Method and system for generating electronic fence of large electromechanical equipment in underground coal mine

Abstract

The invention relates to an electronic fence generation method and system for large electromechanical equipment in an underground coal mine, and belongs to the field of positioning and electronic fences. According to the method, a plurality of Bluetooth AOA positioning base stations are arranged along the large electromechanical equipment at equal intervals to form a continuous coverage area, small-range two-dimensional positioning is achieved through a single base station, positioning data of all the base stations are fused through a splicing host, and the electronic fence containing a warning area is generated through the two-dimensional positioning splicing technology. The system correspondingly comprises a splicing host, a positioning base station, a positioning label and a TSN network switching device. According to the invention, the problems of excessive base station deployment and complex construction in the traditional UWB positioning technology are solved, the technical effects of simplified deployment, accurate positioning and real-time early warning are realized, and the reliability and efficiency of safety monitoring around underground large equipment are remarkably improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of positioning and electronic fence, and relates to a coal mine underground large electromechanical equipment electronic fence generation method and system. BACKGROUND

[0002] In the coal mine, the precise positioning technology has been applied a lot, mainly using the ultra-wideband positioning technology (UWB). For the electronic fence function of the large electromechanical equipment, the accurate two-dimensional positioning must be realized. The traditional UWB technology must rely on the time difference of arrival technology (TDOA) to realize the two-dimensional positioning, the TDOA realizes the two-dimensional positioning by using the time difference of arrival, and at least 3 to 4 positioning base stations are needed. Since the large electromechanical equipment in the coal mine is large in length-width ratio, a large number of TDOA positioning benchmarks are completely unable to meet the field construction requirements.

[0003] In view of the above problems, the application patent provides a coal mine underground large electromechanical equipment electronic fence generation method and system, which realizes two-dimensional positioning in a small area by fusing a single base station of Bluetooth angle of arrival technology (Bluetooth AOA), simultaneously deploys a plurality of Bluetooth positioning base stations along a circle of the large electromechanical equipment, each area has a certain two-dimensional positioning overlap area, and then adopts a two-dimensional positioning splicing technology to realize the electronic fence of the large electromechanical equipment, which completely meets the field construction and use requirements. SUMMARY

[0004] Therefore, the purpose of the application is to provide a coal mine underground large electromechanical equipment electronic fence generation method and system.

[0005] In order to achieve the above purpose, the application provides the following technical scheme. A coal mine underground large electromechanical equipment electronic fence generation method, comprising the following steps: Determine the two-dimensional position of a positioning tag in a small area covered by a single Bluetooth AOA positioning base station by using the two-dimensional positioning function of the single base station of the Bluetooth angle of arrival (Bluetooth Angle-of-Arrival positioning module, AOA) positioning module; Deploy a plurality of Bluetooth AOA positioning base stations along a circle of the large electromechanical equipment, the coverage areas of the plurality of Bluetooth AOA positioning base stations form continuous two-dimensional positioning areas, and there is a certain two-dimensional positioning overlap area between adjacent positioning areas; Transmit all two-dimensional positioning data of the positioning tag in the positioning area to a splicing host; The splicing host combines the signal coverage range and the overlap area of the plurality of positioning base stations, adopts a two-dimensional positioning splicing technology, calculates the position of the positioning tag on the yellow line or the red line of the electronic fence, and thus realizes the electronic fence function of the large electromechanical equipment.

[0006] Further, the positioning radius of the single Bluetooth AOA positioning base station reaches 20 m.

[0007] Further, the splicing host and the Bluetooth AOA positioning base station are connected by using a Time-Sensitive Networking (TSN).

[0008] A coal mine underground large electromechanical equipment electronic fence generation system comprises: A plurality of positioning base stations comprising a Bluetooth AOA positioning module are used to realize two-dimensional positioning in a small area. A plurality of positioning tags comprising a Bluetooth AOA positioning module. A splicing host is used to complete the Bluetooth angle of arrival positioning module (Bluetooth AOA) splicing function of a plurality of two-dimensional positioning base stations, draw a red line and a yellow line along the large electromechanical equipment, and realize the electronic fence function. The plurality of positioning base stations are arranged in a circle along the large electromechanical equipment, the plurality of positioning base stations form a continuous two-dimensional positioning area covering downward, and there is a certain two-dimensional positioning overlap area between adjacent positioning areas, the splicing host receives all two-dimensional positioning data transmitted by the positioning base stations, and combines the signal coverage range and the overlap area of the plurality of positioning base stations to calculate the position of the positioning tag on the yellow line or the red line by using a two-dimensional positioning splicing technology.

[0009] Further, the positioning radius of each positioning area of the positioning base station reaches 20 m.

[0010] Further, the splicing host and the positioning base station are connected by using a Time-Sensitive Networking (TSN).

[0011] The present application has the advantages that the Bluetooth AOA technology is used to realize two-dimensional positioning in a small range by using a single base station, and the electronic fence function of the large electromechanical equipment is realized by splicing a plurality of Bluetooth AOA two-dimensional technologies.

[0012] Other advantages, objects, and features of the present application will be apparent to those skilled in the art from the following specification, and will be learned from the practice of the present application. The objects and other advantages of the present application can be realized and obtained by the following specification. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to make the objects, technical solutions and advantages of the present application clearer, the preferred detailed description of the present application will be combined with the drawings as follows, wherein: Figure 1 The electronic fence system architecture diagram is shown in FIG. 1. Figure 2 Designing a map for electronic fence splicing positioning. DETAILED DESCRIPTION

[0014] Other advantages and effects of the present application can be easily understood by those skilled in the art from the description of the specific embodiments. The present application can also be implemented or applied in other different embodiments, and various modifications or changes can be made to the details based on different views and applications without departing from the spirit of the present application. It should be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0015] The drawings are only used for exemplary illustration, and the representation is only a schematic diagram, not a physical diagram, and cannot be understood as a limitation on the present application; in order to better illustrate the embodiments of the present application, some components in the drawings may be omitted, enlarged or reduced, and do not represent the actual product size; it can be understood by those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0016] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that if the terms "upper", "lower", "left", "right", "front", "back" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present application, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0017] The present application discloses a coal mine underground large electromechanical equipment electronic fence generation method and system, which contains a plurality of positioning base stations and a plurality of positioning tags. The positioning base station and the positioning tag both contain a Bluetooth angle of arrival positioning module (Bluetooth AOA positioning module).

[0018] The method uses a single Bluetooth AOA positioning base station to realize two-dimensional positioning in a small area. At the same time, a plurality of Bluetooth AOA positioning base stations are deployed in a circle along the large electromechanical equipment, each area has a certain two-dimensional positioning overlap area, and then a two-dimensional positioning splicing technology is used to realize the electronic fence of the large electromechanical equipment.

[0019] Embodiment one: framework and basic working process of electronic fence generation system 1. System composition and system framework The electronic fence generation system of the embodiment mainly comprises a splicing host, a positioning base station and a positioning tag.

[0020] The positioning base station and the positioning tag both comprise a Bluetooth AOA two-dimensional positioning module.

[0021] The positioning base station is arranged in a circle along the large mechanical and electrical equipment to form a continuous two-dimensional positioning area downwardly covered. The positioning radius of each positioning base station can reach 20 m.

[0022] The splicing host mainly completes the Bluetooth AOA splicing function of multiple two-dimensional positioning base stations.

[0023] The splicing host and the Bluetooth AOA positioning base station are connected by a TSN time-sensitive switch to ensure the real-time of the positioning data time.

[0024] The system architecture design is shown in Figure 1 . Figure 1 The basic component parts of the system and their connection relationship are shown, and the information flow direction is explained.

[0025] 2. Bluetooth AOA two-dimensional positioning and splicing process The electronic fence generation method of the embodiment has the following specific working process: Firstly, multiple Bluetooth AOA positioning base stations are arranged in an equidistant manner along the large mechanical and electrical equipment. When arranging, the length-width ratio of the equipment should be considered to ensure the optimization of the base station spacing to form a continuous coverage area with overlapping areas. The positioning radius of each Bluetooth AOA positioning base station reaches 20 meters, which can realize two-dimensional positioning in a small area. After the base station is arranged, real-time transmission of the positioning data is realized through the time-sensitive network (TSN) to ensure the timeliness of the data.

[0026] Then, the two-dimensional positioning splicing technology is used to process the positioning data from the positioning base station by the splicing host. The splicing host calculates the position of the positioning tag in combination with the signal coverage range and the overlapping area of multiple base stations. The positioning tag is worn on the worker or the mobile equipment, and interacts with the base station through the Bluetooth AOA signal to collect the angle and distance parameters. The splicing host dynamically adjusts the boundary of the electronic fence based on these data to generate the electronic fence including the yellow line and red line areas. The yellow line represents the warning area, and the red line represents the dangerous area. The system outputs an alarm signal to indicate the safety state.

[0027] Finally, the splicing host regularly calibrates the coverage range of the positioning base station to maintain the accuracy of the overlapping area. The calibration process includes signal strength detection and position compensation to ensure the reliability of the fence. The whole process realizes real-time monitoring of the area around the large mechanical and electrical equipment to effectively improve the safety in the mine.

[0028] Figure 2 A design drawing is designed for the electronic fence splicing positioning. Figure 2The diagram illustrates the coverage and overlapping areas of multiple Bluetooth AOA positioning base stations, as well as the red and yellow lines of the electronic fence for large electromechanical equipment, which is achieved through two-dimensional positioning stitching technology.

[0029] Example 2: Implementation process emphasizing real-time performance and large-area coverage This embodiment focuses on how to ensure real-time positioning through technical means and achieve continuous coverage of large-area electromechanical equipment by splicing.

[0030] High-precision small-area positioning: Two-dimensional positioning within a small area is achieved using a single Bluetooth AOA positioning base station. This single-base station positioning technology avoids the complex deployment required by traditional TDOA technology, which necessitates at least 3 to 4 base stations, greatly satisfying on-site construction requirements.

[0031] Large-area continuous coverage: To cover large electromechanical equipment with a large length and width ratio, multiple Bluetooth AOA positioning base stations are deployed in a circle around the large electromechanical equipment. The positioning radius of each base station can reach 20m, and the positioning areas of adjacent base stations have a certain degree of two-dimensional positioning overlap, thus forming a continuous two-dimensional positioning area that covers downwards.

[0032] When the system starts up, multiple positioning base stations are deployed in a circle around the large electromechanical equipment at equal intervals. Each positioning base station contains a Bluetooth AOA positioning module, capable of transmitting and receiving signals. The positioning tag also contains a Bluetooth AOA module, interacting with the base stations to collect two-dimensional positioning data. The collected data includes angle and distance parameters, and the precise location of the tag is calculated using Bluetooth AOA technology.

[0033] The stitching host, as the core processing unit, connects to the positioning base station via a TSN switch. The TSN switch employs a time synchronization mechanism to ensure low latency and determinism in the transmission of positioning data. After receiving the data, the stitching host performs two-dimensional positioning stitching, combining the coverage area and overlapping areas of the base station to generate an electronic fence. The fence includes yellow and red line areas. The stitching host distinguishes between safe and dangerous areas based on the real-time location of the positioning tag and triggers alarm signals. For example, when a tag enters the red line area, the system immediately issues an audible and visual alarm.

[0034] In this system, the deployment spacing of positioning base stations is optimized based on the aspect ratio of the equipment to minimize positioning blind spots. Real-time transmission via the TSN switch ensures data consistency and enables rapid fence response. This system is suitable for variable underground environments and improves the safety of operating electromechanical equipment.

[0035] Example 3: Comprehensive Application of Example Examples Taking underground coal mining machines as an example, the process of generating electronic fences involves the coordinated work of methods, steps, and system components.

[0036] The specific workflow is as follows: Bluetooth AOA positioning base stations are deployed around the coal mining machine, with spacing adjusted according to the machine's length to ensure continuous coverage. The base stations connect to the stitching host via a TSN network. Workers wear positioning tags, which interact with the base stations to achieve location tracking. When processing data, the stitching host uses two-dimensional positioning stitching technology to dynamically calculate the tag's position. If the tag approaches the yellow line area, the system issues a pre-alarm; if it enters the red line area, an immediate alarm is triggered and the equipment stops operating.

[0037] The system undergoes periodic automatic calibration, such as checking base station signal strength every half hour and adjusting the accuracy of the overlap area. The entire process demonstrates the integrity of the method deployment and system response, making it suitable for high-risk downhole environments and effectively preventing accidents.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for generating electronic fences for large-scale electromechanical equipment in underground coal mines, characterized in that: Includes the following steps: Using the single-base station two-dimensional positioning function of the Bluetooth AOA positioning module, the two-dimensional position of the positioning tag within the small area covered by the single Bluetooth AOA positioning base station is determined. Multiple Bluetooth AOA positioning base stations are deployed around a large electromechanical equipment, and the coverage area of ​​the multiple Bluetooth AOA positioning base stations forms a continuous two-dimensional positioning area, with a certain two-dimensional positioning overlap area between adjacent positioning areas. The positioning tag transmits all two-dimensional positioning data within the positioning area to the splicing host. The splicing host combines the signal coverage and overlapping areas of the multiple positioning base stations and uses two-dimensional positioning splicing technology to calculate the position of the positioning tag on the yellow or red line of the electronic fence, thereby realizing the electronic fence function for large electromechanical equipment.

2. The method for generating electronic fences for large-scale electromechanical equipment in coal mines according to claim 1, characterized in that: The positioning radius of a single Bluetooth AOA positioning base station reaches 20m.

3. The method for generating electronic fences for large-scale electromechanical equipment in coal mines according to claim 1, characterized in that: The splicing host and the Bluetooth AOA positioning base station are connected by a time-sensitive switch (TSN).

4. An electronic fence generation system for large-scale electromechanical equipment in coal mines, characterized in that: include: Multiple positioning base stations: including Bluetooth AOA positioning modules, used to achieve two-dimensional positioning within a small area; Multiple location tags: including Bluetooth AOA positioning module; The splicing host is used to complete the splicing function of Bluetooth Angle of Arrival (Bluetooth AOA) positioning modules of multiple two-dimensional positioning base stations, and to draw a red line and a yellow line along the large electromechanical equipment to realize the electronic fence function. The multiple positioning base stations are deployed in a circle around the large electromechanical equipment, forming a continuous two-dimensional positioning area that covers downwards. There is a certain two-dimensional positioning overlap area between adjacent positioning areas. The splicing host receives all the two-dimensional positioning data transmitted by the positioning base stations and, in combination with the signal coverage range and overlap area of ​​the multiple positioning base stations, uses two-dimensional positioning splicing technology to calculate the position of the positioning tag on the yellow or red line.

5. The electronic fence generation system for large-scale electromechanical equipment in coal mines according to claim 4, characterized in that: The positioning radius of each positioning area of ​​the positioning base station is 20m.

6. The electronic fence generation system for large-scale underground electromechanical equipment in coal mines according to claim 4, characterized in that: The splicing host and the positioning base station are connected by a time-sensitive switch (TSN).

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