A People Locating Chip. For the mining industry
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1 A People Locating Chip For the mining industry
2 Development at the University of Rostock The Institute of Electronic Appliances and Circuits, headed by Prof. Dr. Beikirch at the University of Rostock, has developed a secure wireless data path called Safety Radio together with a well known radio module manufacturer. Among other things it was found that there are two different carrier frequencies that can transmit an emergency stop-signal safely. There is, for example, a system licensed by the Deutschen Bundesbahn (German Federal Railway) where this is used for construction site safety. University of Rostock The idea of setting up a system, to determine an individual s whereabouts through the use of wireless modules in industrial environment and which could not be affected by environmental influences, (e.g. wireless LAN) was based on knowledge of the above project. The following illustrations show the milestones in the development of the product and one can see that it makes sense to deploy this system in the identification of, and location of individuals. Since wireless modules have already been approved for use in potentially explosive atmospheres and the individual electrical components have very low power consumption it is ideally suited for use underground. People Location Device 2
3 Findings from the Safety Radio research Project ENVIRONMENT inside of buildings, industrial environments, strongly structured NLOS-conditions explicitly multipath effects (through reflexion, diffraction and spread) PATH LOSS / DAMPING interference of different multi path components at the receiver very small scale fading leading to poor distance approximation additional methods for increasing the accuracy and availability of the determined locality are required SYSTEM ARCHITECTURE An Overview Infrastructure Components: - eight reference nodes (RN) - blind node (BN) - PC analysis - CAN Bus 3
4 SYSTEM ARCHITECTURE An Overview Infrastructure Components: - eight reference nodes (RN) - blind node (BN) - PC analysis - CAN Bus SYSTEM ARCHITECTURE - Methods Recording the received field strength (RSSI): - Implemented with periodic data transfer between BN and RN s - Sending the RSSIs to the master-rn CAN - No additional hardware is required Selection Combining: - Diversity concept with 4 uncorrelated transmission channels - GOAL: Reduce the probability of signal collapse increased availability and accuracy 4
5 SYSTEM ARCHITECTURE Methods Test environment - Test environment: - strongly structured machine hall, 300 m 2 - RNs at the side of the hall, height: 2,5 m - BN on tripod, height: 2 m Test Conditions - 12 fixed measuring positions (1.000 localizations per position) - Time resolution: 5 localizations per second - Dynamics: BN Rotation (33 rpm) computation of localization errors were taken into account during orientation of the antennae SYSTEM ARCHITECTURE Determining the positional availability Availability ( localizations): - no diversity availability < 99 % - spatial diversity availability > 99,98 % - frequency diversity availability = 100 % Availability no spatial frequency diversity diversity diversity Module Frequency diversity Spatial diversity Number of localizations with 8 RSSIvalues Availability M2 (2,4 GHz) ,22 % M3 (2,4 GHz) ,43 % M2 + M3 - yes ,98 % M2 + M1 yes yes % M2 + M4 yes yes % M1+M2+M3+M4 yes yes % 5
6 SYSTEM ARCHITECTURE Determining the positional availability Data for the 99th percentile: - no filter and no diversity 9.0 m - filter and diversity 2.5 m Distribution of the calculated position over the surface area of the machine hall 4 channels & 1 filter 4 channels 1 channel (2,4 GHz) & 1 filter 1 channel (2,4 GHz) 1 channel (868 MHz) & 1 filter 1 channel (868 MHz) SUMMARY Determination of the position of the device does not require additional hardware and no communication overhead Availability of positioning is the result of the availability of the wireless interface... can be enhanced by a diverse approach Determining the accuracy of positioning... can through additional measures (space and frequency diversity of combined with subsequent, plausibility filters, customized localization algorithms) be increased... a pattern of movement simultaneously enables the mobile node at relatively low cost (simple hardware, less complex software, less on-wall installation and administration) 6
7 Ongoing Development Since a longwall or roadway does not possess the spatial extent of a warehouse a greater emphasis was placed to linear measurement. It was proved that a mobile node could be accurately detected to within cm. mobile node stationary node The System in General Now since it has been proven that mobile nodes can be located over a wide area and in potentially explosive atmospheres using this technology, it is also suitable for use in a multitude of applications, such as material tracking. However, its main objective will be to improve personal safety. For example, all the shields in a longwall face are equipped with a wireless node. All these nodes are networked and connected to a central office/outstation at the entrance of the longwall face. The nodes continually try to locate a mobile node (attached to the employees workbelt). When the employee is detected it would be possible to communicate via an interface between the central office/outstation and the longwall to provide an effective protective zone around the employee once all automatic functions are disabled. Other potential applications include the protection of operating personnel in the field of drift excavation (cut part-and full-face machines), work platforms etc. 7
8 The System Structure The mobile node consists of a board with four radio transceivers, which can either be powered from a rechargeable battery or from a head lamp. This board can be mounted either as a small, sealed device on a belt or can be integrated directly into a head lamp. The stationary node consists of the same circuit board for the wireless transmission, but is expanded to include an adapter board which is responsible for the communication between the nodes and the central office/outstation. The nodes are connected to each other via an RS485 or CAN BUS interface. A central control in the roadside coordinates and processes the wireless traffic. The stationary nodes are installed in a robust plastic housing that is fastened to the canopy of the shields or under the ridges at the drift. The management of the power supply and the interface is connected via a plug in connector that is suitable for use in the mining industry. View of the electrical panel mobile node (comparison with a 1 EUR coin) Depending on the geological conditions and the desired accuracy, every support or every third support can be fitted with a stationary node. The employee of a longwall face team has a mobile node. The test function of the mobile node can be carried out above at a suitable test station or below ground using a photoelectric light barrier. As soon as the monitoring unit responds the roadside central control checks immediately whether a new node is recognized and if necessary also activates an alarm signal. If a mobile node stops working after having been registered at the longwall face, an alarm signal is activated and all automatic functions are shut down on the whole longwall face. 8
9 Schematic representation of the longwall face with stationary nodes and the central roadside control unit If this is not the case, all automatic functions are released and activated at the longwall face. The roadside central control point constantly monitors whether a mobile node has been triggered. A person has entered the longwall face and moves towards the auxiliary drive mechanism As soon as a mobile node is detected, the roadside central control sends the position via a serial interface to the central control system with the recommendation to establish an appropriate protection zone around the operator. A corresponding confirmation is expected as an answer. If no reply is received, the longwall face central control provides potential free connectors. Components like, for example, the dump valve can be switched off. Furthermore, the roadside central control unit also possesses of enough storage space for a Log-file to be created and saved for a period of time. It also has got a fiber optic Ethernet interface for transmission of the stored data to the surface. 9
10 Testing at the Grullbad training ground In summer 2011 a first field trail was carried out using real shields at the Grullbad training ground. Here are some photos of the test environment. measuring position floor (1) front (2) behind (3) 10
11 Outlook The data connection between the stationary nodes and the roadside central control can be constructed as SAFETY P BUS connection. The Ethernet connection from the roadside central control to other control systems can be set up with integrated security (in accordance with the newest machine guidelines). Each stationary node can be equipped with a potential-free contact to enable it to be connected directly to the central control system as well as the roadside control centre. Then, the dimension of the security area depends on the packing density of stationary nodes in the longwall face. Due to the low current consumption of stationary nodes is also possible to build the node as a sensor and all communication between nodes would be by radio. The mobile node can also be equipped with sensors, such as an acceleration sensor to detect whether the employee has fallen. BERGBAUTECHNIK GMBH Am Schornacker 61 D Wesel Phone Fax info@dat-bergbau.de , DAT Bergbautechnik GmbH; image sources: RAG, Universität Rostock
12 DAT Bergbautechnik GmbH Am Schornacker 61 D Wesel Phone +49 (0) Fax +49 (0)
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