Dual-channel vehicle-mounted positioning device

Abstract

The utility model provides a dual-channel vehicle-mounted positioning device, which belongs to the technical field of vehicle-mounted positioning, and comprises a radio frequency radiation unit which comprises two antennas, is carried on the top of an underground vehicle and is used for sequentially transmitting two IR-UWB radio frequency signals and receiving a return signal; the identification card is worn on an underground person and is used for generating and sending a return signal according to the received IR-UWB radio frequency signal; the dual-channel UWB positioning unit is carried on the top of an underground vehicle and is used for determining the distance between an identification card worn by an underground person and the two antennas according to the two return signals obtained in sequence; the data resolving unit is carried at the top of the underground vehicle and is used for determining the position of the underground personnel according to the distance obtained by the two antennas; and the vehicle-mounted communication unit is carried at the top of the underground vehicle and is used for sending the position of the underground personnel through a vehicle-mounted communication system. The double-channel positioning device is mounted on the vehicle, so that an alarm is effectively given when a person is too close to the vehicle, and the risk of collision between the person and the vehicle can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicle-mounted positioning, in particular to a dual-channel vehicle-mounted positioning device. Background Art

[0002] With the rapid development of my country's coal industry, coal has become an important pillar of the country's energy industry, especially the coal output of underground coal mines, which has accounted for 69% of the total coal output. Underground coal mines have the characteristics of long and deep tunnels, as well as the working environment of personnel and vehicles. There is also the problem of insufficient lighting conditions underground. A considerable number of safety accidents underground are caused by collisions between personnel and vehicles. If the position of underground coal mine vehicles can be monitored in real time, it will help reduce the risk of collisions between personnel and vehicles.

[0003] The main solutions currently are as follows:

[0004] (1) Vehicle-mounted devices based on infrared, ultrasonic or radar need to be installed at the front and rear ends of the vehicle. When a person approaches the vehicle, the infrared, ultrasonic or radar will generate reflected waves. Based on the reflected waves, the vehicle-mounted device will analyze and drive the relevant warning device of the vehicle. Infrared or ultrasonic devices have low implementation costs, but they are easily affected by the environment and have a short coverage distance. Radar has the characteristics of high precision and long coverage, but the overall equipment is expensive.

[0005] (2) Vehicle location management based on precise positioning system. Generally, a single-channel positioning device is installed on the vehicle. The distance is measured with the fixed-position base station in the tunnel. The distance information is transmitted to the server on the well through the optical fiber network underground for location calculation. The vehicle's location can be seen in real time on the server. At the same time, the location of the underground personnel is also uploaded to the server through the same base station. When there is a possible collision between the vehicle and the personnel, the server can send an alarm to the vehicle. This solution can be well compatible with the precise positioning system of underground personnel in coal mines on the equipment side, but the vehicle's location is calculated on the ground, and there will be seconds of calculation and transmission delay, which may still cause the problem of collision between the vehicle and the personnel.

[0006] In summary, the existing technical solutions generally install a single-channel positioning device on the vehicle to measure the distance with the base station at a fixed position in the lane. This distance measurement method requires a large amount of data calculation and transmission delay, which may cause collisions between vehicles and personnel. Utility Model Content

[0007] In order to solve the above problems, the utility model provides a dual-channel vehicle-mounted positioning device. By installing the dual-channel positioning device on the vehicle, an alarm is effectively issued when the distance between a person and the vehicle is too close, thereby reducing the risk of collision between the person and the vehicle.

[0008] To achieve the above objectives, the utility model provides the following technical solutions.

[0009] A dual-channel vehicle-mounted positioning device, comprising:

[0010] A radio frequency radiation unit, including two antennas, is mounted on the top of the underground vehicle and is used to transmit two IR-UWB radio frequency signals in sequence and receive return signals;

[0011] Identification card, worn by underground personnel, used to generate and send return signals based on received IR-UWB radio frequency signals;

[0012] The dual-channel UWB positioning unit is mounted on the top of the underground vehicle and is used to determine the distance between the identification card worn by the underground personnel and the two antennas based on the two return signals obtained in sequence;

[0013] The data solving unit is mounted on the top of the underground vehicle and is used to determine the position of the underground personnel based on the distance obtained by the two antennas;

[0014] The vehicle-mounted communication unit is mounted on the top of the underground vehicle and is used to send the location of underground personnel through the vehicle-mounted communication system.

[0015] Preferably, it also includes an on-board power supply unit; the on-board power supply unit is electrically connected to the radio frequency radiation unit, the dual-channel UWB positioning unit, the data solution unit and the on-board communication unit for power supply.

[0016] Preferably, it also includes an alarm; the alarm is communicatively connected to the vehicle-mounted communication unit; the data solving unit determines whether the distance between the underground personnel and the vehicle exceeds a preset alarm distance, and issues an alarm through the alarm.

[0017] Preferably, the vehicle-mounted communication system uses RS485 serial bus for communication.

[0018] Preferably, the radio frequency signal emitted by the radio frequency radiation unit is IR-UWB, and the operating frequency is 3.1 GHz to 9 GHz.

[0019] Preferably, the on-board power supply unit adopts the SCT2A25 voltage chip; the data solution unit adopts the STM32H743 chip; the dual-channel UWB positioning unit adopts the UWB positioning chip DW1000, and its external expansion is electrically connected with receiving and transmitting amplifiers; the on-board communication unit adopts the MAX22500E chip.

[0020] Preferably, the antenna is an omnidirectional fiberglass antenna.

[0021] Beneficial effects of the utility model:

[0022] The utility model proposes a dual-channel vehicle-mounted positioning device. The utility model performs ranging based on dual-channel IR UWB and identification cards worn by underground personnel. By combining UWB with TOF accurate ranging, a ranging deviation of less than 30 cm can be obtained, and the positions of personnel and vehicles can be accurately determined. An alarm can be effectively issued when the distance between personnel and vehicles is too close, and the risk of collision between personnel and vehicles can be reduced without obvious disadvantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a functional block diagram of a dual-channel vehicle-mounted positioning device according to an embodiment of the utility model;

[0024] Figure 2 This is a schematic diagram of the application of the vehicle-mounted positioning device of an embodiment of the utility model;

[0025] Figure 3 Schematic diagram of the operating frequency and power of IR-UWB in an embodiment of the utility model;

[0026] Figure 4 It is a schematic diagram of the TOF ranging method of an embodiment of the utility model. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0028] Example 1

[0029] The utility model proposes a dual-channel vehicle-mounted positioning device, the specific functional block diagram is as follows Figure 1 As shown, it basically includes:

[0030] A. On-board power supply unit

[0031] The on-board power supply unit uses the ultra-wide voltage range step-down DCDC voltage chip SCT2A25 from Xinzhou Technology, which supports DC5.5V-100V power input and can effectively cope with the peak voltage of the on-board 24 / 48V battery at startup. Through the conversion of the power chip, it can stably output DC5V, and DC5V can then output DC3.3V and 1.8V to other unit modules through internal power conversion.

[0032] B. Data Solving Unit

[0033] The data processing unit uses STM's high-performance 32-bit The core MCU is STM32H743, with a maximum main frequency of 480MHz.

[0034] C. Dual-channel UWB positioning unit

[0035] The dual-channel UWB positioning unit uses Decawave's professional UWB positioning chip DW1000, and through external expansion of high-performance receiving and transmitting amplifiers, it can meet the ranging requirements of up to 500 meters of line of sight.

[0036] D. Vehicle communication unit

[0037] The on-board communication unit uses Maxim's high-speed RS485 chip MAX22500E, which supports a maximum 485 bus rate of 100Mbps. At the same time, the chip integrates ESD and FET protection functions to ensure communication stability even in harsh external communication environments.

[0038] E. RF radiation unit

[0039] The RF radiation unit consists of two omnidirectional fiberglass antennas with a gain of up to 4.5dbi. The omnidirectionality of the antenna can ensure consistent coverage distances in the front and rear of the vehicle, which helps reduce the installation cost of the device.

[0040] The application diagram of the vehicle positioning device is as follows Figure 2 As shown, this embodiment includes the following steps when performing vehicle positioning:

[0041] S1: The dual-channel vehicle positioning device is installed on the top of the vehicle to ensure that the antennas of the RF radiation units are not blocked.

[0042] S2: After a person enters the coverage area of ​​the vehicle-mounted positioning device, IR-UWB radio frequency signals are transmitted through two antennas, and unilateral and bidirectional ranging is performed between the identification card worn by the underground personnel and the radio frequency radiation unit based on flight time to obtain the distances D1 and D2 between the identification card worn by the underground personnel and the two antennas.

[0043] S3: construct a distance arc with the position of the two antennas as the center and the measured distance as the radius, and calculate the intersection of the two distance arcs to obtain the position of the underground personnel, that is, the intersection D3 of the distances D1 and D2. D3 is the current position of the personnel.

[0044] S4: When the distance between the person and the vehicle reaches the set alarm distance, the vehicle positioning device pushes the alarm information to the vehicle control system in real time through RS485. The vehicle control system drives the alarm to sound to remind pedestrians to avoid.

[0045] Among them, IR-UWB is a radio frequency signal operating at 3.1GHz to 9GHz. It has a wide operating frequency and uses pulse communication. The pulse time is extremely short, at the nanosecond level. The bandwidth used is above 500MHz. The output power is low and close to white noise. IR-UWB is widely used in indoor high-precision positioning and wireless ranging, and its positioning accuracy can reach the centimeter level. The operating frequency and power of IR-UWB are as follows: Figure 3 shown.

[0046] TOF (Timeofflight) is based on time of flight, which refers to the unilateral and bidirectional distance measurement between the identification card and the positioning device, and its distance measurement accuracy reaches 10 cm. Figure 4 shown.

[0047] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A dual-channel vehicle-mounted positioning device, characterized in that: include: A radio frequency radiation unit, including two antennas, is mounted on the top of the underground vehicle and is used to transmit two IR-UWB radio frequency signals in sequence and receive return signals; Identification card, worn by underground personnel, used to generate and send return signals based on received IR-UWB radio frequency signals; The dual-channel UWB positioning unit is mounted on the top of the underground vehicle and is used to determine the distance between the identification card worn by the underground personnel and the two antennas based on the two return signals obtained in sequence; The data solving unit is mounted on the top of the underground vehicle and is used to determine the position of the underground personnel based on the distance obtained by the two antennas; The vehicle-mounted communication unit is mounted on the top of the underground vehicle and is used to send the location of underground personnel through the vehicle-mounted communication system.

2. The dual-channel vehicle-mounted positioning device according to claim 1, characterized in that: It also includes an on-board power supply unit; the on-board power supply unit is electrically connected to the radio frequency radiation unit, the dual-channel UWB positioning unit, the data solution unit and the on-board communication unit for power supply.

3. The dual-channel vehicle-mounted positioning device according to claim 1, characterized in that: It also includes an alarm; the alarm is communicatively connected to the vehicle-mounted communication unit; the data solving unit determines whether the distance between the underground personnel and the vehicle exceeds a preset alarm distance, and issues an alarm through the alarm.

4. The dual-channel vehicle-mounted positioning device according to claim 1, characterized in that: The vehicle-mounted communication system uses RS485 serial bus for communication.

5. The dual-channel vehicle-mounted positioning device according to claim 1, characterized in that: The radio frequency signal emitted by the radio frequency radiation unit is IR-UWB, and the operating frequency is 3.1 GHz to 9 GHz.

6. The dual-channel vehicle-mounted positioning device according to claim 2, characterized in that: The on-board power supply unit adopts the SCT2A25 voltage chip; the data solution unit adopts the STM32H743 chip; the dual-channel UWB positioning unit adopts the UWB positioning chip DW1000, and its external expansion is electrically connected with receiving and transmitting amplifiers; the on-board communication unit adopts the MAX22500E chip.

7. The dual-channel vehicle-mounted positioning device according to claim 1, characterized in that: The antenna is an omnidirectional fiberglass antenna.

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