UWB positioning tag and mine positioning system

Abstract

The utility model discloses a UWB positioning tag and a mine positioning system. The UWB positioning tag comprises a microprocessor, a UWB radio frequency positioning module and a radio frequency antenna, the UWB positioning tag further comprises a vibration sensor, a power supply module, an electric quantity detection module and a state indicating lamp, the vibration sensor is connected with the microprocessor and used for generating a detection signal and transmitting the detection signal to the microprocessor, and the state indicating lamp is connected with the power supply module. The detection signal is used for indicating the current activity state of the UWB positioning tag, and the microprocessor is also used for adjusting the UWB pulse signal sending frequency of the UWB radio frequency positioning module based on the detection signal; the power supply module is used for supplying power to the UWB positioning tag; the electric quantity detection module is connected with the power module and the microprocessor and used for detecting the electric quantity state of the power module and transmitting indication information indicating the electric quantity state to the microprocessor. The state indicating lamp is connected with the microprocessor and is used for indicating the electric quantity state and the current activity state of the UWB positioning tag based on the driving signal of the microprocessor.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and particularly to a UWB (Ultra Wide Band) positioning tag and a mine positioning system. Background Art

[0002] The precise positioning technology based on UWB utilizes the transmission and reception of pulse signals between a positioning tag and a positioning base station, and calculates the distance or distance difference between the positioning tag and the positioning base station according to the transmission time, arrival time of the pulse signal, and the propagation speed of the pulse signal, etc., so as to obtain the precise position data of the positioning tag.

[0003] However, in application scenarios such as mine personnel positioning, since the operators carrying UWB positioning tags need to be in the underground operation state for a long time, and the underground operation environment is complex, there are situations such as positioning failures, resulting in the inability of general UWB positioning tags to meet the personnel positioning requirements in mine positioning application scenarios. Summary of the Utility Model

[0004] In view of this, the embodiments of this application provide a UWB positioning tag and a mine positioning system, aiming to meet the personnel positioning requirements in mine positioning application scenarios.

[0005] The technical solution of the embodiments of this application is implemented as follows:

[0006] In a first aspect, the embodiments of this application provide a UWB positioning tag, which includes: a microprocessor, a UWB radio frequency positioning module, and a radio frequency antenna. The microprocessor is used to control the UWB radio frequency positioning module to send and receive UWB pulse signals through the radio frequency antenna; the UWB positioning tag further includes:

[0007] A vibration sensor, connected to the microprocessor, is used to generate a detection signal and transmit the detection signal to the microprocessor. The detection signal is used to indicate the current active state of the UWB positioning tag, and the microprocessor is further used to adjust the frequency of the UWB pulse signal sent by the UWB radio frequency positioning module based on the detection signal;

[0008] A power module, used to supply power to the UWB positioning tag;

[0009] A power quantity detection module, connected to the power module and the microprocessor, is used to detect the power quantity state of the power module and transmit indication information indicating the power quantity state to the microprocessor;

[0010] A status indicator light, connected to the microprocessor, is used to indicate the power quantity state and the current active state of the UWB positioning tag based on the driving signal of the microprocessor.

[0011] In the above solution, the UWB positioning tag further includes:

[0012] A charging circuit connected to the charging terminal of the power supply module;

[0013] The microprocessor is further configured to detect the conduction state of the charging circuit, and based on the conduction state, control the status indicator to indicate whether the UWB positioning tag is in a charging state.

[0014] In the above solution, the UWB positioning tag further includes:

[0015] A triggering device disposed on the housing of the UWB positioning tag and electrically connected to the microprocessor, for triggering the microprocessor to send an emergency call signal;

[0016] An alarm prompt device connected to the microprocessor, for indicating the emergency call status.

[0017] In the above solution, the UWB positioning tag further includes:

[0018] An RFID sensing chip disposed inside the UWB positioning tag, for integrating an access control function in the UWB positioning tag.

[0019] In the above solution, the UWB positioning tag further includes:

[0020] A Bluetooth communication module connected to the microprocessor, for establishing a Bluetooth communication connection with an external communication device.

[0021] In the above solution, the UWB positioning tag further includes:

[0022] An identity identification code disposed on the outer surface of the housing of the UWB positioning tag, for uniquely identifying the UWB positioning tag.

[0023] In a second aspect, an embodiment of the present application provides a mine positioning system, including the UWB positioning tag described in the first aspect of the embodiment of the present application.

[0024] The technical solution provided by the embodiment of the present application, the UWB positioning tag includes: a microprocessor, a UWB radio frequency positioning module and a radio frequency antenna. The microprocessor is used to control the UWB radio frequency positioning module to send and receive UWB pulse signals through the radio frequency antenna; the UWB positioning tag further includes: a vibration sensor, a power module, a power detection module and a status indicator light. The vibration sensor is connected to the microprocessor and is used to generate a detection signal and transmit the detection signal to the microprocessor. The detection signal is used to indicate the current active state of the UWB positioning tag. The microprocessor is further used to adjust the frequency of the UWB radio frequency positioning module to send UWB pulse signals based on the detection signal; the power module is used to supply power to the UWB positioning tag; the power detection module is connected to the power module and the microprocessor and is used to detect the power state of the power module and transmit the indication information indicating the power state to the microprocessor; the status indicator light is connected to the microprocessor and is used to indicate the power state and the current active state of the UWB positioning tag based on the driving signal of the microprocessor. In this way, the microprocessor adjusts the frequency of the UWB radio frequency positioning module to send UWB pulse signals based on the detection signal, which can effectively reduce the operating power consumption of the UWB positioning tag, and further extend the working operation time of the UWB positioning tag; in addition, based on the driving signal of the microprocessor, the status indicator light is controlled to indicate the power state and the current active state of the UWB positioning tag. Based on the display of the status indicator light, the user can know the power state whether the UWB positioning tag is in the active state or not, and further can avoid the situation of personnel positioning failure in the mine positioning application scenario caused by insufficient power in advance, which is beneficial to improving the positioning reliability and better meeting the personnel positioning requirements in the mine positioning application scenario. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of a UWB positioning tag according to an embodiment of the present application;

[0026] Figure 2 It is a schematic structural diagram of a UWB positioning tag according to another embodiment of the present application.

[0027] Description of the Reference Numerals:

[0028] 100, UWB positioning tag; 101, microprocessor; 102, UWB radio frequency positioning module;

[0029] 103, radio frequency antenna; 104, vibration sensor; 105, power module;

[0030] 106, power detection module; 107, status indicator light; 108, charging circuit;

[0031] 109, triggering device; 110, alarm prompting device; 111, RFID induction chip;

[0032] 112, Bluetooth communication module. Detailed implementation manners

[0033] The present application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0035] In related technologies, in application scenarios such as mine personnel positioning, the following requirements often exist:

[0036] 1). How to further reduce the power consumption of the UWB positioning tag to increase the working operation duration of the UWB positioning tag;

[0037] 2). When there is an occlusion between the UWB positioning tag and the UWB positioning base station, a positioning failure problem will occur. In the application scenario, there are often personnel in mobile equipment (such as vehicles), resulting in the problem that personnel cannot be positioned in mobile devices (such as vehicles);

[0038] 3). In most application scenarios, precise positioning is used in combination with an access control system. Therefore, there is a need to integrate the access control function into the UWB positioning tag of personnel;

[0039] 4). In some application scenarios, the UWB positioning tags of personnel are not dedicated to specific individuals. When in use by personnel, the UWB positioning tags need to be temporarily issued. Therefore, ensuring that the association relationship between the UWB positioning tag and the personnel is error-free is a difficult problem.

[0040] Based on this, in various embodiments of the present application, a UWB positioning tag and a mine positioning system are provided to meet at least one of the above requirements.

[0041] Exemplarily, an embodiment of the present application provides a UWB positioning tag. As Figure 1 shown, the UWB positioning tag 100 includes: a microprocessor 101, a UWB radio frequency positioning module 102, and a radio frequency antenna 103. The microprocessor 101 is used to control the UWB radio frequency positioning module 102 to send and receive UWB pulse signals via the radio frequency antenna 103. The UWB positioning tag 100 further includes: a vibration sensor 104, a power supply module 105, a power detection module 106, and a status indicator light 107.

[0042] The vibration sensor 104 is connected to the microprocessor 101, and is used to generate a detection signal and transmit the detection signal to the microprocessor 101. The detection signal is used to indicate the current active state of the UWB positioning tag 100. The microprocessor 101 is also used to adjust the frequency of the UWB pulse signal transmitted by the UWB radio frequency positioning module 102 based on the detection signal; the power supply module 105 is used to supply power to the UWB positioning tag 100; the power detection module 106 is connected to the power supply module 105 and the microprocessor 101, and is used to detect the power state of the power supply module 105 and transmit the indication information indicating the power state to the microprocessor 101; the status indicator light 107 is connected to the microprocessor 101, and is used to indicate the power state and the current active state of the UWB positioning tag based on the drive signal of the microprocessor 101.

[0043] It can be understood that for the UWB positioning tag 100 in the embodiment of the present application, the microprocessor 101 adjusts the frequency of the UWB pulse signal transmitted by the UWB radio frequency positioning module based on the detection signal, which can effectively reduce the operating power consumption of the UWB positioning tag 100, and further extend the working duration of the UWB positioning tag 100; in addition, based on the drive signal of the microprocessor 101, the status indicator light 107 is controlled to indicate the power state and the current active state of the UWB positioning tag 100. Based on the display of the status indicator light 107, the user can know the power state of the UWB positioning tag 100 whether it is in the active state or not, and thus can avoid in advance the situation of personnel positioning failure in the mine positioning application scenario caused by insufficient power, which is beneficial to improving the positioning reliability and better meeting the personnel positioning requirements in the mine positioning application scenario.

[0044] It should be noted that the vibration sensor 104 can generate a detection signal based on the mechanical vibration amount of the UWB positioning tag 100, and then indicate whether the object or person corresponding to the UWB positioning tag 100 is in the active state. The current active state of the UWB positioning tag 100 includes: the active state and the stationary state. If the microprocessor 101 determines that the current active state of the UWB positioning tag 100 is the active state based on the detection signal, it controls the UWB radio frequency positioning module to transmit the UWB pulse signal at the first frequency f1; if it determines that the current active state of the UWB positioning tag 100 is the stationary state, it controls the UWB radio frequency positioning module to transmit the UWB pulse signal at the second frequency f2, where the first frequency f1 is greater than the second frequency f2. In this way, the operating power consumption of the UWB positioning tag 100 can be effectively reduced, and the working duration of the UWB positioning tag 100 can be further extended.

[0045] Exemplarily, the vibration sensor 104 generates a detection signal indicating a stationary state, which can be that the mechanical vibration amount continuously detected for a set duration is less than a set threshold, thereby improving the reliability of the detection signal. For example, assume the current time is t0. According to the sliding time window value T, if the mechanical vibration amounts detected in the time period from t0 to t0 + T are all less than the set threshold, at the moment t0 + T, the positioning frequency of the UWB radio frequency positioning module is reduced to the second frequency f2. In this way, the reduction of the positioning frequency of the UWB positioning tag 100 can proportionally reduce its operating power consumption.

[0046] In an application example, the vibration sensor 104 can adopt the XXW-2548 type vibration sensor 104. The UWB radio frequency positioning module 102 can adopt the DW1000 chip of DecaWave Company. The DW1000 chip has low power consumption, can perform two-way ranging and positioning, and the farthest transmission distance is 450 meters. The positioning accuracy of the DW1000 chip is centimeter-level, and it supports a data transmission rate of 6.8 Mbps. The bandwidth setting of the DW1000 chip can adopt two modes: 500 MHz and 900 MHz.

[0047] It should be noted that the power supply module 105 includes a power storage unit for energy storage. The power quantity detection module 106 can detect the SOC (State of Charge) value of the power storage module and feedback an indication message to the microprocessor 101. The microprocessor 101 can generate a drive signal for the status indicator light 107 based on the acquired detection signal and indication message, and the status indicator light 107 indicates the current active state and power quantity state of the UWB positioning tag 100.

[0048] Exemplarily, referring to Figure 2 , the UWB positioning tag 100 further includes: a charging circuit 108 connected to the charging terminal of the power supply module 105; the microprocessor 101 is further configured to detect the conduction state of the charging circuit 108 and control the status indicator light 107 to indicate whether the UWB positioning tag 100 is in a charging state based on the conduction state.

[0049] In an application example, when the status indicator light 107 is constantly on in red, it indicates that the UWB positioning tag 100 is in a charging state; when the status indicator light 107 is constantly on in green, it indicates that the battery of the UWB positioning tag 100 is fully charged; when the status indicator light 107 blinks in green at a frequency f3, it indicates that the UWB positioning tag 100 is in an active positioning state and the tag has sufficient battery power; when the status indicator light 107 blinks in red at a frequency f3, it indicates that the UWB positioning tag 100 is in an active positioning state and the tag is in a low battery state; when the status indicator light 107 blinks in green at a frequency f4, it indicates that the UWB positioning tag 100 is in an inactive positioning state and the tag has sufficient battery power; when the status indicator light 107 blinks in red at a frequency f4, it indicates that the UWB positioning tag 100 is in an inactive positioning state and the tag is in a low battery state; when the status indicator light 107 is in an off state, it indicates that the battery of the UWB positioning tag 100 is depleted or there is a fault.

[0050] Exemplarily, referring to Figure 2 , the UWB positioning tag 100 further includes: a triggering device 109 and an alarm prompting device 110; the triggering device 109 is disposed on the housing of the UWB positioning tag 100 and is electrically connected to the microprocessor 101, and is used for triggering the microprocessor 101 to send an emergency call signal; the alarm prompting device 110 is connected to the microprocessor 101 and is used for indicating the emergency call status.

[0051] Exemplarily, the triggering device 109 may include a distress button. When a person is in a dangerous state, the microprocessor 101 can be triggered to send an emergency call signal based on this distress button. For example, the microprocessor 101 is controlled to send an emergency call signal in the form of a UWB signal; at the same time, the microprocessor 101 can also control the alarm prompting device 110 to start, thereby indicating the emergency call status. The alarm prompting device 110 can be a vibrating buzzer, a sound and light alarm, a buzzer, a vibrator, etc.

[0052] Exemplarily, referring to Figure 2 , the UWB positioning tag 100 further includes: an RFID sensing chip 111, which is disposed inside the UWB positioning tag 100 and is used for integrating an access control function in the UWB positioning tag 100. By integrating the access control function in the UWB positioning tag 100, the user experience can be improved and the user operation process can be simplified.

[0053] Exemplarily, referring to Figure 2 , the UWB positioning tag 100 further includes: a Bluetooth communication module 112, which is connected to the microprocessor 101 and is used for establishing a Bluetooth communication connection with an external communication device.

[0054] It should be noted that the Bluetooth communication module 112 can enable the UWB positioning tag 100 to establish a connection with the positioning tags of surrounding mobile devices or micro base stations. When the positioning tag of a mobile device or a micro base station detects the UWB positioning tag 100 via Bluetooth, a connection is automatically established. Thus, when the UWB positioning tag 100 is unable to communicate with the UWB positioning base station due to occlusion, resulting in an inability to perform positioning, the Bluetooth connection status between the UWB positioning tag 100 and the positioning tags of surrounding mobile devices or micro base stations is detected. If the UWB positioning tag 100 has established a connection with the positioning tag or micro base station of the mobile device S i , the positioning position of the mobile device S i can be regarded as the positioning position of the UWB positioning tag 100. Thereby, the positioning reliability of the UWB positioning tag 100 can be enhanced.

[0055] Exemplarily, the UWB positioning tag 100 further includes: an identity identification code, which is disposed on the outer surface of the housing of the UWB positioning tag 100 and is used to uniquely identify the UWB positioning tag 100. It can be understood that since the identity identification code is disposed on the outer surface of the housing of the UWB positioning tag 100, when allocating the UWB positioning tag 100, the ID information of the tag can be obtained by scanning with a barcode scanner, thereby establishing an association relationship between the user and the UWB positioning tag 100 in the background, facilitating the management of the UWB positioning tag 100, and avoiding incorrect association relationships between the UWB positioning tag 100 and the user. The identity identification code can be a two-dimensional code, a bar code, etc., and the embodiments of the present application do not make any limitations in this regard.

[0056] Exemplarily, the embodiments of the present application further provide a mine positioning system, including the UWB positioning tag 100 described above in the embodiments of the present application.

[0057] The mine positioning system further includes at least three UWB positioning base stations and a host computer or a management platform communicatively connected to the at least three UWB positioning base stations. In practical applications, underground operators correspond to the UWB positioning tags 100. The mine positioning system can use the Time Difference of Arrival (TDOA) method to locate the personnel equipped with the UWB positioning tags 100. Specifically, when performing ranging and positioning, first synchronize the clocks of at least three UWB positioning base stations, and then obtain the arrival times of the pulse signals propagating from the UWB positioning tag 100 to different UWB positioning base stations, so as to obtain the distance differences from each UWB positioning base station to the UWB positioning tag 100; then, in a two-dimensional plane, with the coordinates of at least three UWB positioning base stations as reference nodes, draw at least two hyperbolas based on the distance differences from each UWB positioning base station to the UWB positioning tag 100, and the intersection of the at least two hyperbolas is the position of the UWB positioning tag 100. The position of the UWB positioning tag 100 can specifically be obtained by solving the hyperbola equations corresponding to the at least two hyperbolas to obtain the two-dimensional coordinates of the UWB positioning tag 100.

[0058] The UWB positioning tag 100 of the embodiment of the present application can further reduce power consumption and increase the working operation duration; in addition, it supports positioning even when a person enters a mobile device; it supports integrating the access control function into the UWB positioning tag; it supports convenient card management by scanning codes, avoiding incorrect association relationships between the UWB positioning tag and the person. Compared with general UWB positioning tags, it can better meet the personnel positioning requirements in the mine positioning scenario.

[0059] It should be noted that: "first", "second", etc. are used to distinguish similar objects and do not necessarily describe a specific order or sequence.

[0060] In addition, the technical solutions described in the embodiments of the present application can be arbitrarily combined without conflict.

[0061] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A UWB positioning tag, the UWB positioning tag comprising: A microprocessor, a UWB radio frequency positioning module and a radio frequency antenna, wherein the microprocessor is used to control the UWB radio frequency positioning module to send and receive UWB pulse signals via the radio frequency antenna; characterized in that the UWB positioning tag also includes: A vibration sensor connected to the microprocessor, used to generate a detection signal and transmit the detection signal to the microprocessor, wherein the detection signal is used to indicate the current activity state of the UWB positioning tag, and the microprocessor is also used to adjust the frequency of the UWB pulse signal sent by the UWB radio frequency positioning module based on the detection signal; A power module, used to supply power to the UWB positioning tag; A power detection module, connected to the power module and the microprocessor, for detecting the power state of the power module and transmitting indication information indicating the power state to the microprocessor; A status indicator light is connected to the microprocessor and is used to indicate the power status and the current activity status of the UWB positioning tag based on a driving signal from the microprocessor.

2. The UWB positioning tag according to claim 1, characterized in that: The UWB positioning tag also includes: A charging circuit connected to a charging terminal of the power module; The microprocessor is also used to detect the conduction state of the charging circuit, and based on the conduction state, control the status indicator light to indicate whether the UWB positioning tag is in a charging state.

3. The UWB positioning tag according to claim 1, characterized in that: The UWB positioning tag also includes: A trigger device, disposed on the housing of the UWB positioning tag and electrically connected to the microprocessor, for triggering the microprocessor to send an emergency distress signal; The alarm prompt device is connected to the microprocessor and is used to indicate the emergency call status.

4. The UWB positioning tag according to claim 1, characterized in that: The UWB positioning tag also includes: The RFID sensing chip is arranged in the UWB positioning tag and is used to integrate the access control function in the UWB positioning tag.

5. The UWB positioning tag according to claim 1, characterized in that: The UWB positioning tag also includes: The Bluetooth communication module is connected to the microprocessor and is used to establish a Bluetooth communication connection with an external communication device.

6. The UWB positioning tag according to claim 1, characterized in that: The UWB positioning tag also includes: The identity code is arranged on the outer surface of the shell of the UWB positioning tag and is used to uniquely identify the UWB positioning tag.

7. A mine positioning system, characterized in that: It comprises the UWB positioning tag as described in any one of claims 1 to 6.

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