CN101196560A - Coal mine down-hole positioning device and positioning method thereof - Google Patents

Abstract

The invention discloses a coal mine underground locating device and the locating method, which aims to overcome the technical problems of the low-sensitivity and low-precision locating by the locating device and locating method in prior art. The invention provides a locating device and the locating method with high sensitivity and high locating precision, which is safer and more reliable; the locating device in the invention is provided with a shell, on which equipped with a circuit board. The circuit board is mounted with a power source and the switch circuit. The power source and the switch circuit are connected with the interface I/O of the main chip which is connected with a signal amplifier circuit and a warning circuit; the signal amplifier circuit is connected with the technical scheme of antenna; separately calculates the distance between the signal intensity and the two communication base stations according to the signal intensity by testing the signal intensity from at least two communication base stations, and then calculates the locating method which accords with the coordinate point to the distance of the two base stations. The locating device and the locating method provided in the invention has high locating precision and high sensitivity, which is applicable to the safe production of the coal mine underground.

Description

A kind of coal mine down-hole positioning device and localization method thereof

Technical field

The present invention relates to a kind of locating device, more particularly, relate to a kind of orientator and localization method thereof that present position under the coal mine is positioned.

Background technology

Current, Safety of Coal Mine Production becomes one of focus of safety in production, under the very complicated coal mine of operating mode, often need position specific people or thing, present location algorithm based on prior art, as the RFID method, in fact can not proper at last location algorithm, it can only judge the terminal that is positioned " " or " not existing " checkout equipment (reading to record device) around, promptly have only two states, " 0 " or " 1 ", the radiation scope of a checkout equipment is the space of 50 meters radiuses, it can only judge detected terminal whether in this space, and bearing accuracy is poor.If reduce radiation scope, though bearing accuracy can improve, but new problem has produced again, that is exactly under checkout equipment (reading the to record device) situation of same quantity, the overall coverage rate of surveyed area has descended, the greater part may not have signal to cover at all, thereby detected at all is less than the existence of detected terminal; This is an awkward situation.In the prior art, technology of locating under the realization coal mine or equipment exist locator meams and fall behind, sensitivity is low and bearing accuracy is not high, and the technological deficiency of poor stability, this defective have greatly influenced, accurate localization timely to down-hole people or thing in the Safety of Coal Mine Production process; The above-mentioned technological deficiency of existing in prior technology, become those skilled in the art an anxious big technical matters to be solved.

Summary of the invention

Technical purpose of the present invention provides under a kind of working condition complicated under coal mine, can cooperate underground communication base station or beacon, locating device and localization method thereof sensitive, that accurately people or thing are positioned.

For realizing above technical purpose, technical scheme of the present invention is:

A kind of coal mine down-hole positioning device includes shell; Be provided with circuit board in the described shell, described circuit board is provided with power supply and on-off circuit, and described power supply and on-off circuit are connected to the I/O interface of master chip, and described master chip is connected with signal amplification circuit and warning circuit, and described signal amplification circuit is connected with antenna; Described signal amplification circuit and warning circuit are by power supply and on-off circuit power supply.

Further, be provided with current-limiting resistance in described power supply and the on-off circuit;

Further, be provided with current-limiting resistance in the described signal amplification circuit;

Further, be provided with current-limiting resistance in the described warning circuit;

Further, described locating device is an orientator.

Localization method under a kind of coal mine, described localization method comprises the steps:

A. the circuit module of locating device detects the signal intensity from least two communication base stations;

B. calculate locating device respectively and the distance between two communication base stations according to detected signal intensity;

C. according to and two communication base stations between distance, calculate the coordinate points that meets distance between two base stations; This coordinate points promptly is the present position of positioning circuit module.

Because it is unique meeting the coordinate points of two known distance values of two communication base stations, so locating device of the present invention and localization method can be determined the residing position of locating device exactly.Around utilizing under known coordinate and the fixing coal mine under radio communication base station and the coal mine radiobeacon as object of reference, coal mine down-hole positioning device of the present invention is by determining self and the relative position of object of reference on every side, thereby calculates the coordinate position at place.Specifically, locating device receives simultaneously from least two the radio communication base station or the radio navigation signal of beacon emissions, and by detecting the power of these radio navigation signals, locating device is with the distance that calculates respectively with these objects of reference.Radio signal is based on a launching site, three dimensional emission towards periphery spherical in shape is on the sphere of radius owing to the equidistant point with certain radio-signal source is distributed in one with this distance, so, at the distance that each object of reference calculates, very many numerical value is arranged all.In the inventive method C step, a kind of location algorithm is provided, the ultimate principle of this location algorithm is: if one group of coordinate values satisfies simultaneously to the condition between at least two the object of reference, it is exactly the locating device position coordinates at place at that time so.Each radio base station or beacon all have fixing and unique encoding, and these codings are launched away with radio navigation signal, and so, locating device just can determine signal that it received is from which object of reference.Because the coordinate of each object of reference immobilizes and be known, locating device just can obtain to calculate needed all parameters of self coordinate.

Useful technique effect of the present invention is: locating device of the present invention is easy to carry, has high reliability and sensitivity; Under coal mine, its bearing accuracy reaches about 10 meters with leading level in the world; And locating device of the present invention has carried out the essential safety design in circuit module, promptly is provided with current-limiting resistance in circuit, and the temperature when having controlled circuit working admirably raises; In addition, when emergency condition took place, the personnel in the pit can trigger real-time alarm by the alarm button in the locating device; Emergency circumstance information in time is communicated to aboveground command system; The relevant configuration of locating device is finished under artificial or programmed control automatically by aboveground control room system, and the carrier need not carry out maintenance and operation to it, and is very easy to use reliable; Localization method of the present invention is simple and efficient, the bearing accuracy height.

Description of drawings

Fig. 1 is circuit module block diagram and the antenna synoptic diagram of an embodiment of the utility model;

Fig. 2 is the circuit theory diagrams of master chip and peripheral circuit thereof among embodiment of coal mine down-hole positioning device of the present invention;

Fig. 3 is the circuit theory diagrams of signal amplification circuit and antenna among embodiment of coal mine down-hole positioning device of the present invention;

Fig. 4 is the circuit theory diagrams of NAND gate circuit U11 and circumferential component thereof among embodiment of coal mine down-hole positioning device of the present invention;

Fig. 5 is the circuit theory diagrams of LDO power supply chip U4 and circumferential component thereof among embodiment of coal mine down-hole positioning device of the present invention;

Fig. 6 is a principle schematic in the localization method under the coal mine of the present invention.

Embodiment

Present embodiment only is a preferred embodiment of the present invention, does not limit maximum interest field of the present invention; In the present embodiment, locating device of the present invention promptly is an orientator.

1 to Fig. 4 in conjunction with the accompanying drawings, in embodiment of coal mine down-hole positioning device of the present invention, in power supply and the on-off circuit, includes: LDO power supply chip U4, the power knob SW1 of NAND gate circuit U11, high level work; Described circuit is connected to the I/O interface of master chip CC2430.Power knob SW1 is connected to NAND gate circuit U11; Be provided with current-limiting resistance R510 between NAND gate circuit U11 and the power supply, and be connected to LDO power supply chip U4 by protective tube F1 and current-limiting resistance R3, resistance R 4, the I/O mouth by R27, R28 connect CC2430 detects as power supply.Under off working state, NAND gate circuit U11 output low level, LDO power supply chip U4 does not work, no operating voltage output.When SW1 presses, NAND gate circuit U11 exports high level, LDO power supply chip U4 operate as normal, output services voltage, master chip CC2430 operate as normal.Promptly be to press when master chip CC2430 detects power knob SW1, and continued for 3 seconds, then the default program of master chip CC2430 is judged as boot action, putting I/O interface P1-3 is low level, NAND gate circuit U11 continues the output high level, and LDO power supply chip U4 continues output services voltage and presses once more up to power knob SW1, and continues for 10 seconds, the default program of master chip C2430 is judged as power-off operation, shuts down.Master chip CC2430 is a radio frequency chip, and the communication function that it provides can make this equipment and the equipment that adopts the IEEE802.15.4 standard realize interconnecting.The IEEE802.15.4 standard is the international standard that meets ieee specification, designs at the low-speed wireless personal area network.It and IEEE802.11 (WLAN (wireless local area network)) work in 2.4GHz equally and exempt to authorize frequency range.Support 16 channels that peak transfer rate is 250kbps.

In the signal amplification circuit of coal mine down-hole positioning device of the present invention, the 33rd pin (TXRX_SW) of master chip CC2430 (U3) connects Schmidt trigger U5; And be connected with switch chip U6, switch chip U8 and signal simultaneously and amplify chip U7, ceramic antenna A1; When master chip CC2430 was emission state, the output high level was to Schmidt trigger U5, and Schmidt trigger U5 trigger switch chip U6 works.Radiofrequency signal (0dBm) is amplified chip U7 by signal and is carried out the signal amplification through switch chip U6, obtains the radiofrequency signal greater than 10dBm, is launched by ceramic antenna A1 again; When master chip CC2430 was accepting state, output low level was to Schmidt trigger U5, and Schmidt trigger U5 trigger pip is amplified chip U7 work; Radiofrequency signal is delivered to master chip CC2430 via switch chip U8, switch chip U6 and is carried out signal Processing.

In the warning circuit of coal mine down-hole positioning device of the present invention, being provided with alarm button SW2 presses when master chip CC2430 (U3) detects alarm button SW2, and continue 3 seconds, the default program of master chip CC2430 is judged as actuation of an alarm, sends " warning " packets of information; The warning message packet that sends sends aboveground commander's terminal to by signal amplification circuit and antenna.SW2 presses once more when alarm button, and continue 5 seconds, the default program of master chip CC2430 is judged as the alarm release action, sends " remove and report to the police " packets of information, and the releasing warning message packet that sends sends aboveground commander's terminal to by signal amplification circuit and antenna; Alarm release; LED 1 is blue flashing indicator light, and indication is in the start duty; LED 2 is the green power supply pilot lamp, and the flicker of green power supply lamp is until alarm release when reporting to the police.

In circuit theory diagrams, J3 is double contact pin; 1 pin is connected to ground, 2 pins are connected to power supply, 3 pins are connected to master chip (CC2430) 45 pin, 4 pins are connected to master chip (CC2430) 46 pin, 5 pins are connected to master chip (CC2430) 4 pin, 6 pins are connected to master chip (CC2430) 3 pin, 7 pins are connected to master chip (CC2430) 10 pin, 8 pins are connected to master chip (CC2430) 2 pin, 9 pins are unsettled, 10 pins are connected to master chip (CC2430) 1 pin, use when loading working routine to master chip CC2430 for orientator of the present invention; And radio frequency testing point J13, J15 uses for debugging and test.

The software programming of localization method and computing method thereof are undertaken by following requirement under the coal mine of the present invention:

Be set with communication base station, orientator and corresponding with it related data:

In conjunction with Fig. 6; Orientator 3 detected from the base station 1 level P ₁The level P of (signal intensity) and base station 2 ₂(signal intensity) with apart from d ₁, d ₂Relation curve P ₁=f (d ₁), P ₂=f (d ₂), this curve is measured by special caliberating device.Special caliberating device is a kind ofly to come measure signal intensity with self known position information, concludes then and draws relation curve P ₁=f (d ₁), P ₂=f (d ₂) orientator.)

1 orientator base station 2, base station

. . . . . .

d _x1 d _x2 d _x3 …… d _xt ……?……d _xn

d _y1 d _y2 d _y3 …… d _yt ……?……d _yn

Annotate: (d _X1, d _Y1), (d _X2, d _Y2) ... (d _Xn, d _Yn) be the two-dimensional vector at random on the relation curve.

1, detection signal strength: orientator will detect the electromagnetic intensity P of two base stations that receive on this aspect when work, draw two-dimensional vector (d by tabling look-up _Xti, d _Yti).Whenever, get a mean value five times and obtain an average two-dimensional vector (d _Xt, d _Yt).(annotate: d _Xti, d _YtiRepresent the i time two-dimensional vector, i=1,2,3,4,5.x, y represent that the two-dimensional coordinate of two-dimensional vector is axial, t represents the point at orientator place, (d _Xti, d _Yti) be the position two-dimensional vector at orientator place.)

d _xt＝E(d _xi)

＝1/5(d _xt1+d _xt2+d _xt3+d _xt4+d _xt5)

d _yt＝E(d _yi)

＝1/5(d _yt1+d _yt2+d _yt3+d _yt4+d _yt5)

Program part:

A, from data register sense data (electromagnetic intensity P)

The electromagnetic intensity that hardware is received is deposited with data register, reads instruction with one and can read electromagnetic intensity P

B, table look-up and obtain (d _Xtid _Yti)

Table is made up of electromagnetic field intensity degrees of data and corresponding two-dimensional vector that the measurement demarcation obtains, can obtain (d with a table-look-up instruction _Xtid _Yti)

C, when i＜=5, change a

Make it do value five times with a loop program, when getting 5 numbers of foot, the following instruction of operation, otherwise, continue value.

D, by d _Xt=E (d _Xi)

d _Yt=E (d _Yi) calculate d _XtAnd d _Yt

Defined function, the function of call definition calculates d _XtAnd d _Yt

2, computed range: calculate this and detect the distance (D of vector to the quantization vector space ₁, D ₂D _n);

$D_1=\sqrt{{(d_{x1}-d_{\mathrm{xt}})}^2+{(d_{y1}-d_{\mathrm{yt}})}^2}$

…… ……

$D_n=\sqrt{{(d_{\mathrm{xn}}-d_{\mathrm{xt}})}^2+{(d_{\mathrm{yn}}-d_{\mathrm{yt}})}^2}$

Program part: a, defined function $D_n=\sqrt{{(d_{\mathrm{xn}}-d_{\mathrm{xt}})}^2+{(d_{\mathrm{yn}}-d_{\mathrm{yt}})}^2}$

B, table look-up and obtain (d _Xid _Yi)

Table is made up of electromagnetic field intensity degrees of data and corresponding two-dimensional vector that the measurement demarcation obtains, can obtain (d with a table-look-up instruction _Xid _Yi)

C, by the definition function calculation go out D ₁, D ₂D _n

Call function defined above, calculate D ₁, D ₂D _n

3, determine the position: with the space vector that detects the vector distance minimum just represented the orientator place position D (x, y).

D(x，y)＝min{D ₁，D ₂……D _n}

Program part: a, defined function D (x, y)=min{D ₁, D ₂D _n}

B, by function calculation go out D (x, y)

Call function defined above, calculate D (x, y)

(x is y) to host computer for c, write data D

Use a write command, data are write into data register.

The orientator coordinate that calculates is transported to aboveground control terminal.

In a word, the communication code form of locating device of the present invention and communication base station, what use is based on international standard IEEE802.15.4, through optimizing improved communication protocol, and increase location algorithm of the present invention by signal Processing and the computing power, particularly this orientator that increases orientator, make bearing accuracy can reach 10 meters these leading levels in the world, under coal mine, Shang Weijian has the orientator product that reaches this level at present; This also be at present in the world first according to coal mine explosion-proof requirement design, itself have radio position-finder under the coal mine of signal Processing and computing power.

Claims (7)

1. a coal mine down-hole positioning device includes shell; It is characterized in that: be provided with circuit board in the described shell, described circuit board is provided with power supply and on-off circuit, described power supply and on-off circuit are connected to the I/O interface of master chip, and described master chip is connected with signal amplification circuit and warning circuit, and described signal amplification circuit is connected with antenna; Described signal amplification circuit and warning circuit are by power supply and on-off circuit power supply.

2. according to the coal mine down-hole positioning device of claim 1; It is characterized in that: be provided with current-limiting resistance in the described power circuit.

3. according to the coal mine down-hole positioning device of claim 1; It is characterized in that: be provided with current-limiting resistance in the described signal amplification circuit.

4. according to the coal mine down-hole positioning device of claim 1; It is characterized in that: be provided with current-limiting resistance in the described warning circuit.

5. according to the coal mine down-hole positioning device of claim 1; It is characterized in that: described locating device is an orientator.

6. localization method under the coal mine, it is waited to levy and is: described localization method comprises the steps:

A. the circuit module of locating device detects the signal intensity from least two communication base stations;

B. calculate locating device respectively and the distance between two communication base stations according to detected signal intensity;

C. according to and two communication base stations between distance, calculate the coordinate points that meets distance between two base stations; This coordinate points promptly is the present position of positioning circuit module.

7. according to localization method under the coal mine of claim 6, it is characterized in that: described signal intensity is an electromagnetic intensity.

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