Anti-collision Early Warning System Of Mine Giant Truck Based On UWB

With the rapid development of domestic economy,the energy demand is also growing rapidly,and the scale of mining resources in China is also increasing.The foreign giant trucks flow into China and are widely used in mineral mining industry.The sand and dust produced in the actual mining environment and the huge dust caused by the driving in front of the vehicle cause the driving field of vision is very poor,and the huge truck and the ordinary truck are very different in size and driving mode.So the safety problem of the huge truck in the mine is very important.The anti-collision system of mine giant truck based on UWB has great significance in improving operation safety and production efficiency.Firstly,this paper introduces the design and parameters of UWB hardware,the four-line communication protocol of SPI and the wireless network protocol of IEEE 802.15.4,which is used in the construction of hardware platform.The use of CoIDE software for hardware development and the configuration of the development environment,as well as the use of two-way time-of-flight(TD-TOF,two direction-time of flight)as the basic ranging method for back-up positioning technology.This ranging method is burned into the UWB hardware device.Then,in the design and implementation of the upper computer of the anti-collision system,the shortcomings of multi-solution based on TOA positioning are improved,and the precision is improved.Based on the improved location technology,an anti-collision early warning algorithm and its trajectory judgment algorithm are designed based on the practical application background and conditions,including the algorithm design principle of collision trend and non-collision trend.QT 5.7.0 is used to develop the functions of the host computer,and the usage method of the host computer is explained in detail.Finally,the feasibility of the whole anti-collision early warning system is verified by simulation experiments in the plane field and gradient field respectively,and the error measurement of the positioning accuracy of the hardware equipment of UWB is carried out.The measured positioning accuracy can reach centimeter level,and this error can be accepted in the practical application scene.The error caused by the measurement result is analyzed in combination with the positioning principle.