基于超宽带技术的综采工作面人员定位系统设计

Design of personnel positioning system in fully-mechanized mining face based on UWB technology

随着煤矿开采的自动化、无人化进程不断推进,煤矿井下综采工作面自动化设备的数量逐渐增多,在此种情况下,为及时掌握综采工作面工作人员的位置信息,保障人员安全,本文对基于超宽带(Ultra-Wideband,UWB)技术的综采工作面人员定位系统进行设计。首先,结合煤矿井下综采工作面现场环境和实际需求,对系统总体结构进行设计。在算法方面,选用基于飞行时间(Time of Flight,TOF)的测距算法并采用双边双程测距的方式进行测距;为降低非视距误差和噪声对测距效果的影响,采用卡尔曼滤波算法对原始测距值进行处理;为避免测距过程中多个标识卡间的干扰,引入时间槽分配机制。硬件方面主要是完成基站和标识卡的相关硬件电路设计,主要包括电源电路、MCU最小系统电路、超宽带模块电路、通信电路等。在完成系统相关研究与设计的基础上,在模拟工作面环境下进行系统测试,测试结果表明,有效测量范围在25 m内时,系统测距误差小于0.2 m,测距值波动程度较低,测距稳定,满足系统设计要求。

With the continuous advancement of automation and unmanned process in coal mining,the number of automation equipment in fully-mechanized mining face is gradually increasing.In this case,in order to grasp the position information of staff in fully-mechanized mining face in time and ensure personnel safety,the personnel positioning system of fully-mechanized mining face based on Ultra-Wideband(UWB)technology was designed.First of all,the overall structure of the system was designed according to the on-site environment and actual needs of the fully-mechanized mining face in coal mines underground.In terms of algorithm,the ranging algorithm based on Time of Flight(TOF)was selected and the method of double-sided two-way ranging was used for ranging.In order to reduce the influence of non-line-of-sight error and noise on ranging effect,Kalman filtering algorithm was used to process the original ranging value.To avoid the interference between multiple identification cards in the ranging process,the time slot allocation mechanism was introduced.In terms of hardware,the related hardware circuit design of base station and identification card was mainly completed,including power supply circuit,MCU minimum system circuit,UWB module circuit,communication circuit,etc.On the basis of completing relevant research and design of the system,system testing was conducted in a simulated working face environment.The test results showed that when the effective measurement range was within 25 m,the system's ranging error was less than 0.2 m,the fluctuation of the ranging value was low,and the ranging was stable,meeting the system design requirements.