Wireless communication device, control circuit and related system for scene under mine
By using a spherical wireless communication device and a signal isolator between the underground robot and the remote control terminal, the problems of wireless communication repeater tilting and limited signal transmission distance in the mine were solved, and stable underground communication was achieved.
Patent Information
- Application Number
- CN202511296249.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-11
- Publication Date
- 2026-01-23
AI Technical Summary
In unstructured coal mine tunnels, communication buses are prone to tangling and knotting, and wireless communication repeaters are difficult to install on uneven mine floors, resulting in limited signal transmission distance.
A spherical wireless communication device is adopted, with a flexible rebound whip antenna, signal amplification circuit and signal isolator installed on the spherical antenna shell, and stable communication is achieved through jumping signal relay.
Ensuring normal signal reception at any location within the mine and optimizing information transmission solves the problems of wireless communication repeater tilting and limited signal transmission distance.
Smart Images
Figure CN121396286A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of underground mine robot control, and in particular to a wireless communication device for an underground mine scene, a control circuit and a related system. BACKGROUND
[0002] After a mine disaster, in order to prevent casualties, most rescue methods are assisted by underground mine robots to complete the task. The existing underground mine robots generally communicate through a communication bus and a remote control terminal. In a non-structural coal mine tunnel, the uneven ground of the mine tunnel causes the communication bus to inevitably appear knotted, entangled and other situations. Wireless communication repeaters also face the technical problem of being difficult to erect, because the uneven ground of the mine tunnel is prone to tilt when being put in, thereby limiting the signal transmission distance of the wireless communication repeater.
[0003] In order to prevent the wireless communication repeater from falling, the present application provides a wireless communication device for an underground mine scene, a control circuit and a related system. SUMMARY
[0004] In order to overcome the problems in the related art, the first aspect of the present application provides a wireless communication device for an underground mine scene, which is used for signal relaying between an underground mine robot and a control terminal. The wireless communication device includes a repeater packaged in a spherical antenna shell, the spherical antenna shell is provided with N whip antennas along the radial direction of the spherical antenna shell, the N whip antennas are uniformly distributed on the spherical antenna shell, the whip antenna is a flexible resilient structure, and N is an integer greater than or equal to 2.
[0005] In an embodiment, the whip antenna includes an antenna body packaged in an elastic structure shell.
[0006] In an embodiment, N through holes are formed on the spherical antenna shell, an antenna base is arranged in the through hole, one end of the antenna base is electrically connected to the whip antenna, and the other end of the antenna base is electrically connected to the repeater in the spherical antenna shell.
[0007] In an embodiment, an antenna splicer is arranged in the spherical antenna shell; the N whip antennas are electrically connected to the antenna splicer, and the antenna splicer is electrically connected to the repeater.
[0008] In an embodiment, the repeater is provided with a signal amplification circuit, the signal amplification circuit is electrically connected to the whip antenna, and the signal amplification circuit is used for amplifying the received signal.
[0009] The second aspect of the application provides a control circuit for an underground mining scene, comprising a remote control terminal circuit and a robot circuit, wherein control signals output by the remote control terminal circuit and response signals received by the remote control terminal circuit are transmitted by the wireless communication device, and information interaction is performed between the remote control terminal circuit and the robot circuit. The remote control terminal circuit is an intrinsically safe circuit, and the remote control terminal circuit comprises an Stm32f4 control board, an intrinsically safe computer, a switch, a wireless transmission module and an intrinsically safe power supply. The Stm32f4 control board is used to collect input control signals on a panel of a remote control box to control an underground robot. The intrinsically safe computer is used to display various control information and issue control instructions to the robot. The intrinsically safe power supply is used to supply power to the Stm32f4 control board, the switch and the wireless transmission module. The intrinsically safe computer is powered by the self-provided intrinsically safe power supply. The robot circuit comprises an audio and video unit. The underground robot is provided with an explosion-proof cavity, and the robot circuit is arranged in the explosion-proof cavity. The audio and video unit is communicatively connected to an analog camera outside the explosion-proof cavity through a signal isolator.
[0010] The third aspect of the application provides a wireless communication system for an underground mining scene, comprising M wireless communication devices. The M wireless communication devices are used to relay signals between an underground robot and a remote control terminal in a hopping manner. The M wireless communication devices are distributed along a communication link. M is an integer greater than or equal to 3. The underground robot is provided with a robot circuit, and the remote control terminal is provided with a remote control terminal circuit.
[0011] In an embodiment, the wireless communication devices are communicatively connected to each other, and a controller of the wireless communication device performs the following steps for relaying and forwarding: 101. The remote control terminal listens to signal verification information sent by the M-1th underground robot. 102. The remote control terminal analyzes the signal verification information to obtain verification information strength. 103. The remote control terminal determines whether the verification information strength is less than a preset strength threshold. If yes, a deployment instruction is sent to the Mth wireless communication device in the current direction. If no, the deployment of the wireless communication device is stopped, and the listening to the signal verification information is continued.
[0012] The technical solution provided by the application can have the following beneficial effects: In a coal mine, civil engineering is generally not performed, and it is not easy to erect a communication antenna in the mine. The antenna often tilts and collapses. The embodiment of the application proposes a spherical wireless communication device. The outer part of the spherical antenna shell of the wireless communication device is provided with a whip-shaped antenna having a shape memory function, so that the communication base station can ensure normal signal reception regardless of the position, and the internal information transmission is optimized to achieve the best communication effect.
[0013] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed. BRIEF DESCRIPTION OF DRAWINGS
[0014] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the figures, and in which:
[0015] Figure 1 Structure diagram of wireless communication device shown in the embodiment of the present application; Figure 2 Another structure diagram of wireless communication device shown in the embodiment of the present application; Figure 3 Circuit diagram of remote terminal control circuit shown in the embodiment of the present application; Figure 4 Circuit diagram of signal isolator shown in the embodiment of the present application. DETAILED DESCRIPTION
[0016] The preferred embodiments of the present application will be described herein below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it is understood that the present application can be embodied in various forms without being limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and fully convey the scope of the present application to those skilled in the art.
[0017] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.
[0018] It is to be understood that although the terms "first", "second", "third", and the like can be used herein to describe various information, these terms are not intended to denote a limitation unless otherwise indicated by the context. These terms are used only to distinguish one piece of information from another. For example, a first piece of information can also be referred to as a second piece of information without departing from the scope of the present application. As such, features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.
[0019] In a non-structural coal mine tunnel, the wireless communication repeater is prone to tilt when being put in due to uneven ground in the mine tunnel, thereby limiting the signal transmission distance. In order to prevent the wireless communication repeater from falling, an embodiment of the present application provides a wireless communication device for an underground mine scene, which relays signals between an underground robot and a control terminal.
[0020] Figure 1 A structural schematic diagram of the wireless communication device shown in the embodiment of the present application.
[0021] As Figure 1 shown, the wireless communication device includes a repeater 20 encapsulated in a spherical antenna shell 10, the spherical antenna shell 10 is provided with N whip antennas 11 along the radial direction of the spherical antenna shell 10, the N whip antennas 11 are uniformly distributed on the spherical antenna shell 10, the whip antenna 11 is a flexible resilient structure, and N is an integer greater than or equal to 2.
[0022] Specifically, the whip antenna 11 includes an antenna body encapsulated in an elastic structure shell. The spherical antenna shell 10 is provided with N through holes 12, an antenna base is arranged in the through hole, one end of the antenna base is electrically connected to the whip antenna 11, and the other end is electrically connected to the repeater 20 in the spherical antenna shell 10. An antenna wire connector is arranged in the spherical antenna shell 10; the N whip antennas 11 are electrically connected to the antenna wire connector, and the antenna wire connector is electrically connected to the repeater 20. The repeater 20 is provided with a signal amplification circuit, the signal amplification circuit is electrically connected to the whip antenna 11, and the signal amplification circuit is used for amplifying the received signal.
[0023] In a coal mine tunnel, there is generally no civil engineering operation, and it is not easy to erect a communication antenna in the mine tunnel, and the antenna often tilts and collapses. The embodiment of the present application proposes a spherical wireless communication device, the spherical antenna shell 10 of the wireless communication device is externally provided with a whip antenna 11 having a shape memory function, so that the communication base station can ensure normal signal reception regardless of the position, and the internal information transmission is optimized to achieve the optimal communication effect.
[0024] Specifically, the whip antenna 11 encapsulates a metal conductor in an elastic shell, and can restore to the original state after the whip antenna 11 is extruded and deformed by external pressure.
[0025] The wireless communication device shown in the above is a node of a communication link between the remote terminal control circuit and the underground robot. The wireless communication device receives the instruction data sent by the remote terminal circuit, amplifies the signal and sends it to the underground robot. The underground robot sends feedback data in response to the instruction data to the wireless communication device, which is forwarded to the remote terminal circuit.
[0026] The wireless communication device of the embodiment of the application assumes that a communication link is established between the underground robot and the remote terminal under the control of the control circuit. The embodiment of the application provides a control circuit for an underground scene, which includes a remote terminal circuit and a robot circuit. The control signal output by the remote terminal circuit and the response signal received by the remote terminal circuit are transmitted by the wireless communication device, and information interaction is performed with the robot.
[0027] Specifically, as shown in the Figure 3 The remote terminal circuit is an intrinsically safe circuit, which includes an Stm32f4 control board, an intrinsically safe computer, a switch, a wireless transmission module and an intrinsically safe power supply. The Stm32f4 control board is used to collect input control signals on the panel of the remote control box to control the underground robot. The intrinsically safe computer is used to display various control information and issue control instructions to the robot. The intrinsically safe power supply is used to power the Stm32f4 control board, the switch and the wireless transmission module. The intrinsically safe computer is powered by the self-contained intrinsically safe power supply.
[0028] Further, the robot circuit includes an audio and video unit. The underground robot is provided with an explosion-proof chamber, and the robot circuit is arranged in the explosion-proof chamber. The audio and video unit is communicatively connected to an analog camera outside the explosion-proof chamber through a signal isolator. The signal isolator converts the input current or voltage signal into an output isolated current or voltage signal, suppresses high-frequency and low-frequency common-mode impulse interference signals, and solves the problem that the signal is easily disturbed when transmitted in a high-voltage and strong electromagnetic environment.
[0029] The underground robot is provided with an intrinsically safe camera to take pictures of the underground environment. This design can transmit the farthest distance under the condition that the bandwidth of the transmission system is fixed.
[0030] The signal isolator can prevent combustible materials from being brought into the explosion-proof chamber of the underground robot. The audio and video unit is connected to the external camera through a signal isolator as shown in Figure 4 Figure 4 The electrical schematic diagram of the signal isolator.
[0031] The transformer input, output winding and all windings and magnetic ring of the signal isolator can withstand AC 50Hz, 1500V, 1min dielectric strength test, and no breakdown and flashover phenomenon, and the leakage point current is less than 5mA.
[0032] When the mine tunnel is too long, multiple wireless communication devices need to be deployed for hop relay, in order to build a complete communication link between the wireless communication devices. Embodiments of the present application provide a wireless communication system for an underground mine scene, comprising M wireless communication devices, the M wireless communication devices are used for hop signal relay between an underground mine robot and a remote control terminal, the M wireless communication devices are distributed along the communication link, and M is an integer greater than or equal to 3. Wherein, the underground mine robot is provided with the robot circuit, and the remote control terminal is provided with the remote control terminal circuit.
[0033] Specifically, the wireless communication devices are connected with each other, and the controller of the wireless communication device performs the following steps for relay forwarding; 101. The remote control terminal listens to the signal verification information sent by the M-1th underground mine robot; 102. The remote control terminal analyzes the signal verification information to obtain verification information strength; 103. The remote control terminal judges whether the verification information strength is less than a preset strength threshold, if yes, a deployment instruction is sent to the Mth wireless communication device in the current direction; if not, the deployment of the wireless communication device is stopped and the signal verification information is continuously listened to.
[0034] In the embodiments of the present application, the first wireless communication device is deployed near the remote control terminal, and the underground mine robot continuously communicates with the first remote control terminal for signal verification during the movement in the mine tunnel. When the remote control terminal monitors that the verification information strength is lower than the preset strength threshold, the next wireless communication device is deployed in the current direction of the underground mine robot. The embodiments of the present application can solve the technical problem of too short wireless communication distance of the underground mine robot in the mine tunnel scene.
[0035] As to the device in the above-mentioned embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the device in the above-mentioned embodiments, and will not be described in detail here.
[0036] The solutions of the present application have been described in detail above with reference to the accompanying drawings. In the above examples, the description of each example is focused on a certain aspect, and the parts not described in detail in a certain example can be referred to the relevant description of other examples. It should also be appreciated by those skilled in the art that the actions and modules involved in the specification are not necessarily required by the present application. In addition, it can be understood that the steps in the method embodiments of the present application can be adjusted, combined and reduced in sequence according to actual needs, and the modules in the device embodiments of the present application can be combined, divided and reduced according to actual needs.
[0037] In addition, the method according to the present application can also be implemented as a computer program or computer program product, which includes computer program code instructions for executing part or all of the steps in the above method of the present application.
[0038] Alternatively, the present application can also be implemented as a non-transitory machine readable storage medium (or computer readable storage medium, or machine readable storage medium) having stored executable code (or computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform part or all of the steps of the above method according to the present application.
[0039] Those skilled in the art will also appreciate that the various example logical blocks, modules, circuits, and algorithm steps described in connection with the present application herein can be implemented as electronic hardware, computer software, or combinations of both.
[0040] The flow charts and block diagrams in the drawings show the possible architectural, functional, and operational architectures of systems and methods according to various embodiments of the present application. In this regard, each block in the flow charts or block diagrams can represent a module, a program segment, or a portion of code that contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that shown in the figures. For example, two blocks shown in succession can actually be executed substantially concurrently, or they can sometimes be executed in reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flow charts, and combinations of blocks in the block diagrams and / or flow charts, can be implemented by dedicated hardware-based systems that perform the specified functions or operations, or they can be implemented by a combination of dedicated hardware and computer instructions.
[0041] Having described various embodiments of the application, it is to be understood that the above description is meant not to limit and not to encompass all of the possible embodiments. Many modifications and variations of this application can be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. It is intended that the scope of the application be defined by the scope of the patent and by the claims as allowed by the patent office, which can include adaptations based on the description, equivalents, and / or substitutions of elements individually or collectively to the entire disclosure.
Claims
1. A wireless communication device for use in underground mining scenarios, characterized in that, The wireless communication device is used for signal relay between the underground robot and the control terminal; The wireless communication device includes a repeater (20) encapsulated in a spherical antenna housing (10). The spherical antenna housing (10) is provided with N whip antennas (11) along the radial direction of the spherical antenna housing (10). The N whip antennas (11) are evenly distributed on the spherical antenna housing (10). The whip antennas (11) are flexible and spring-loaded structures, and N is an integer greater than or equal to 2.
2. The wireless communication device for underground mining scenarios according to claim 1, characterized in that, The whip antenna (11) includes an antenna body encapsulated in an elastic structural housing.
3. The wireless communication device for underground mining scenarios according to claim 1, characterized in that, The spherical antenna housing (10) has N through holes, and an antenna base is installed in the through holes. One end of the antenna base is electrically connected to the whip antenna (11), and the other end is electrically connected to the repeater (20) inside the spherical antenna housing (10).
4. A wireless communication device for underground mining scenarios according to claim 1, characterized in that, An antenna parallelizer is provided inside the spherical antenna housing (10); N whip antennas (11) are electrically connected to the antenna parallelizer, and the antenna parallelizer is electrically connected to the repeater (20).
5. A wireless communication device for underground mining scenarios according to claim 1, characterized in that, The repeater (20) is provided with a signal amplification circuit, which is electrically connected to the whip antenna (11) and is used to amplify the received signal.
6. A control circuit for underground mining scenarios, characterized in that, It includes a remote control terminal circuit and a robot circuit. The control signals output by the remote control terminal circuit and the response signals received are transmitted through the wireless communication device and interact with the robot. The remote control terminal circuit is an intrinsically safe circuit. The remote control terminal circuit includes an STM32F4 control board, an intrinsically safe computer, a switch, a wireless transmission module, and an intrinsically safe power supply. The STM32F4 control board is used to collect input control signals from the remote control box panel to control the underground robot. The intrinsically safe computer is used to display various control information and send control commands to the robot. The intrinsically safe power supply is used to power the STM32F4 control board, the switch, and the wireless transmission module. The intrinsically safe computer is powered by its own intrinsically safe power supply. The robot circuit includes an audio-visual unit. The underground robot is equipped with an explosion-proof cavity, and the robot circuit is located inside the explosion-proof cavity. The audio-visual unit is connected to a simulated camera outside the explosion-proof cavity via a signal isolator.
7. A wireless communication system for underground mining scenarios, characterized in that, It includes M wireless communication devices, which are used for jump signal relay between the underground robot and the remote control terminal. The M wireless communication devices are evenly distributed along the communication link, and M is an integer greater than or equal to 3. The underground robot is equipped with robot circuitry, and the remote control terminal is equipped with remote control terminal circuitry.
8. A wireless communication system for underground mining scenarios according to claim 7, characterized in that, The wireless communication devices are interconnected, and the controller of each wireless communication device performs the following steps for relay forwarding:
101. The remote control terminal listens to the signal verification information sent by the (M-1)th underground robot; 102. The remote control terminal parses the signal verification information to obtain the verification information strength; 103. The remote control terminal determines whether the verification information strength is less than a preset strength threshold. If so, it sends a deployment command to the Mth wireless communication device at the current location; if not, it stops deploying the wireless communication device and continues to listen to the signal verification information.