CN105554837A - Intelligent sensing node and sending method for underground working face wireless sensor network - Google Patents
Intelligent sensing node and sending method for underground working face wireless sensor network Download PDFInfo
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
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- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W40/04—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources
- H04W40/10—Communication route or path selection, e.g. power-based or shortest path routing based on wireless node resources based on available power or energy
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
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Abstract
The invention discloses an intelligent sensing node and sending method for an underground working face wireless sensor network, belonging to a sensing node and method for a wireless sensor network. The sensing node comprises a low power consumption microprocessor, a wireless receiving module, a wireless transmitting module, a sound-light alarm module, a temperature sensor, an infrared sensor, a vibrating sensor, a sound sensor, a power monitoring module, a storage battery and an anti-explosion and anti-shock housing; the node monitors the electric quantity of the storage battery in real time, adaptive forwarding of the node information is judged via electric quantity information to realize an intelligent routing algorithm based on energy balance dissipation, meanwhile, the sensing node senses environmental temperature, sound and infrared signals of a working face in real time, and vibrating information of the sensing node is measured. The sensing node measures positioning signals sent by other nodes, and performs node position interpretation under AOA (Angle Of Arrival)/ TDOA (Time Difference Of Arrival) to realize self positioning. The node is good in environmental adaptation, the initial position of each node is not required, and the sensing node and the sensing method can be applied to instable environments after mine disasters.
Description
Technical field
The present invention relates to a kind of wireless sensor network sensing node and method, particularly a kind of mining face under mine wireless sensor network Intellisense node and cognitive method.
Background technology
At present,
Because the regional environments such as coal mine work area, development end, crossheading are severe; mobile production equipment is many; condition of work is complicated; existing Coal Mine Safety Monitoring Systems needs to lay mass communication cable; and these cables are along with the propelling constantly movement of producing; it is very inconvenient to safeguard, and often can be pounded the continuity of disconnected impact monitoring.And to occur in disaster that due to transmission cable, once damage the communication disruption that will cause whole mine, the work of suing and labouring greatly restricting rescue personnel launches.Reduce casualties, realize the target of down-hole manless coal face, need badly and introduce the problem that new technology overcomes restriction safety of coal mines and disaster alarm level.
Wireless sensor network (WirelessSensorNetwork, WSN) be a kind of novel network and computing technique, form by being deployed in microsensor nodes a large amount of in monitored area, all kinds of integrated microsensors Real-Time Monitoring collaboratively can be passed through, the information of perception and the various environment of collection or monitoring target, by embedded system, information is processed, and in multi-hop relay mode, institute's perception information is sent to access point by random self organizing radio network network, be particularly suitable for environmental monitoring, rescue and relief work, the fields such as deathtrap Long-distance Control.
But be among dynamic change due to the distributed of wireless sensor network node and coal-face, emergency case happens occasionally, and the principal element therefore restricting the development of mining face under mine wireless sensor network is that the control of power supply energy consumption and real time node position are determined.Wherein power supply energy consumption controls mainly because wireless sensor network node generally adopts storage battery power supply technology, and entrained electricity is limited.Then in downhole wireless node-node transmission procedure, be in aggregation node and regeneration node data transmission quantity is large, make the electric quantity consumption difference of each node very large, due to a or two key node energy ezpenditure totally time, the electricity of other nodes also has a lot, result in whole wireless network to interrupt, substantially reduce the useful life of wireless sensor network; Because coal mine fully-mechanized mining working moves frame according to the pushing and sliding of coal-winning machine reciprocal coal cutting and hydraulic support on drag conveyor and then realize the propelling of working face, this working face just making radio node to monitor is among position constantly changes in real time, and the method for traditional artificial demarcation node location can not meet the dynamic bad border with working face.And when there is catastrophe in down-hole, the position of each radio node also can have greatly changed, and makes the real time positioning technology of radio node more and more important.
Summary of the invention
The object of the invention is to provide a kind of mining face under mine wireless sensor network Intellisense node and cognitive method, each wireless sensor network sensing node can be made while real-time transmission data to ensure even energy consumption, improve the useful life of sensor network; Can also realize each sensing node under dynamic change environment is that intelligence is self-align, for the application of this wireless sensor network under mining face under mine Disastrous environment improves environmental suitability.
The object of the present invention is achieved like this: wireless sensor network Intellisense node comprises: low-power microprocessor, wireless receiving module, wireless transmitter module, sound and light alarm module, temperature sensor, infrared sensor, vibrating sensor, sound transducer, power supply monitoring module, storage battery and explosion-proof, protecting against shock shell; The input of low-power microprocessor is connected with wireless receiving module, temperature sensor, infrared sensor, vibrating sensor, sound transducer and power supply monitoring module, and power supply monitoring module is connected with storage battery; The output of low-power microprocessor is connected with wireless transmitter module and acousto-optic alarm module; Low-power microprocessor, wireless receiving module, wireless transmitter module, sound and light alarm module, temperature sensor, infrared sensor, vibrating sensor, sound transducer, power supply monitoring module, storage battery are installed in explosion-proof, protecting against shock shell.
Wireless sensor network Intellisense method: Intellisense node adopts storage battery power supply, power supply monitoring module carries out electric power detection to storage battery in real time, sensing node Real-Time Monitoring ambient temperature, sound and infrared signal, and measure the vibration information of sensing node self, carry out the real-time perception of external environmental information; Sensing node is measured the framing signal of external node transmission and is carried out AOA/TDOA external node location compute, outwards send the positional information of location node and the wireless signal for other node locating simultaneously, the function such as the self adaptation route realize the dormancy of sensing node and arousal function, dissipating based on balancing energy, the real-time perception of external environment condition and information transmission and the node self-localization that resolves based on AOA/TDOA, realizes the self-align of Intellisense node;
Realized by following steps:
Step 1) wireless sensor network Intellisense node sends call signal in real time by wireless signal sending module, and utilize wireless receiving module real-time judge whether to receive the call signal of external sensor transmission when being in resting state, only have when receiving the signal that external node sends, carry out node dormancy to wake up, and utilize power detecting module to detect self electric quantity information, and outwards send the wireless signal carrying self electric quantity information;
Step 2) Intellisense node low-power microprocessor utilizes temperature sensor to measure the temperature of sensing node place environment in real time, infrared sensor measurement environment infrared signal, the audio frequency parameter of sound transducer measurement environment, the vibration characteristics of vibrating sensor measured node self, and measured signal is analyzed, whether intelligent decision has abnormal conditions and reports to the police, start sound and light alarm module and utilize wireless sending module outwards to send alarm signal, otherwise sensing node outwards launches the wireless signal of carry sensors measurement parameter normally;
Step 3) this node of real-time judge whether receive other sensing nodes send the wireless signal carrying warning message, if received, start the sound and light alarm module of self immediately, and outwards forward the wireless signal carrying warning message and initial warning node serial number, realize the priority emergency transmission of alarm signal;
Step 4) sensing node receives the wireless signal carrying himself information about power sent from other sensing nodes by wireless receiving module, and the intensity of signaling by detecting other nodes carries out euclidean distance between node pair assessment, and in conjunction with self node information about power, under carrying out the transfer of data between node, Intelligent routing judges, judge whether this node participates in the data message forwarding of other nodes, if meet forwarding condition, the external node information received by this node forwards, realize the relay transmission of wireless sensor network information, and then realize the foundation of data routing algorithm,
Step 5) sensing node measures the wireless signal carrying Location Request sent from other sensing nodes by wireless receiving module, judge the distance range with the sensing node sending this wireless signal, and utilize the wireless sending module of self outwards to launch the radio positioning signal of self, start location requirement to judge simultaneously, only has this node self location position, just AOA/TDOA signal measurement is carried out to the wireless signal received, and according to the positional information of known node unknown node positioned and resolve, realize the location position to unknown node;
Step 6) according to step 5) in by internodal data routing algorithm, data retransmission is carried out to the node coordinate parameter of carrying out location position, positional information is uploaded onto the server by final realization; Environment sensing parameter under making server the position of each sensing node and corresponding node can be detected in real time, realizes intelligent positioning and the perception of wireless sensor network sensing node.
Described step 5) described in method for self-locating be rely on the sensing node carrying out location position to carry out AOA/TDOA measurement to the radio positioning signal that unknown position node sends, and resolve the process of its position, performing step is as follows:
Step 5-1) first utilize two near the sensing node of server as initial sensing node, local positioning coordinate system structure is carried out in the Minepit environment distribution according to required perception, and demarcates the manual position that two initial sensing nodes carry out under coordinate system;
Step 5-2) framing signal that sends of two initial other unknown node of sensing node real-time reception, and the signal measurement carried out under AOA/TDOA, location parameter in conjunction with two start nodes calculates the positional information of unknown node, realize the position correction of this node, the positional information of this node is transmitted to server simultaneously;
Step 5-3) step 5-2) in realize position correction the framing signal that sends in conjunction with other transducers of sensing node real-time reception of another known location of sensing node, and the signal measurement carried out under AOA, and the node combining contiguous known location carries out the signal measurement under TDOA;
Step 5-4) step 5-3) in the AOA/TDOA parameter that obtains of sensing node measurement, and combine the location compute that two node location informations measured carry out unknown node, realize the position correction of unknown node, known location node carries out node location information and the forwarding of node serial number information simultaneously, between node, routing algorithm is uploaded onto the server;
Step 5-5) step 5-4) in determined the framing signal that the sensing node real-time reception of position sends from other sensing nodes, and combine the AOA/TDOA measurement that contiguous location node positions signal, and repeat step 5-3)-step 5-5), finally realize the calibration of all sensing node upper/lower positions, and uploaded onto the server.
Described AOA/TDOA is: the combination measurement method differed from based on angle of arrival and the time of advent.
Beneficial effect, owing to have employed such scheme, being can be used in wireless sensor network Intellisense node under ore deposit under working face Disastrous environment and cognitive method, is a kind ofly self-organizing, self-align, node energy can consume intelligent radio node that is balanced and external environment state aware; By arranging arbitrarily wireless senser Intellisense node in down-hole, utilize the temperature of sensing node real-time detection node position, infrared, sound and node carrier vibration information and through the Intelligent routing algorithm based on even energy consumption by monitoring information real-time Transmission to server, utilize the measurement of internodal AOA/TDOA framing signal to realize the position correction of each sensing node simultaneously; In the crucial area of the coal mine safety monitorings such as working face, development end and goaf, utilize the feature of wireless sensor network to overcome the deployment of existing safety monitoring system and carry out the difficulty of Real-Time Monitoring, realize the wireless access such as coal mining, driving face, goaf gas and personnel positioning to detect and quick reconfiguration to environmental monitoring system after catastrophe, improve the survivability of coal mine safety monitoring system under catastrophe condition, set up reliable coal mine safety monitoring wireless sensor network.
Each wireless sensor network sensing node can be made while real-time transmission data to ensure even energy consumption, improve the useful life of sensor network; Can also realize each sensing node under dynamic change environment is that intelligence is self-align, for the application of this wireless sensor network under mining face under mine Disastrous environment improves environmental suitability, reaches object of the present invention.
Advantage: this invention can not only carry out omnibearing monitoring to the underground work surface information of Nodes, can to realize under Disastrous environment wireless monitor network rapid build simultaneously and locate in real time, improves the adaptability of wireless sensor network to down-hole adverse circumstances.
Accompanying drawing illustrates:
Fig. 1 is the hardware comprising modules schematic diagram of Intellisense node of the present invention.
Fig. 2 is the flowchart of cognitive method in Intellisense node of the present invention.
Fig. 3 is the flowchart of the adaptive location method in Intellisense method of the present invention.
In figure, m01-server; S01, s02-initial sensing node; S11-s18-Intellisense node; T01-data transfer path; T02-locating signal path; T03-wireless aware node; T04-node electricity signal.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is further described.These embodiments are only for illustration of the present invention instead of for limiting the scope of application of the present invention.
Embodiment 1: a kind of mining face under mine wireless sensor network Intellisense node comprising modules schematic diagram as shown in Figure 1, wireless sensor network Intellisense node comprises: low-power microprocessor, wireless receiving module, wireless transmitter module, sound and light alarm module, temperature sensor, infrared sensor, vibrating sensor, sound transducer, power supply monitoring module, storage battery and explosion-proof, protecting against shock shell; The input of low-power microprocessor is connected with wireless receiving module, temperature sensor, infrared sensor, vibrating sensor, sound transducer and power supply monitoring module, and power supply monitoring module is connected with storage battery; The output of low-power microprocessor is connected with wireless transmitter module and acousto-optic alarm module; Low-power microprocessor, wireless receiving module, wireless transmitter module, sound and light alarm module, temperature sensor, infrared sensor, vibrating sensor, sound transducer, power supply monitoring module, storage battery are installed in explosion-proof, protecting against shock shell.
Described low-power microprocessor, wireless receiving module, wireless transmitter module, sound and light alarm module, temperature sensor, infrared sensor, vibrating sensor, sound transducer, power supply monitoring module, storage battery are all fixedly mounted in explosion-proof, protecting against shock shell, ensure the applicability of Intellisense node in bad border, down-hole, the damage to Intellisense node under long-term severe bad border and Disastrous environment can be avoided simultaneously, add the functional reliability of wireless aware node.
Wireless sensor network Intellisense method under a kind of catastrophe bad border as shown in Figure 2, this Intellisense node adopts storage battery to power, and utilize power supply monitoring module to carry out real time electrical quantity detection, the temperature sensor that sensing node utilizes self to install, infrared sensor, sound transducer and vibrating sensor Real-Time Monitoring ambient temperature, sound and infrared signal, and measure the vibration information of sensing node carrier self, carry out the real-time perception to external environmental information.Sensing node measures the wireless signal carrying Location Request that other sensing nodes send in real time simultaneously, and utilize low-power microprocessor to carry out AOA/TDOA node location to resolve, outwards send the positional information of location node and the wireless signal for other node locating simultaneously, realize the self-align of Intellisense node;
The function such as the self adaptation route realize the dormancy of sensing node and arousal function, dissipating based on balancing energy, the real-time perception of external environment condition and information transmission and the node self-localization that resolves based on AOA/TDOA, is realized by following steps:
Step 1) wireless sensor network Intellisense node keeps a certain frequency interval to other adjacent node broadcast transmission call signals when being in resting state by wireless signal sending module, and when this node utilizes wireless receiving module to judge whether to receive the call signal of external sensor transmission when being in resting state, only have when receiving the signal that external node sends, carry out node dormancy to wake up, and utilize power detecting module to detect self electric quantity information, and outwards send the wireless signal carrying self electric quantity information;
Step 2) Intellisense node low-power microprocessor utilizes temperature sensor to measure the temperature of sensing node place environment in real time, infrared sensor measurement environment infrared signal, the audio frequency parameter of sound transducer measurement environment, the vibration characteristics of vibrating sensor measured node self, and measured signal is analyzed, whether abnormal conditions are had in information measured by intelligent decision, to report to the police if there is abnormal conditions, start sound and light alarm module simultaneously and utilize wireless sending module outwards to send the wireless signal carrying warning message, otherwise sensing node outwards launches the wireless signal of carry sensors measurement parameter normally,
Step 3) this node of real-time judge whether receive other sensing nodes send the wireless signal carrying warning message, if received, start the sound and light alarm module of self immediately, and outwards forward the wireless signal carrying warning message and initial warning node serial number, realize the priority emergency transmission of alarm signal;
Step 4) sensing node receives the wireless signal carrying himself information about power sent from other sensing nodes by wireless receiving module, and the intensity of signaling by detecting other nodes carries out euclidean distance between node pair assessment, and in conjunction with self node information about power, under carrying out the transfer of data between node, Intelligent routing judges, judge whether this node participates in the data message forwarding of other nodes, if meet forwarding condition, the external node information received by this node forwards, realize the relay transmission of wireless sensor network information, and then realize the foundation of data routing algorithm,
Step 5) sensing node measures the wireless signal carrying Location Request sent from other sensing nodes by wireless receiving module, judge the distance range with the sensing node sending this wireless signal, and utilize the wireless sending module of self outwards to launch the radio positioning signal of self, start location requirement to judge simultaneously, only has this node self location position, just AOA/TDOA signal measurement is carried out to the wireless signal received, and according to the positional information of known node unknown node positioned and resolve, realize the location position to unknown node;
Step 6) according to step 5) in by internodal data routing algorithm, data retransmission is carried out to the node coordinate parameter of carrying out location position, positional information is uploaded onto the server by final realization; Environment sensing parameter under making server the position of each sensing node and corresponding node can be detected in real time, realizes intelligent positioning and the perception of wireless sensor network sensing node.
This Intellisense method mainly realizes sensing node before not receiving the call signal that other nodes outwards send, the call signal function taking park mode only to retain to detect interval time other nodes to send, can reduce sensing node energy ezpenditure in a non-operative state greatly.
And sensing node as shown in Figure 3 sends self electric quantity information (t04), receive the wireless signal carrying its information about power that contiguous sensing node is sent simultaneously, the energy level of all nodes of whole wireless sensor network is in by the dump energy going out own node with the contrast judgement of self electric quantity signal, carry out whether to forward the wireless messages of other nodes transmission according to the energy level of self simultaneously, and then share the energy ezpenditure that other sensing nodes produce due to transfer of data, the balancing energy realizing whole wireless sensor network node dissipates.Be embodied in sensing node (s16) and sensing node (s11) and all can receive the signal that sensing node (s17) sends, but the self electric quantity information due to sensing node (s16) is less than sensing node (s11), therefore forwarding transmission is not carried out to the information of sensing node (s17), born by sensing node (s11) and forwarding transmission is carried out to s17.Same principle, sensing node (s15) is relative and sensing node (s13) self electric quantity is more, therefore bears and forwards transmission to the information of sensing node (s18).The node energy equilibrium around this principle finally realizing whole radio sensing network consumes.
Be illustrated in figure 3 wireless sensor network Intellisense method step 5 under a kind of catastrophe bad border) described in method for self-locating mainly rely on the sensing node carrying out location position to carry out AOA/TDOA measurement to the radio positioning signal that unknown position node sends, and resolve the process of its position, main performing step is as follows:
Step 5-1) first utilize two near the sensing node (s01, s02) of server (m01) as initial sensing node, local positioning coordinate system structure is carried out in Minepit environment distribution according to required perception, and the manual position that two initial sensing nodes (s01, s02) are carried out under coordinate system is demarcated, the start node filling five-pointed star that manual position is demarcated represents;
Step 5-2) two initial sensing node (s01, s02) real-time reception unknown node (s11, s12, s13, s14) framing signal sent, wherein initial sensing node (s01) receives unknown node (s11, s12) framing signal, initial sensing node (s02) receives unknown node (s12, s13, s14) framing signal, therefore two initial sensing nodes can receive the framing signal of unknown node (s12) simultaneously, and the signal measurement utilizing initial sensing node to carry out under AOA/TDOA to unknown node (s12), the parameter of calibration position in conjunction with two start nodes can calculate the positional information of unknown node (s12), realize the position correction of this node, the positional information of this node is transmitted to server simultaneously,
Step 5-3) step 5-2) in realize position correction the framing signal that sends in conjunction with other nodes of sensing node real-time reception of one of them known location of sensing node (s12).Therefore according in the present embodiment described in schematic diagram, the sensing node (s12) of known location can receive the framing signal of unknown node (s11) simultaneously in conjunction with initial sensing node (s01), and the signal measurement carried out under AOA, and the signal measurement under TDOA, and then utilize the positional information of initial sensing node (s01) and sensing node (s12) to carry out the location compute of unknown node (s11), and be transferred in server by resolving the positional information that the obtains node serial number together with unknown node (s11) by data retransmission; Same principle, the sensing node (s12) of known location can receive in conjunction with initial sensing node (s02) framing signal that unknown node (s13) sends simultaneously, and can calculate the positional information of unknown node (s13) by AOA/TDOA location algorithm and carry out corresponding positional information and forward and upload;
Step 5-4) step 5-3) in the sensing node (s11 of known location that obtains, s13) wireless signal sent in conjunction with the sensing node real-time reception unknown node of adjacent known location is continued, and the signal measurement carried out under AOA/TDOA, and combine the location compute that two node location informations measured carry out unknown node, realize the position correction of unknown node, known location node carries out node location information and the forwarding of node serial number information simultaneously, in between node, routing algorithm is uploaded onto the server, the known node obtained after utilizing step 5-3, adding initial sensing node can further to unknown node (s16, s14) position correction is carried out,
Step 5-5) repeat step 5-3)-step 5-5) and in node locating algorithm, finally realize the calibration of all sensing node upper/lower positions, and its positional information and node serial number are all uploaded onto the server, realize the real-time dynamic positioning to all sensing nodes.
Described AOA/TDOA is: the combination measurement method differed from based on angle of arrival and the time of advent.
Present invention achieves and real-time omnibearing monitoring is carried out to underground coal mine environment on coalface information, wireless monitor network rapid build and real time position under Disastrous environment can be realized simultaneously and calibrate, improve the adaptability of wireless sensor network to down-hole adverse circumstances.
Claims (3)
1. a mining face under mine wireless sensor network Intellisense node, is characterized in that: wireless sensor network Intellisense node comprises: low-power microprocessor, wireless receiving module, wireless transmitter module, sound and light alarm module, temperature sensor, infrared sensor, vibrating sensor, sound transducer, power supply monitoring module, storage battery and explosion-proof, protecting against shock shell; The input of low-power microprocessor is connected with wireless receiving module, temperature sensor, infrared sensor, vibrating sensor, sound transducer and power supply monitoring module, and power supply monitoring module is connected with storage battery; The output of low-power microprocessor is connected with wireless transmitter module and acousto-optic alarm module; Low-power microprocessor, wireless receiving module, wireless transmitter module, sound and light alarm module, temperature sensor, infrared sensor, vibrating sensor, sound transducer, power supply monitoring module, storage battery are installed in explosion-proof, protecting against shock shell.
2. the cognitive method of a kind of mining face under mine wireless sensor network Intellisense node according to claim 1, it is characterized in that: wireless sensor network Intellisense method: Intellisense node adopts storage battery power supply, power supply monitoring module carries out electric power detection to storage battery in real time, sensing node Real-Time Monitoring ambient temperature, sound and infrared signal, and measure the vibration information of sensing node self, carry out the real-time perception of external environmental information; Sensing node is measured the framing signal of external node transmission and is carried out AOA/TDOA external node location compute, outwards send the positional information of location node and the wireless signal for other node locating simultaneously, the function such as the self adaptation route realize the dormancy of sensing node and arousal function, dissipating based on balancing energy, the real-time perception of external environment condition and information transmission and the node self-localization that resolves based on AOA/TDOA, realizes the self-align of Intellisense node;
Realized by following steps:
Step 1) wireless sensor network Intellisense node sends call signal in real time by wireless signal sending module, and utilize wireless receiving module real-time judge whether to receive the call signal of external sensor transmission when being in resting state, only have when receiving the signal that external node sends, carry out node dormancy to wake up, and utilize power detecting module to detect self electric quantity information, and outwards send the wireless signal carrying self electric quantity information;
Step 2) Intellisense node low-power microprocessor utilizes temperature sensor to measure the temperature of sensing node place environment in real time, infrared sensor measurement environment infrared signal, the audio frequency parameter of sound transducer measurement environment, the vibration characteristics of vibrating sensor measured node self, and measured signal is analyzed, whether intelligent decision has abnormal conditions and reports to the police, start sound and light alarm module and utilize wireless sending module outwards to send alarm signal, otherwise sensing node outwards launches the wireless signal of carry sensors measurement parameter normally;
Step 3) this node of real-time judge whether receive other sensing nodes send the wireless signal carrying warning message, if received, start the sound and light alarm module of self immediately, and outwards forward the wireless signal carrying warning message and initial warning node serial number, realize the priority emergency transmission of alarm signal;
Step 4) sensing node receives the wireless signal carrying himself information about power sent from other sensing nodes by wireless receiving module, and the intensity of signaling by detecting other nodes carries out euclidean distance between node pair assessment, and in conjunction with self node information about power, under carrying out the transfer of data between node, Intelligent routing judges, judge whether this node participates in the data message forwarding of other nodes, if meet forwarding condition, the external node information received by this node forwards, realize the relay transmission of wireless sensor network information, and then realize the foundation of data routing algorithm,
Step 5) sensing node measures the wireless signal carrying Location Request sent from other sensing nodes by wireless receiving module, judge the distance range with the sensing node sending this wireless signal, and utilize the wireless sending module of self outwards to launch the radio positioning signal of self, start location requirement to judge simultaneously, only has this node self location position, just AOA/TDOA signal measurement is carried out to the wireless signal received, and according to the positional information of known node unknown node positioned and resolve, realize the location position to unknown node;
Step 6) is according to step 5) in by internodal data routing algorithm, data retransmission is carried out to the node coordinate parameter of carrying out location position; Positional information is uploaded onto the server by final realization; Environment sensing parameter under making server the position of each sensing node and corresponding node can be detected in real time, realizes intelligent positioning and the perception of wireless sensor network sensing node.
3. a kind of mining face under mine wireless sensor network Intellisense method according to claim 2, it is characterized in that: described step 5) described in method for self-locating be rely on the sensing node carrying out location position to carry out AOA/TDOA measurement to the radio positioning signal that unknown position node sends, and resolve the process of its position, performing step is as follows:
Step 5-1) first utilize two near the sensing node of server as initial sensing node, local positioning coordinate system structure is carried out in the Minepit environment distribution according to required perception, and demarcates the manual position that two initial sensing nodes carry out under coordinate system;
Step 5-2) framing signal that sends of two initial other unknown node of sensing node real-time reception, and the signal measurement carried out under AOA/TDOA, location parameter in conjunction with two start nodes calculates the positional information of unknown node, realize the position correction of this node, the positional information of this node is transmitted to server simultaneously;
Step 5-3) step 5-2) in realize position correction the framing signal that sends in conjunction with other transducers of sensing node real-time reception of another known location of sensing node, and the signal measurement carried out under AOA, and the node combining contiguous known location carries out the signal measurement under TDOA;
Step 5-4) step 5-3) in the AOA/TDOA parameter that obtains of sensing node measurement, and combine the location compute that two node location informations measured carry out unknown node, realize the position correction of unknown node, known location node carries out node location information and the forwarding of node serial number information simultaneously, between node, routing algorithm is uploaded onto the server;
Step 5-5) step 5-4) in determined the framing signal that the sensing node real-time reception of position sends from other sensing nodes, and combine the AOA/TDOA measurement that contiguous location node positions signal, and repeat step 5-3)-step 5-5), finally realize the calibration of all sensing node upper/lower positions, and uploaded onto the server.
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