CN108442969A - A kind of downhole rescuing robot joint and rescue mode based on wireless CSI - Google Patents
A kind of downhole rescuing robot joint and rescue mode based on wireless CSI Download PDFInfo
- Publication number
- CN108442969A CN108442969A CN201810166775.4A CN201810166775A CN108442969A CN 108442969 A CN108442969 A CN 108442969A CN 201810166775 A CN201810166775 A CN 201810166775A CN 108442969 A CN108442969 A CN 108442969A
- Authority
- CN
- China
- Prior art keywords
- robot
- personnel
- wireless
- csi
- amplitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
A kind of downhole rescuing robot joint and rescue mode based on wireless CSI, wireless exploration module including robot A, B and based on WiFi, the wireless exploration module based on WiFi include by the wireless router on robot A and the reception antenna on robot B, bandpass filter and being loaded with the microprocessors of intel5300 wireless network cards and forming；When operation, first quickly judge that whether there is or not personnel's presence in the investigative range by WiFi wireless explorations module, if nothing, it is then moved to next investigative range immediately, if so, then judging algorithm using orientation, judge personnel region in advance, camera is opened to judging that orientation where personnel is scanned in advance, confirms personnel positions, and robot position is uploaded to ground command center.The present invention is not influenced in detection by the environment more than low visibility or barrier, and investigative range is big, and speed is fast, and accurate positioning, and reconnaissance probe is efficient, and power consumption is low, and the activity duration is long.
Description
Technical field
The present invention relates to rescue robot technical fields, and in particular to a kind of downhole rescuing combination machine based on wireless CSI
Device people and rescue mode.
Background technology
All over the world, various burst accidents are frequent occurrence.In some special burst accidents, due to it is dangerous because
Element, rescue personnel can not arrive field conduct rescue in person.In addition, in these accidents, rescue personnel must be in the very short time
Interior (about 48 hours) rescue trapped person, and otherwise trapped person would become hard to survive.For example, after coal mining accident generation,
Due to the risk of leakage and the gas explosion of toxic gas, rescue personnel cannot be introduced into danger zone, and after 48 hrs, quilt
Tired mortality can be sharply increased due to lack of air, shortage food, water and medical therapy.This urgent and danger
In the case of, rescue efficiency can be then improved using rescue robot, the injures and deaths of rescue personnel are reduced or avoided, gives rescue work band
Carry out huge help.
Existing rescuing robot method continues to bring out out various rescue robot technologies with advances in technology,
The technology of current comparative maturity has following two：
1) robot of view-based access control model, this robot realize the knowledge to trapped person using advanced image recognition technology
Not, such as the vision system etc. rebuild of Kinect-based vision systems, object-based 3D.Due to present image identification technology
More mature, this rescue robot can reach quite high discrimination in some environments, be widely used.But
There is also following drawbacks for this robot：First, this robot there are certain requirements ambient brightness, once encounter dark ring
The environment such as border, such as underground, haze will seem unable to do what one wishes using the technology of image recognition.Secondly, pass through life detection system
The image recognition algorithm that system is checked and approved needs to be constantly in open state to detect when trapped person's information, and camera needs 360 °
Continuous rotation sweep, power consumption is huge, cannot carry out long working in underground, rescue ability is extremely limited, this results in rescuing
Robot is helped once use, there is a high likelihood that can not withdraw, causes the waste of resource.In addition, due to camera
Visual angle limits, and causes every time to be scanned very little certain area, when being scanned to larger rescue region, need very
For a long time, cause search speed more slow, this is very fatal in the rescue action raced against time.Even more important one
Point is, under as the environment mine disaster, earthquake, generally has many barriers, and the method for view-based access control model can not penetrate barrier
Object is hindered to recognize whether trapped person.Also, this robot also cannot achieve the complete of search because of the limitation of complicated landform
Covering.
2) voice-based robot, this robot carry microphone, and skill is positioned using the voice of microphone array
Art is, it can be achieved that positioning to trapped person.But this robot can be by the noise of the scene of the accident and the noise of robot itself
Influence, and rapidly and accurately trapped person can not be positioned.
Invention content
In view of the above existing problems in the prior art, the present invention provides a kind of downhole rescuing combination machines based on wireless CSI
Radio channel status information based on WiFi and the video image identification based on camera are combined by device people and rescue mode,
Power consumption is small, and the activity duration is long, can quickly and accurately be positioned to trapped person in various environment, to reach quick
The purpose of rescue.
To achieve the goals above, the present invention provides a kind of downhole rescuing robot joint based on wireless CSI, the joint
Robot includes robot A, robot B and the wireless exploration module based on WiFi, wherein robot A is wireless signal transmission
End, robot B are reception of wireless signals end, and the wireless exploration module based on WiFi includes by robot A
Wireless router and three reception antennas on robot B and the microprocessor for being loaded with intel5300 wireless network cards
It forms, is also equipped with video image identification module and reception antenna on the robot B, above-mentioned two robot is mounted on acceleration
Degree sensor and gyroscope, the video image identification module are connected by control circuit with microprocessor, the reception antenna
It is connected with microprocessor by bandpass filter, wireless network card, the robot A is connected with robot B by wireless signal.
A kind of rescue mode of the downhole rescuing robot joint based on wireless CSI, includes the following steps：
1) robot A is first moved forward, and robot B stays in original place, robot A1 by wireless router emit WiFi without
Line signal, robot B2 receive wireless signal by reception antenna 22, are filtered through bandpass filter uncorrelated in wireless signal
Ingredient, then the microprocessor for being loaded with 5300 network interface cards is transmitted signals to by wireless network card, by microprocessor from the nothing received
CSI signals are extracted in line signal；
2) microprocessor extracts CSI groupings by CSI tool, each CSI is grouped into the three-dimensional square of Nt × Nr × Nc
Battle array, and therefrom extract the amplitude of each subcarrier；
Wherein, Nt is the antenna amount of transmitting terminal, and Nr is the antenna amount of receiving terminal, and Nc is the quantity of subcarrier；
3) judge whether there are personnel to walk about in WiFi investigative ranges
The tranmitting frequency of transmitting terminal is set, and the CSI amplitudes that receiving terminal is sampled every time are utilized as a matrix
Singular value decomposition (SVD) is to above-mentioned Matrix Calculating singular value, and when between 1≤singular value≤2, judgement is walked about without personnel；Then enter
Step (6), when singular value >=3, the personnel of being determined with walk about, then enter step (4)；
4) orientation residing for personnel is judged in advance
With the line of robot A and robot B by the region division in investigative range for two regions a and b, according to human body
The diffusion path length (being denoted as RL) of the CSI signals reached after reflection is more than the length of the propagation path of through CSI signals, i.e.,
The frequency response of channel, and diffusion path length is solved using the frequency response of channel is counter, judged in advance according to diffusion path length
Go out personnel and is in the regions a or the regions b；
5) confirm personnel's accurate location
The image/video identification module and automatic identification scene visibility for opening robot B, as live visibility ＜ 5m,
Image video image identification module is scanned the personnel orientation judged in advance, to confirm personnel's accurate location, and by robot B
Position information passes ground rescue contral center back, otherwise, enters step (6)；
6) it is detected whether with the presence of personnel using the small chest exercise that the Cheyne-Stokes of people are brought
After the reception antenna of robot B receives CSI signals, by bandpass filter, retain 0.167HZ to 0.667HZ
Between signal, and weaken the signal of other frequencies, while removing the DC components in original signal, and CSI after filtration
A sine component is added in signal, judging whether there is personnel by the size of amplitude exists, if existing without personnel, is moved to
Next investigative range carries out people search, with the presence of personnel, then the positions robot A is returned ground rescue contral center；
Above-mentioned steps carry out operation and processing by microprocessor.
Compared with prior art, the present invention organically combines the positioning based on WiFi with the location technology based on video, answers
For in the case of mine disaster downhole rescuing search, occur mine disaster underground, camera can use in the case of, first by
The wireless exploration module of WiFi quickly judges that whether there is or not personnel's presence in the investigative range, due to the wireless exploration mould of WiFi of the present invention
The shadow of block environment not by the extremely low situation of the visibilitys such as thick fog, dark and under thering are a large amount of stones the complicated ores such as to block in detection
It rings, substantially increases the efficiency of reconnaissance probe, saved rescue time, improve rescue efficiency, in investigative range, if nobody
Member exists, then is moved to next investigative range immediately, if with the presence of personnel, judges algorithm using orientation, judge personnel institute
In region, it is then turned on camera and the personnel place orientation judged is scanned, do not need camera to investigative range
360 ° of rotary search detections, reduce the reconnaissance probe range of camera, reduce the reconnaissance probe time, save a large amount of electricity
Amount, extends the reconnaissance probe time of Incorporated Rescue robot, expands investigative range, further improves reconnaissance probe effect
Rate.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of rescue mode of the downhole rescuing robot joint based on wireless CSI, the robot joint
Including robot A1 and robot B2, wherein robot A1 is wireless signal transmission end, and robot B2 is reception of wireless signals
It holds, wireless router 11 there are one installations on robot A1, video image identification module 21 is installed on robot B2, is loaded with
The microprocessor 23 and three reception antennas 22 of 5300 wireless network cards 24 of intel, wherein wireless router 11, reception antenna 22
The wireless exploration module based on WiFi is constituted with microprocessor 23, the video image identification module 21 is camera, this reality
It applies example and selects three reception antennas 22, be because three reception antennas 22 both make the data volume received reach adequately accurate
Degree, and will not excessively increase algorithm complexity, lead to multi-time Delay occurred, the two is made to reach certain balance, the video figure
Picture identification module 21 is connected by control circuit with microprocessor 23, and the reception antenna 22 passes through bandpass filter, wireless network
Card 24 is connected with microprocessor 23, and the robot A1 is connected with robot B2 by wireless signal；Above-mentioned two machine is pacified per capita
Equipped with acceleration transducer 12 and gyroscope 13, robot location is positioned using inertial navigation, i.e., in robot initial position
In the case of known to setting, acceleration transducer 12 obtains the acceleration information of robot when robot moves to calculate machine
The displacement distance of device people, gyroscope 13 perceive the robot direction of motion when robot moves, and the two combines to realize to machine
The positioning of device people.
This Incorporated Rescue robot is in rescue operations, by that can encounter following two environment：
(1) when environment allows, first, the wireless exploration module based on WiFi is opened, in original channel status information number
Bandpass filter is used according to upper, uncorrelated ingredient is filtered, data is pre-processed, quickly judge in advance on a large scale, sentences
It is disconnected whether someone, then orientation is called to judge algorithm, judges personnel's general orientation, radio channel status information can in dark,
In the case that the visibilitys such as thick fog are very poor and there are a large amount of stones to block etc. under complicated ores quick detection personal information under environment, then
Video image identification module 21 is scanned the personnel orientation judged in advance, final to confirm personnel's accurate location, and by robot
The positions B2 information back ground rescue contral center.
(2) when in dark, in the case that the visibilitys such as thick fog are very poor and a large amount of stones the environment under complicated ores such as block
When lower video image identification module 21 can not play a role, the wireless exploration module based on WiFi is opened, the periodicity of people is utilized
The small chest exercise that breathing zone comes is detected whether with the presence of personnel, then by the passback ground rescue of the positions robot A1
Control centre.
Specific rescue mode includes the following steps：
1) robot A1 is first moved forward, and robot B2 stays in original place, and robot A1 is emitted by wireless router 11
WiFi wireless signals, robot B2 receive wireless signal by reception antenna 22, are filtered in wireless signal through bandpass filter
Uncorrelated ingredient, then the microprocessor 23 for being loaded with 5300 network interface cards is transmitted signals to by wireless network card 24, by microprocessor 23
CSI signals are extracted from the wireless signal received；
2) microprocessor 23 extracts CSI groupings by CSI tool, each CSI is grouped into the three-dimensional of Nt × Nr × Nc
Matrix, and therefrom extract the amplitude of each subcarrier；
Wherein, Nt is the antenna amount of transmitting terminal, and Nr is the antenna amount of receiving terminal, and Nc is the quantity of subcarrier.
3) judge whether there are personnel to walk about in WiFi investigative ranges
The tranmitting frequency of transmitting terminal is set, and the CSI amplitudes that receiving terminal is sampled every time are utilized as a matrix
Singular value decomposition (SVD) is to above-mentioned Matrix Calculating singular value, and when between 1≤singular value≤2, judgement is walked about without personnel；Then enter
Step (6), when singular value >=3, the personnel of being determined with walk about, then enter step (4).
4) orientation residing for personnel is judged in advance
With the line of robot A1 and robot B2 by the region division in investigative range for two regions a and b, according to people
The diffusion path length (being denoted as RL) of the CSI signals reached after body reflection is more than the length of the propagation path of through CSI signals,
That is the frequency response of channel, and diffusion path length is solved using the frequency response of channel is counter, it is prejudged according to diffusion path length
Break and personnel and be in the regions a or the regions b, specific judgment method is as follows：
It reaches after being reflected by human body due to the CSI signal parts that receiving terminal receives, and is reflected by human body
The diffusion path length (being denoted as RL) of these CSI signals reached afterwards is greater than the length of the propagation path of through CSI signals,
Therefore, receiving terminal received signal is regarded as the set of signal under N item differences path, then the frequency response (CFR) of channel is used
Following work formula indicates：
Wherein, H (f, t) is channel frequency response, and f is the frequency at moment t, ak(f, t) is the initial of K paths
The stowed value of phase offset and decaying,It is K paths in propagation delay τk(t) phase offset under, e-j2πΔftIt is phase offset caused by the carrier frequency difference between transmitting terminal and receiving terminal；
Due to the propagation delay τ of K pathsk(t) it is equal to the propagation distance dk of t from the moment 0 to the moment of K paths
(t) with the ratio of spread speed C, and electromagnetic wave propagation speed C therefore can be by formula equal to the product of frequency f and wavelength X
(1) it deforms as follows：
Hs (f) is the channel frequency response of static path, PdIt is dynamic route；
It is as follows that can formula be obtained to the absolute value progress square of the H (f, t) in formula (2)：
Can be obtained by formula (3), channel frequency response be channel constant offset with cosine collection and, and the cosine collection is biography
The function for broadcasting path length obtains the personnel region by following steps：
A) reflected propagation paths length L1 is solved by formula (3) is counter
B) keep the positions robot B2 constant, robot A1 is moved perpendicular to robot A1 and B lines direction to the regions a on edge
0.5 meter, reflected propagation paths length L2 is calculated again by formula (3), when personnel are in region b, reflected propagation paths are long
Degree can become larger, and when personnel are in region a, reflected propagation paths length can become smaller, and therefore, if L2 is more than L1, personnel are in the areas b
Domain, if L2 is less than L1, personnel are in the regions a.
5) confirm personnel's accurate location
The camera and automatic identification scene visibility for opening robot B2, as live visibility ＜ 5m, camera pair
The personnel orientation judged in advance is scanned, and to confirm personnel's accurate location, and passes the positions robot B2 information back ground
Otherwise rescue contral center enters step (6)；
6) it is detected whether with the presence of personnel using the small chest exercise that the Cheyne-Stokes of people are brought
After the reception antenna 22 of robot B2 receives CSI signals, by bandpass filter, retains 0.167HZ and arrive
Signal between 0.667HZ, and weaken the signal of other frequencies, while removing the DC components in original signal, in this way, filtering
Signal afterwards can preferably indicate the presence of human body respiration, in addition, similar sine curve is presented in the signal after being influenced by breathing
A sine component is added in signal after filtration to amplify this feature, and is judged whether by the size of amplitude for pattern
With the presence of personnel, if existing without personnel, it is moved to next investigative range and carries out people search, with the presence of personnel, then by machine
The positions people A1 return ground rescue contral center.
The amplitude of the subcarrier of filtered CSI signals, expression formula are as follows：
Wherein, Hk(i) amplitude of k-th subcarrier when expression time ti,It is the mean amplitude of tide of k-th subcarrier,
∈k(i) it is noise contribution；
The expression formula of the sub-carrier amplitude of additional sine component is：
Gk(i)=Ak cos(2πfti+ φ k), (5)
Wherein, Ak, φ k indicate the amplitude and phase of k-th subcarrier respectively, and f indicates the frequency of breathing；
The expression formula for the sub-carrier amplitude being added after above-mentioned sine component is：
Wherein Gk(i) be more than or at least with ∈k(i) quite；
It can be obtained by formula (6), when amplitude is less than 0.1, indicate unmanned breathing, return to step (1), when amplitude is more than 0.2, table
It is shown with people's breathing, i.e., with the presence of personnel, then the positions robot A1 are returned into ground rescue contral center.
Above-mentioned steps carry out operation and processing by microprocessor 23.
This Incorporated Rescue robot, be applied to mine disaster in the case of downhole rescuing search, occur mine disaster underground, first by
The wireless exploration module of WiFi quickly judges that whether there is or not personnel's presence in the investigative range, if existing without personnel, are moved to down immediately
One investigative range has substantially increased the efficiency that video scans for detection, has saved rescue time, improved rescue efficiency,
And mine disaster rescue, time is life；In addition, since this method all areas are all first searched by the wireless exploration module of WiFi
Rope detects, and for most no man's lands without opening camera, electricity is greatly saved, extends equipment and is searched in underground
The time of rescue improves rescue efficiency.In addition, when the wireless exploration module of WiFi finds someone, algorithm is judged using orientation,
Judge personnel region, be then then turned on camera and carry out detection confirmation, reduces the reconnaissance probe model of camera half
It encloses, reduces the reconnaissance probe time of nearly half, improve reconnaissance probe efficiency by about one time.
Claims (6)
1. a kind of downhole rescuing robot joint based on wireless CSI, which is characterized in that the robot joint includes robot A
(1), robot B (2) and the wireless exploration module based on WiFi, wherein robot A (1) is wireless signal transmission end, robot
B (2) is reception of wireless signals end, and the wireless exploration module based on WiFi includes wireless on robot A (1) by being mounted on
Router (11) and reception antenna (22) on the robot B (2) and it is loaded with the micro- of intel5300 wireless network cards (24)
Processor (23) forms, and video image identification module (21) and reception antenna (22) are also equipped on the robot B (2), on
Shu Liang robots are mounted on acceleration transducer (12) and gyroscope (13), and the video image identification module (21) passes through control
Circuit processed is connected with microprocessor (23), and the reception antenna (22) passes through bandpass filter, wireless network card (24) and microprocessor
Device (23) is connected, and the robot A (1) is connected with robot B (2) by wireless signal.
2. a kind of downhole rescuing robot joint based on wireless CSI according to right 1, which is characterized in that the reception
Antenna (22) is equipped with three.
3. a kind of downhole rescuing robot joint based on wireless CSI according to right 1 or 2, which is characterized in that described to regard
Frequency picture recognition module (21) is camera.
4. a kind of rescue mode of the downhole rescuing robot joint based on wireless CSI, which is characterized in that include the following steps：
1) robot A (1) is first moved forward, and robot B (2) stays in original place, and robot A (1) is sent out by wireless router (11)
WiFi wireless signals are penetrated, robot B (2) receives wireless signal by reception antenna (22), wireless communication is filtered through bandpass filter
Uncorrelated ingredient in number, then the microprocessor (23) for being loaded with 5300 network interface cards is transmitted signals to by wireless network card (24), by
Microprocessor (23) extracts CSI signals from the wireless signal received；
2) microprocessor (23) extracts CSI groupings by CSI tool, each CSI is grouped into the three-dimensional square of Nt × Nr × Nc
Battle array, and therefrom extract the amplitude of each subcarrier；
Wherein, Nt is the antenna amount of transmitting terminal, and Nr is the antenna amount of receiving terminal, and Nc is the quantity of subcarrier；
3) judge whether there are personnel to walk about in WiFi investigative ranges
The tranmitting frequency of transmitting terminal is set, and the CSI amplitudes that receiving terminal is sampled every time are as a matrix, using strange
Different value decomposes (SVD) to above-mentioned Matrix Calculating singular value, and when between 1≤singular value≤2, judgement is walked about without personnel, is entered step
(6)；When singular value >=3, the personnel of being determined with walk about, and enter step (4)；
4) orientation residing for personnel is judged in advance
With the line of robot A (1) and robot B (2) by the region division in investigative range for two regions a and b, according to people
The diffusion path length of CSI signals reached after body reflection is more than the length of the propagation path of through CSI signals, i.e. channel
Frequency response, and reflected propagation paths length is solved using the frequency response of channel is counter, it is prejudged according to reflected propagation paths length
Break and personnel and be in the regions a or the regions b；
5) confirm personnel's accurate location
The camera and automatic identification scene visibility of robot B (2) are opened, as live visibility ＜ 5m, camera is to pre-
The personnel orientation of judgement is scanned, and to confirm personnel's accurate location, and passes robot B (2) position information back ground
Otherwise rescue contral center enters step (6)；
6) it is detected whether with the presence of personnel using the small chest exercise that the Cheyne-Stokes of people are brought
After the reception antenna (22) of robot B (2) receives CSI signals, by bandpass filter, retains 0.167HZ and arrive
Signal between 0.667HZ, and weaken the signal of other frequencies, while removing the DC components in original signal, and filtering
A sine component is added in CSI signals afterwards, judging whether there is personnel by the size of amplitude exists, if existing without personnel,
It is then moved to next investigative range and carries out people search, with the presence of personnel, then rescue robot A (1) position passback ground
Help control centre；
Above-mentioned steps carry out operation and processing by microprocessor (23).
5. a kind of downhole rescuing robot joint and rescue mode based on wireless CSI according to right 4, feature exist
In the specific judgment method of the step (4) is as follows：
Receiving terminal received signal is regarded to the set of signal under N item differences path as, then the frequency response (CFR) of channel is with such as
Lower work formula indicates：
Wherein, H (f, t) is channel frequency response, and f is the frequency at moment t, ak(f, t) is the initial phase of K paths
The stowed value of offset and decaying,It is K paths in propagation delay τk(t), the phase offset under, e-j2πΔft
It is phase offset caused by the carrier frequency difference between transmitting terminal and receiving terminal；
Due to the propagation delay τ of K pathsk(t), it is equal to the propagation distance dk (t) of t from the moment 0 to the moment of K paths
With the ratio of spread speed C, and electromagnetic wave propagation speed C therefore can be by formula (1) equal to the product of frequency f and wavelength X
Deformation is as follows：
Hs (f) is the channel frequency response of static path, PdIt is dynamic route；
It is as follows that can formula be obtained to the absolute value progress square of the H (f, t) in formula (2)：
Can be obtained by formula (3), channel frequency response be channel constant offset with cosine collection and, and the cosine collection is propagation road
The function of electrical path length obtains the personnel region by following steps：
A) reflected propagation paths length L1 is solved by formula (3) is counter；
B) keep robot B (2) position constant, robot A (1) is moved along perpendicular to robot A (1) and B lines direction to the regions a
It is 0.5 meter dynamic, reflected propagation paths length L2 is calculated again by formula (3), when personnel are in region b, road is propagated in reflection
Electrical path length can become larger, and when personnel are in region a, reflected propagation paths length can become smaller, therefore, if L2 is more than L1, personnel
In the regions b, if L2 is less than L1, personnel are in the regions a.
6. a kind of downhole rescuing robot joint and rescue mode based on wireless CSI according to claim 4, feature
It is, the specific detection method of the step (6) is as follows：
The amplitude of the subcarrier of filtered CSI signals, expression formula are as follows：
Wherein, Hk(i) amplitude of k-th subcarrier when expression time ti,It is the mean amplitude of tide of k-th subcarrier, ∈k
(i) it is noise contribution；
The expression formula of the sub-carrier amplitude of additional sine component is：
Gk(i)=Akcos(2πfti+ φ k), (5)
Wherein, Ak, φkIndicate that the amplitude and phase of k-th subcarrier, f indicate the frequency of breathing respectively；
The expression formula for the sub-carrier amplitude being added after above-mentioned sine component is：
Wherein Gk(i) be more than or at least with ∈k(i) quite；
Can be obtained by formula (6), when amplitude is less than 0.1, indicate unmanned breathing, robot A (1) be then moved to next investigative range into
Administrative staff searches for, and when amplitude is more than 0.2, expression someone's breathing then returns robot A (1) position that is, with the presence of personnel
Ground rescue contral center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810166775.4A CN108442969B (en) | 2018-02-28 | 2018-02-28 | A kind of downhole rescuing robot joint and rescue mode based on wireless CSI |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810166775.4A CN108442969B (en) | 2018-02-28 | 2018-02-28 | A kind of downhole rescuing robot joint and rescue mode based on wireless CSI |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108442969A true CN108442969A (en) | 2018-08-24 |
| CN108442969B CN108442969B (en) | 2019-07-09 |
Family
ID=63192823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810166775.4A Active CN108442969B (en) | 2018-02-28 | 2018-02-28 | A kind of downhole rescuing robot joint and rescue mode based on wireless CSI |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108442969B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109341679A (en) * | 2018-09-30 | 2019-02-15 | 华中科技大学 | A kind of smart machine air navigation aid and navigation system |
| CN110059567A (en) * | 2019-03-21 | 2019-07-26 | 浙江工业大学 | A kind of fire hazard smoke detecting method based on WiFi |
| CN111319043A (en) * | 2020-02-20 | 2020-06-23 | 深圳前海达闼云端智能科技有限公司 | Robot control method, device, storage medium and robot |
| CN111640219A (en) * | 2020-06-04 | 2020-09-08 | 许昌开普电气研究院有限公司 | Inspection robot control system and method based on overhead line |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1462531A (en) * | 2001-02-22 | 2003-12-17 | 皇家菲利浦电子有限公司 | Multicarrier transmission system using multiplication by leakage matrix with complex reduction |
| CN101382429A (en) * | 2008-10-17 | 2009-03-11 | 北京航空航天大学 | Earth-air special-shaped multi-robot searching and rescuing system |
| CN103147789A (en) * | 2013-03-07 | 2013-06-12 | 中国矿业大学 | System and method for controlling underground coal mine rescue robot |
| CN104702390A (en) * | 2015-02-04 | 2015-06-10 | 南京邮电大学 | Pilot frequency distribution method in distributed compressive sensing (DCS) channel estimation |
| CN105991490A (en) * | 2015-01-12 | 2016-10-05 | 北京三星通信技术研究有限公司 | Filter bank-based signal transmitting method, receiving method, system and devices |
-
2018
- 2018-02-28 CN CN201810166775.4A patent/CN108442969B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1462531A (en) * | 2001-02-22 | 2003-12-17 | 皇家菲利浦电子有限公司 | Multicarrier transmission system using multiplication by leakage matrix with complex reduction |
| CN101382429A (en) * | 2008-10-17 | 2009-03-11 | 北京航空航天大学 | Earth-air special-shaped multi-robot searching and rescuing system |
| CN103147789A (en) * | 2013-03-07 | 2013-06-12 | 中国矿业大学 | System and method for controlling underground coal mine rescue robot |
| CN105991490A (en) * | 2015-01-12 | 2016-10-05 | 北京三星通信技术研究有限公司 | Filter bank-based signal transmitting method, receiving method, system and devices |
| CN104702390A (en) * | 2015-02-04 | 2015-06-10 | 南京邮电大学 | Pilot frequency distribution method in distributed compressive sensing (DCS) channel estimation |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109341679A (en) * | 2018-09-30 | 2019-02-15 | 华中科技大学 | A kind of smart machine air navigation aid and navigation system |
| CN110059567A (en) * | 2019-03-21 | 2019-07-26 | 浙江工业大学 | A kind of fire hazard smoke detecting method based on WiFi |
| CN111319043A (en) * | 2020-02-20 | 2020-06-23 | 深圳前海达闼云端智能科技有限公司 | Robot control method, device, storage medium and robot |
| CN111319043B (en) * | 2020-02-20 | 2022-03-22 | 达闼机器人有限公司 | Robot control method, device, storage medium and robot |
| CN111640219A (en) * | 2020-06-04 | 2020-09-08 | 许昌开普电气研究院有限公司 | Inspection robot control system and method based on overhead line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108442969B (en) | 2019-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108442969B (en) | A kind of downhole rescuing robot joint and rescue mode based on wireless CSI | |
| US10378863B2 (en) | Smart wearable mine detector | |
| CN107015193B (en) | A kind of binocular CCD vision mine movable object localization method and system | |
| DE60316818T2 (en) | SYSTEM AND METHOD FOR ELECTROMAGNETIC CLAY DISTANCE MEASUREMENT | |
| CN105242686B (en) | A kind of unmanned plane system and method for taking photo by plane | |
| CN109583383A (en) | A kind of unmanned plane life detection method and system based on Multiple Source Sensor | |
| CN107231181A (en) | A kind of air-sea synergic monitoring system and its application method across medium communication | |
| Rivera et al. | Post-disaster rescue facility: Human detection and geolocation using aerial drones | |
| KR101881396B1 (en) | System for cooperative anti-drone and method for cooperation control of anti-drones | |
| CN107846258A (en) | A kind of unmanned plane system of defense | |
| CN105416584B (en) | Life tracking UAS after a kind of calamity | |
| CN108227606B (en) | Ship security intelligent management system based on multi-source perception | |
| CN106898249B (en) | A kind of map constructing method for earthquake-stricken area communication failure region | |
| CN109373821A (en) | Anti- unmanned machine equipment, system and method | |
| CN108832997A (en) | A kind of unmanned aerial vehicle group searching rescue method and system | |
| CN110580044A (en) | unmanned ship full-automatic navigation heterogeneous system based on intelligent sensing | |
| CN107121677A (en) | Avoidance radar method and device based on ultra wide band cognition CPPM signals | |
| CN107431891A (en) | Search rescue system | |
| CN110245588A (en) | A kind of fine granularity estimation method of human posture based on radio frequency signal | |
| CN104318716A (en) | Drowning detection pre-warning system using attitude calculation | |
| CN109709512A (en) | A kind of single station of unmanned plane detecting and unmanned plane detecting system | |
| CN107483096B (en) | Complex environment-oriented communication link reconstruction method for autonomous explosive-handling robot | |
| CN113029169A (en) | Air-ground cooperative search and rescue system and method based on three-dimensional map and autonomous navigation | |
| Hugues et al. | An experimental augmented reality platform for assisted maritime navigation | |
| KR20140004430A (en) | Radar apparatus for marine, monitoring system of ship and method using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |