of the entire device and reducing maintenance costs. At the same time, vibration may cause the antenna or other signal transmission components inside the base station to undergo slight displacement or deformation, thereby affecting the signal transmission and reception quality, resulting in signal fluctuations, attenuation or distortion, and other problems. The effective buffering of vibration by the shock-absorbing dispersion mechanism can ensure that the signal transmission components inside the UWB base station 1 remain stable, reducing the problem of signal quality degradation caused by vibration.Ensure that the UWB base station 1 can stably transmit high-quality signals and provide users with reliable positioning and communication services.

[0034] Working principle:

[0035] In the first step, the signal generator inside the UWB base station 1 generates a series of ultra-wideband pulse signals with very narrow pulse widths. These pulse signals have a wide spectrum range and can occupy a bandwidth of several GHz. Then, these ultra-wideband pulse signals are radiated to the surrounding space through the antenna. The emitted ultra-wideband pulse signals propagate in the space in the form of electromagnetic waves. When the mobile device (UWB tag) receives the signal transmitted by the UWB base station 1, it will process and analyze the signal. Combining the information of multiple base stations, the position of the mobile device can be calculated. During use, the two clamps 3 are fixed to the connecting rod to complete the installation of the UWB base station 1. A protective shell 2 is provided under the UWB base station 1. A group of heating tubes 8 are provided in the protective shell 2 to heat the UWB base station 1. In low temperature environments such as high-altitude cold mountainous areas and cold northern mining areas in winter, the battery performance in the UWB base station 1 will drop significantly, and the parameters of the electronic components will also change, resulting in unstable operation of the device or even failure to start normally. The heating tube 8 can maintain the internal temperature of the UWB base station 1 within a suitable range to ensure the normal operation of the device. There is an electric heater inside the heating tube 8. Resistance wire. When current passes through the resistance wire, due to the existence of resistance, the current flowing in the resistance wire will encounter obstacles. The current generates heat when passing through the resistance wire, and the electrical energy is converted into thermal energy, causing the temperature of the resistance wire to rise. The heat generated by the resistance wire is transferred to the outer shell of the heating tube 8 through heat conduction. The heating tube 8 generates heat and transfers the heat to the UWB base station 1. A temperature sensor is provided in the UWB base station 1 to monitor the temperature signal in real time and transmit the monitored temperature signal to the controller. The controller compares the received temperature signal with the set temperature value. When the actual temperature is lower than the set temperature, the controller will increase the input power of the heating tube 8, so that the heating tube 8 generates more heat, thereby increasing the temperature. When the actual temperature is higher than the set temperature, the controller will reduce the input power of the heating tube 8, reduce the heat generated by the heating tube 8, and lower the temperature. The overall internal temperature of the UWB base station 1 can be increased to ensure that the electronic components are in a suitable operating temperature range, thereby ensuring the normal operation of the UWB base station 1, reducing communication interruption or signal quality degradation caused by low temperature, and expanding the application range of the UWB base station 1, so that it can operate normally under various harsh weather conditions.

[0036] In the second step, when the heating tube 8 stops running, a group of fans 1 5 in the protective shell 2 is immediately started to quickly dissipate heat for the heating tube 8. In order to further improve the uniformity and efficiency of heat dissipation, by starting the servo motor 27, its output shaft will drive the right-angle gear 24 fixedly connected thereto to rotate precisely. During the rotation process, the right-angle gear 24, with its unique tooth structure, is tightly engaged with the tooth grooves 28 opened on the two limit bars 26, thereby driving the two limit bars 26 to move linearly in a specific direction. In this transmission process, the movement of the two limit bars 26 will synchronously drive the limit plate 25 fixed thereto to move together. Among them, a group of fans 2 30 is fixedly installed on the front surface of the limit plate 25 in front. As the limit plate 25 moves, the fan 2 30 moves along the front surface of the limit plate 25. The movement of the fan 23 also causes the fan 2 30 to move back and forth in a straight line. This set of fans 2 30 is arranged in the protective net 23. The protective net 23 is firmly fixed to the protective shell 2, which not only plays a protective role, but also can guide the airflow to be evenly distributed. After the fan 2 30 is started, the airflow it generates can fully and evenly dissipate heat inside the protective shell 2, and effectively take away the residual heat after the heating tube 8 stops working. After the heating tube 8 stops working, its internal structure is still in a high-temperature state due to the previous heating process. If the heat cannot be dissipated quickly and in time, the material of the heating tube 8 will accelerate aging and deformation due to being in a high-temperature environment for a long time. This will not only significantly shorten the service life of the heating tube 8 and increase the replacement cost, but also have a serious impact on its performance stability. Frequent thermal shock will lead to The heating tube 8 generates large thermal stress changes during the cooling process, which in turn affects the performance of its internal resistance wire and other key components, causing fluctuations in the heating effect. Through rapid heat dissipation, this thermal stress change can be effectively reduced to ensure that the heating tube 8, when used next time, its resistance wire and other components can still work accurately and reliably to maintain a stable heating effect. In addition, during the linear reciprocating movement of the fan 2 30, the limit plate 25 located at the rear will also move accordingly, and the two limit plates 25 will be in a staggered movement state. This design enables the limit plate 25 located at the rear to drive the support frame 22 fixed thereon to move synchronously when moving, and the support frame 22 will drive the signal reflection plate 6 connected to it for rotation to adjust its position. At the same time, the servo is started Motor 1 21, its output shaft drives the fixed shaft fixed on the signal reflecting plate 6 to rotate, so that the signal reflecting plate 6 can rotate left and right in the horizontal direction, thereby selecting a suitable angle. The signal reflecting plate 6 can periodically change the reflection direction of the UWB signal through precise position and angle adjustment. In a complex mine environment, there are a large number of obstructions and interference sources. This adjustment mechanism of the signal reflecting plate 6 can enhance the multipath coverage effect of the UWB signal. After the adjustment is completed, the signal reflecting plate 6 will be fixed at the optimal signal reflection angle, thereby optimizing the static positioning accuracy of the UWB base station 1, realizing dynamic adjustment of the signal coverage range, significantly improving the stability of the UWB positioning system in an obstructed environment, and ensuring the accuracy and reliability of the positioning signal.

[0037] In the third step, when the UWB base station 1 is affected by external vibration, the vibration will first be transmitted through the connecting rod fixed by the clamp 3. A rubber sheet 31 is attached between the clamp 3 and the connecting rod. The rubber sheet 31 has good elasticity and buffering performance. When subjected to vibration, it can effectively absorb and disperse the vibration energy. At the same time, the rubber sheet 31 drives the fixed frame 4 and the two connecting blocks 10 fixed thereto to move together. The fixed frame 4 adopts an overall triangular design. This design utilizes the stability principle of the triangle, which can further enhance the stability of the structure during the vibration transmission process and reduce the displacement caused by vibration. And deformation, the fixing frame 4 and the two connecting blocks 10, after receiving the vibration, transmit the vibration force to the two fixed blocks 12 fixed thereto. At this time, the two fixing frames 4 and the two fixing blocks 12 will transmit the vibration force to the connecting frame set in the fixing seat 9. After being subjected to the vibration force, the connecting frame will squeeze the connecting ring 15 downward. After being under pressure, the connecting ring 15 will evenly disperse the pressure to a group of dispersion plates 14. When a group of dispersion plates 14 is under pressure, it will rotate around the connecting shaft 17 and cooperate with the card block 16 to squeeze the shock-absorbing spring 19 and the damping telescopic rod 20. The retractable rod 20 forms a set of efficient shock-absorbing and buffering systems. The shock-absorbing spring 19 can convert the vibration force into elastic potential energy through its own elastic deformation, thereby playing a role in buffering vibration. The damping telescopic rod 20 can provide a stable damping force during the expansion and contraction of the shock-absorbing spring 19, suppress the excessive vibration of the spring, and make the vibration buffering process more stable. Through the synergistic effect of the shock-absorbing spring 19 and the damping telescopic rod 20, the vibration force can be effectively buffered and attenuated, greatly reducing the impact of vibration on the uwb base station 1. This shock-absorbing dispersion mechanism can effectively prevent the internal components of the uwb base station 1 from being damaged due to vibration. At the same time, vibration may cause slight displacement or deformation of the antenna or other signal transmission components inside the base station, thereby affecting the quality of signal transmission and reception, and causing signal fluctuation, attenuation or distortion. The effective buffering of vibration by the shock-absorbing and dispersing mechanism can ensure that the signal transmission components inside the UWB base station 1 remain stable, reduce the problem of signal quality degradation caused by vibration, and ensure that the UWB base station 1 can stably transmit high-quality signals, providing users with reliable positioning and communication services.

[0038] The embodiments of the present invention are presented for purposes of illustration and description and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments are chosen and described in order to better illustrate the principles of the invention and its practical application and to enable those skilled in the art to understand the invention and design various embodiments with various modifications as suited for specific applications.

Claims

1. A multi-modal fusion mining precision positioning device, comprising a UWB base station (1), characterized in that: The lower surface of the UWB base station (1) is fixedly connected to a protective shell (2), the rear surface of the protective shell (2) is fixedly connected to a fixed shell (7), a signal reflection plate (6) is provided at the rear of the UWB base station (1), the lower surface of the protective shell (2) is fixedly connected to two fixing seats (9), a connecting plate (13) is provided in each of the two fixing seats (9), two clamps (3) are provided below the two fixing seats (9), the lower surfaces of the two fixing seats (9) are respectively fixedly connected to two fixing frames (4) and two fixing blocks (12), a group of heating tubes (8) is provided in the protective shell (2), a group of fans (5) is provided in the protective shell (2), and a connecting ring (15) is provided below the two connecting plates (13); The annular side surfaces of the two connecting rings (15) are fixedly connected to two connecting shafts (17), the surface of each connecting shaft (17) is rotatably connected to two dispersion plates (14), the surfaces of the two groups of dispersion plates (14) are rotatably connected to a clamping block (16), a group of shock-absorbing springs (19) and a group of damping telescopic rods (20) are arranged above the two connecting rings (15), the lower surfaces of the two connecting rings (15) are fixedly connected to a connecting block (10), a rubber sheet (31) is fixedly connected between the two connecting blocks (10), two limiting bars (26) are movably connected in the fixed shell (7), the back surfaces of the two limiting bars (26) are fixedly connected to the limiting plate (25), a support plate (29) is fixedly connected in the fixed shell (7), the upper surface of the support plate (29) is rotatably connected to a right-angle gear (24), and a group of fan 2 (30) is fixedly installed on the front surface of the limiting plate (25) located in the front of the two limiting plates (25).

2. A multi-modal fusion mining precision positioning device as claimed in claim 1, characterized in that: A group of shock absorbing springs (19) are respectively movably connected to a group of damping telescopic rods (20); The surfaces of the two groups of dispersion plates (14) and the two groups of clamping blocks (16) are fixedly connected with a rotating shaft (18).

3. A multi-modal fusion mining precision positioning device as claimed in claim 2, characterized in that: Each set of rotating shafts (18) is respectively fixedly connected to each set of shock-absorbing springs (19) and each set of damping telescopic rods (20).

4. A multi-modal fusion mining precision positioning device as claimed in claim 1, characterized in that: The two fixing blocks (12) are fixedly connected to the two fixing frames (4) respectively; The two fixing frames (4) are respectively fixedly connected to the two clamps (3).

5. The multi-modal fusion mining precise positioning device according to claim 1, characterized in that: A protective net (23) is provided between the protective shell (2) and the fixed shell (7).

6. A multi-modal fusion mining precision positioning device as claimed in claim 1, characterized in that: Two brackets (11) are fixedly connected to the surface of the connection block (10) on the left side of the two connection blocks (10); The two brackets (11) are fixedly connected to the two fixing blocks (12) respectively.

7. The multi-modal fusion mining precise positioning device according to claim 1, characterized in that: The rear surface of the rear limiting plate (25) of the two limiting plates (25) is fixedly connected to a support frame (22); Wherein, a servo motor (21) is fixedly mounted on the upper surface of the support frame (22).

8. A multi-modal fusion mining precision positioning device as claimed in claim 7, characterized in that: The support frame (22) is rotatably connected to the signal reflection plate (6) via a fixed axis; Wherein, the output shaft of the servo motor 1 (21) is fixedly connected to the fixed shaft of the signal reflection plate (6).

9. The multi-modal fusion mining precise positioning device according to claim 1, characterized in that: A servo motor 2 (27) is fixedly mounted on the lower surface of the support plate (29); Wherein, the output shaft of the second servo motor (27) is fixedly connected to the right-angle gear (24).

10. The multi-modal fusion mining precise positioning device according to claim 1, characterized in that: A set of tooth grooves (28) are formed on the opposite surfaces of the two limit bars (26); Wherein, the two groups of tooth grooves (28) are both movably engaged with the right-angle gear (24).

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