Auxiliary monitoring equipment for guaranteeing safety of vehicles and personnel under mine
By introducing subprocessor modules and multiple communication interfaces into the vehicle terminal, combined with ZigBee&UWB positioning modules and 4G/WiFi communication, the problems of slow data processing speed and insufficient security monitoring in the downtown vehicle environment are solved, and efficient data processing is achieved and real-time security monitoring.
Patent Information
- Application Number
- CN202323513374.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-22
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2033-12-22
AI Technical Summary
The driving environment of vehicles underground in mines is complex, and traditional vehicle terminals cannot effectively monitor flammable and explosive gases and personnel safety parameters, the communication interface is incompatible, the data processing speed is slow and data loss is prone to occur.
Design an auxiliary monitoring device, including the main processor module and the subprocessor module, and process vehicle and personnel related data through isolation modules and multiple communication interfaces (such as RS485, RS232, CAN), and use ZigBee&UWB dual-mode positioning module for positioning. Add 4G or 5G communication modules and WiFi modules to realize multi-protocol data acquisition and real-time communication.
It improves the data processing speed of vehicle terminals, reduces data loss, enhances the safety monitoring capabilities of vehicle personnel under the mine, and ensures smooth and real-time communication links.
Smart Images
Figure CN222192565U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a terminal device used in a mine, in particular to an auxiliary monitoring device used for ensuring the safety of vehicles and personnel in the mine. Background Art
[0002] In today's society, which is changing with each passing day and with the emergence of various types of transportation, various types of cars are still an important part of it. With the increasing number of cars owned by the public, the road traffic environment has become more and more complicated. In order to improve the safety of driving a car, various devices for car assisted driving have also emerged, and the in-vehicle terminal is one of them.
[0003] The vehicle terminal is the front-end device of the vehicle monitoring and management system, and can also be called the vehicle dispatch monitoring terminal (TCU (Transmission Control Unit)). It usually integrates multiple functions such as positioning, communication, and video monitoring; in the civilian field, there is an automatic assisted driving function (relying on satellite navigation and positioning systems, millimeter waves or laser radars, surveillance cameras and other hardware equipment). However, compared with the car driving environment on the ground, the driving environment in the mine, especially in the coal mine, is much more complicated. Coal mine tunnels usually have narrow passages, bumpy roads, unclear driving markings, dim light, no satellite navigation signals, and flammable and explosive gases in the air, which can easily induce various accidents.
[0004] The vehicle condition parameters monitored by traditional on-board terminals usually only involve the vehicle itself, such as vehicle speed, tire pressure, oil pressure, oil level, coolant level, etc., which are transmitted by vehicle sensors through the CAN bus. However, parameters involving personal safety such as flammable and explosive gases and air oxygen content that may exist in coal mine tunnels need to be monitored by installing additional gas sensors. Such sensors usually use RS485 or RS232 signals for data transmission. The communication interface of traditional on-board terminals is insufficient or cannot be compatible with multiple communication interfaces. In addition, since the Android core module interface is directly used for data acquisition and processing, it occupies system resources, has a slow response speed, and is prone to data loss. Utility Model Content
[0005] In order to solve the problems in the prior art, the utility model provides an auxiliary monitoring device for ensuring the safety of personnel in vehicles in mines.
[0006] The utility model comprises a main processor module and a sub-processor module which are connected respectively. The auxiliary monitoring equipment also comprises an external communication module, a video module and a positioning module which are connected respectively to the main processor module, and an interface module which is connected respectively to the sub-processor module. The sub-processor module is used to receive and extract valid data of the interface module.
[0007] The utility model is further improved in that an isolation module is provided between the interface module and the auxiliary processor module.
[0008] The utility model is further improved, the auxiliary monitoring equipment includes a stacked video board, a main board and a communication board, wherein the main board is arranged between the video board and the communication board, and is respectively connected to the video board and the communication board through an array mother, the video module is arranged on the video board, the external communication module, the positioning module and the main processor module are arranged on the main board, and the sub-processor module and the interface module are arranged on the communication board.
[0009] The utility model is further improved in that the communication interface includes more than one RS485 or RS232 interface connected to the sensor, and / or a CAN interface connected to the vehicle protector.
[0010] The utility model is further improved in that the interface module also includes an electronic switch for switching protocol types.
[0011] The utility model is further improved in that the video module is a camera arranged on a video board and a video processing module connected to the camera.
[0012] The utility model is further improved in that the mainboard of the auxiliary monitoring device is also provided with a Mini_PCIe interface for installing a 4G or 5G communication module.
[0013] The utility model is further improved in that the external communication module also includes a WIFI module.
[0014] The utility model is further improved in that the auxiliary detection device is also provided with a distance measuring radar connected to the main controller, and the distance measuring radar is composed of a video module.
[0015] The utility model is further improved in that the positioning module is a ZigBee&UWB dual-mode positioning module, and the ZigBee&UWB dual-mode positioning module communicates in real time with multiple ZigBee or UWB positioning base stations installed in a chain-type distribution in the coal mine tunnel to achieve positioning.
[0016] Compared with the prior art, the utility model has the following beneficial effects: adopting a sub-processor module architecture, in addition to the main processor module, an additional sub-processor module MCU is added, the sub-processor module MCU is connected to the interface modules such as CAN, RS485, RS232, etc., and is used to process data related to vehicles and personnel, including CAN bus data and various external sensor data, etc. After the initial centralized processing, the valid data is extracted and then transmitted to the main processor module, thereby reducing the occupation of the core system resources of the main processor module, improving the terminal processing speed, and effectively avoiding the phenomenon of data loss;
[0017] By using an isolation module to isolate the interface chip of the interface module from the MCU, the potential damage to the vehicle terminal caused by abnormal external equipment can be effectively reduced;
[0018] By setting the main processor module and the sub-processor module on different boards, and by adding a communication board with a sub-processor module, the types of protocols that the vehicle terminal can process and collect data can be expanded. By adding a dip switch or an electronic switch on the communication board, the types of protocols for collecting data from the external interface of the vehicle terminal can be diversified.
[0019] The video board and communication board are electrically connected to the main board through pin and socket headers. By stacking the circuit boards, the lateral size of the entire machine can be effectively reduced, and the modular design also facilitates repair and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a schematic diagram of the structure of the utility model;
[0021] Figure 2 This is a schematic diagram of the external interface of the auxiliary monitoring equipment of the utility model;
[0022] Figure 3 This is a circuit schematic diagram of an embodiment of a sub-processor module on a communication board of the utility model;
[0023] Figure 4 The schematic diagram of the circuit of an embodiment of an interface module on a communication board is shown;
[0024] Figure 5 This is a schematic diagram of vehicle and personnel positioning. DETAILED DESCRIPTION
[0025] The utility model is further described in detail below with reference to the accompanying drawings and embodiments.
[0026] like Figure 1 As shown, the utility model includes a main processor module and a sub-processor module respectively connected to each other, and the auxiliary monitoring equipment also includes an external communication module, a video module and a positioning module respectively connected to the main processor module, and an interface module respectively connected to the sub-processor module, and the sub-processor module is used to receive and extract valid data from the interface module.
[0027] The main processor of the main processor module in this example adopts the Hongmeng system, and this example adopts the sub-processor module architecture. In addition to the main processor module, an additional sub-processor module MCU is added. The sub-processor module MCU is respectively connected to the CAN, RS485, and RS232 interface units in the interface module to process data related to vehicles and personnel, including CAN bus data and various external sensor data. After preliminary centralized processing and extraction of valid data, it is transmitted to the main processor module. The Hongmeng system module as the main processor is mainly used to process media data and data from communication boards, external communication modules, video modules, etc. The sub-processor can collect sensor data of various signal types; pre-process various sensor data in advance, thereby reducing the occupation of the core system resources of the main processor module, improving the terminal processing speed, and effectively avoiding the phenomenon of data loss.
[0028] Preferably, the auxiliary monitoring device includes a stacked video board, a main board and a communication board, wherein the main board is arranged between the video board and the communication board, and is respectively connected to the video board and the communication board through an array mother, the video module is arranged on the video board, the external communication module, the positioning module and the main processor module are arranged on the main board, and the sub-processor module and the interface module are arranged on the communication board. In this example, the communication board communicates with the main processor module of the Hongmeng system through the UART interface, and the video board is electrically connected to the MIPI to AHD interface coming out of the main processor module of the Hongmeng system through the AHD interface.
[0029] The utility model integrates the MCU and interface chips such as CAN, RS485, and RS232 on a communication board, and the interface chip and the MCU are isolated by high-speed optical coupling, which can effectively reduce potential damage to the vehicle terminal caused by abnormal external equipment.
[0030] Preferably, the auxiliary monitoring device in this example has a Mini_PCIe interface. For situations where there is a large demand for 4G or 5G equipment and there are ready-made relay communication base stations, a 4G or 5G module can be freely selected as an external wireless communication module. The vehicle-mounted terminal can communicate with the upper-level dispatching system through this module, and can also realize voice and video communication with other vehicle-mounted terminals. In addition, as a semi-closed structural system, the tunnel is similar to the indoor environment. In many cases, a large number of WiFi routers and various sensors that use WiFi for communication are also installed. The vehicle-mounted terminal is equipped with a WiFi module, which can be directly connected to the existing WiFi communication system, and then communicate with the upper-level dispatching system through Ethernet, and can also directly communicate with nearby vehicle-mounted terminals for voice and video. Compared with conventional 4G or 5G communication methods, this communication method is more suitable for use in large-scale integrated environments such as coal mine tunnels, which can effectively reduce maintenance costs.
[0031] The utility model preferably adopts 4G or 5G combined with WiFi communication mode. Multiple communication modes can effectively ensure the smooth flow of communication links, thereby ensuring the real-time nature of vehicle dispatch management.
[0032] In this example, a video display processing module such as a touch screen can also be set up for human-computer interaction to further improve the convenience of information processing. In addition, surrounding video data can be obtained in real time, which improves the safety of vehicles and personnel in mines.
[0033] like Figure 2 As shown, the auxiliary monitoring device in this example is provided with several external interfaces, which can be connected to other vehicle terminals, vehicle protectors, in-vehicle sensors, speakers and hand microphones, ranging radars, AHD cameras, and can also be provided with buttons for help and evacuation, positioning antennas, etc., wherein the vehicle protector is connected to the sub-processor MCU via a CAN interface, and the in-vehicle sensors are electrically connected to the auxiliary detection equipment via an RS485 or RS232 interface. The buttons for help and evacuation, speakers and hand microphones are used for human-computer interaction, and can realize reminders for help and evacuation (including voice broadcasts and text reminders) in conjunction with a touch screen and a wireless module. The ranging radar cooperates with an AHD camera to realize reversing image display; the ranging radar cooperates with a positioning system to realize anti-collision functions (including ranging monitoring between vehicles and people, vehicles and vehicles, and vehicles and objects).
[0034] like Figure 3 As shown, the sub-processor module of the utility model includes an MCU, a hardware watchdog MD circuit connected to the MCU, a FLASH memory, a burning JTAG circuit and a power supply circuit, wherein the hardware watchdog MD circuit includes a watchdog chip U7 and a switch SW1 and a switch S1 connected to the watchdog chip U7, which are used for functions such as resetting and waking up the MCU.
[0035] like Figure 4 As described above, this example is provided with two 2-way RS485 interface units, one RS232 interface unit, one CAN bus interface unit, and communication interface J3 and communication interface J4.
[0036] An isolation module is also provided between the interface chip of each interface unit and the MCU. The isolation module in this example uses a high-speed optical coupler U12.
[0037] The working environment of the vehicle-mounted terminal for coal mines is relatively harsh, and there is an unstable power supply. The existence of the hardware watchdog WD circuit can effectively prevent the situation where the communication board cannot recover after a crash; the Hongmeng system is a microkernel system with a long boot time (about 60s). Once a crash occurs and restarts, some vehicle sensor data will be lost; the boot time of the sub-processor MCU is extremely short (less than 1s), and with the off-chip storage FLASH, it can meet the short-term storage and continued transmission requirements of 2 RS485, 1 RS232 and 1 CAN collected data.
[0038] Preferably, in order to reduce the number of external interfaces of the vehicle-mounted terminal or make the existing interfaces compatible with multiple communication protocols, the communication board can also be designed into a protocol compatibility mode in this example. The interface type is configured through the Hongmeng system, and then sent to the communication board sub-processor to complete the protocol type switching of the corresponding interface, such as changing RS232 to RS485. The switching can be achieved by controlling the electronic switch.
[0039] The utility model expands the types of protocols that can be processed by the vehicle terminal to collect data by adding a communication board with an ARM processor. By adding a dial switch or an electronic switch on the communication board, the types of protocols for collecting data from the external interface of the vehicle terminal can be diversified.
[0040] like Figure 5 As shown, traditional vehicle-mounted terminals mainly rely on satellite navigation and positioning systems for positioning, and the positioning accuracy is related to the number of navigation satellites currently overhead; however, coal mine tunnels are tens to hundreds of meters deep underground, there is no satellite navigation signal, and the satellite navigation and positioning system cannot be used for position monitoring. Therefore, the positioning module in this example preferably uses a ZigBee&UWB dual-mode positioning module to replace the traditional satellite navigation and positioning module to achieve real-time position monitoring.
[0041] There are positioning base stations, vehicles, personnel, mining equipment, etc. in the coal mine tunnels. In this example, ZigBee or UWB positioning base stations are installed in a chain distribution at a certain distance (usually 100 to 500 meters) along the tunnel direction. After installation, their positions usually do not change. The positioning base station has a unique code, and its location information is entered into the tunnel map in advance. The location is marked on the tunnel map through surveying and mapping, which serves as the coordinate reference benchmark of the entire positioning system.
[0042] The auxiliary monitoring equipment with the positioning module is directly fixed on the bracket inside the vehicle. The vehicle communicates with the nearby positioning base station in real time through the positioning module on it. The positioning module also has a unique code, which is included in the wireless communication message. When it communicates with the base station, it also transmits its own location information to the base station. The base stations are connected in series through Ethernet, and the location information of the vehicle terminal is transmitted to the server platform, so that real-time location monitoring of vehicles in the mine can be realized.
[0043] When vehicles and personnel move in the tunnel, their coordinates will be reported to the dispatch center backend in real time. The backend will update the positioning data to the vehicle, so that the vehicle can determine the distance between itself and the surrounding vehicles, personnel, mining equipment, etc., and effectively avoid collision accidents during vehicle driving.
[0044] The utility model adopts ZigBee&UWB dual-mode positioning module, which can directly use the existing personnel positioning system base station resources to improve resource utilization; the positioning accuracy is high, up to ±10cm, and can accurately locate the distance between vehicles and personnel, and between vehicles, further improving the safety of vehicles and personnel in mines.
[0045] The specific implementation methods described above are preferred implementation methods of the present utility model, and are not intended to limit the specific implementation scope of the present utility model. The scope of the present utility model includes but is not limited to the specific implementation methods. All equivalent changes made in accordance with the present utility model are within the protection scope of the present utility model.
Claims
1. An auxiliary monitoring device for ensuring the safety of vehicles and personnel in mines, characterized in that: The auxiliary monitoring device comprises a main processor module and a sub-processor module respectively connected to each other, the auxiliary monitoring device also comprises an external communication module, a video module and a positioning module respectively connected to the main processor module, and an interface module respectively connected to the sub-processor module, the sub-processor module is used to receive and extract valid data from the interface module, The auxiliary monitoring equipment includes a stacked video board, a main board and a communication board, wherein the main board is arranged between the video board and the communication board, and is respectively connected to the video board and the communication board through an array motherboard, the video module is arranged on the video board, the external communication module, the positioning module and the main processor module are arranged on the main board, and the sub-processor module and the interface module are arranged on the communication board.
2. The auxiliary monitoring device for ensuring the safety of vehicles and personnel in mines according to claim 1 is characterized in that: An isolation module is provided between the interface module and the auxiliary processor module.
3. The auxiliary monitoring device for ensuring the safety of vehicles and personnel in mines according to claim 1 is characterized in that: The interface module includes one or more RS485 or RS232 interfaces connected to the sensor, and / or a CAN interface connected to the vehicle protector.
4. The auxiliary monitoring device for ensuring the safety of vehicles and personnel in mines according to claim 3 is characterized in that: The interface module also includes an electronic switch for switching protocol types.
5. The auxiliary monitoring device for ensuring the safety of vehicles and personnel in mines according to claim 1 is characterized in that: The video module is a camera arranged on a video board and a video processing module connected to the camera.
6. The auxiliary monitoring device for ensuring the safety of vehicles and personnel in mines according to claim 1 is characterized in that: The mainboard of the auxiliary monitoring device is also provided with a Mini_PCIe interface for installing a 4G or 5G communication module.
7. The auxiliary monitoring device for ensuring the safety of vehicles and personnel in mines according to claim 6 is characterized in that: The external communication module also includes a WIFI module.
8. The auxiliary monitoring device for ensuring the safety of vehicles and personnel in mines according to any one of claims 1 to 7, characterized in that: The auxiliary monitoring device is also provided with a ranging radar connected to the main controller, and the ranging radar is composed of a video module.
9. The auxiliary monitoring device for ensuring the safety of vehicles and personnel in mines according to any one of claims 1 to 7, characterized in that: The positioning module is a ZigBee & UWB dual-mode positioning module, and the ZigBee & UWB dual-mode positioning module communicates in real time with multiple ZigBee or UWB positioning base stations installed in a chain-type distribution in the coal mine tunnel to achieve positioning.