CN108442969B - 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
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- CN108442969B CN108442969B CN201810166775.4A CN201810166775A CN108442969B CN 108442969 B CN108442969 B CN 108442969B CN 201810166775 A CN201810166775 A CN 201810166775A CN 108442969 B CN108442969 B CN 108442969B
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- 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
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- 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
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- 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
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- 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
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- 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 wireless router by being mounted on robot A and the receiving antenna being mounted on robot B, bandpass filter and are loaded with the microprocessor of intel5300 wireless network card and form；When operation, first quickly judge that whether there is or not personnel's presence in the investigative range by WiFi wireless exploration module, if nothing, it is then moved to next investigative range immediately, if so, then judging algorithm using orientation, personnel region is judged in advance, it opens camera to be scanned orientation where pre- judgement personnel, 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 high-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 technique
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, rescue personnel must be in the very short time in these accidents
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 then can be improved using rescue robot, the injures and deaths of rescue personnel are reduced or avoided, give 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 system, object-based 3D.Due to present image identification technology
More mature, this rescue robot can achieve quite high discrimination in some environments, be widely used.But
There is also following drawbacks for this robot: firstly, 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, passing 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 rotary scanning, power consumption is huge, not can be carried 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 limitation, 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 deadly in the rescue action raced against time.Even more important one
Point is, under the environment as mine disaster, earthquake, generally has many barriers, and the method for view-based access control model can not be through 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, position skill 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.
Summary of the invention
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
Device people and rescue mode combine the radio channel status information based on WiFi and the video image identification based on camera,
Power consumption is small, and the activity duration is long, can quickly and accurately position 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 transmitting
End, robot B are reception of wireless signals end, and the wireless exploration module based on WiFi includes by being mounted on robot A
Wireless router and three receiving antennas being mounted on robot B and the microprocessor for being loaded with intel5300 wireless network card
It forms, is also equipped with video image identification module and receiving antenna on the robot B, above-mentioned two robot is mounted on acceleration
Sensor and gyroscope are spent, the video image identification module is connected by control circuit with microprocessor, the receiving antenna
It is connected by bandpass filter, wireless network card with microprocessor, 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, comprising 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 receiving antenna 22, filter 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 signal is extracted in line signal；
2) microprocessor extracts CSI grouping 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 end, and Nc is the quantity of subcarrier；
3) judge whether there are personnel to walk about in WiFi investigative range
The tranmitting frequency of transmitting terminal is set, and the CSI amplitude that receiving end is sampled every time is 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 locating 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 signal reached after reflection is greater than the length of the propagation path of through CSI signal, 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
Personnel are in the region a or the region b out；
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 using the small chest exercise of the Cheyne-Stokes bring of people with the presence of personnel
After the receiving antenna of robot B receives CSI signal, by bandpass filter, retain 0.167HZ to 0.667HZ
Between signal, and weaken the signal of other frequencies, while removing the DC component in original signal, and CSI after filtration
A sine component is added in signal, personnel are judged whether there is by the size of amplitude and are existed, if existing without personnel, are moved to
Next investigative range carries out people search, with the presence of personnel, then the position 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, in the case where camera can be used, 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 judging algorithm with the presence of personnel using orientation, judging personnel institute
In region, it is then turned on camera and orientation where the personnel 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.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Specific embodiment
The present invention will be further explained below with reference to the attached 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 transmitting terminal, and robot B2 is reception of wireless signals
It holds, a wireless router 11 is installed on robot A1, video image identification module 21 is installed on robot B2, is loaded with
The microprocessor 23 and three receiving antennas 22 of 5300 wireless network card 24 of intel, wherein wireless router 11, receiving 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 receiving antennas 22, be because three receiving 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
It is connected as identification module 21 passes through control circuit with microprocessor 23, the receiving 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
It sets in known situation, acceleration transducer 12 obtains the acceleration information of robot when robot is mobile to calculate machine
The moving distance of device people, gyroscope 13 perceive the robot direction of motion when robot is mobile, 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, firstly, 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 a wide range of pre- judgement is carried out, 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 position B2 information back ground rescue contral center.
(2) when in the case that the visibilitys such as thick fog are very poor and thering are a large amount of stones the environment under complicated ores such as to block in dark
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 of breathing bring is detected whether with the presence of personnel, then by the passback ground rescue of the position robot A1
Control centre.
Specific rescue mode the following steps are included:
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 signal, robot B2 receive wireless signal by receiving antenna 22, filter 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 signal is extracted from the wireless signal received；
2) microprocessor 23 extracts CSI grouping by CSI tool, each CSI is grouped into Nt × Nr × Nc three-dimensional
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 end, and Nc is the quantity of subcarrier.
3) judge whether there are personnel to walk about in WiFi investigative range
The tranmitting frequency of transmitting terminal is set, and the CSI amplitude that receiving end is sampled every time is 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 locating 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 signal reached after body reflection is greater than the length of the propagation path of through CSI signal,
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
Disconnected personnel out are in the region a or the region b, and specific judgment method is as follows:
Since CSI signal a part that receiving end receives is to reach after being reflected by human body, and 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 signal,
Therefore, receiving end received signal is regarded as the set of signal under N item difference 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 end；
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 formula can 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 and 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 position robot B2 constant, robot A1 is moved perpendicular to robot A1 and B line direction to the region 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 greater than L1, personnel are in the area b
Domain, if L2 is less than L1, personnel are in the region 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 position robot B2 information back ground
Otherwise rescue contral center enters step (6)；
6) it is detected whether using the small chest exercise of the Cheyne-Stokes bring of people with the presence of personnel
After the receiving antenna 22 of robot B2 receives CSI signal, by bandpass filter, retains 0.167HZ and arrive
Signal between 0.667HZ, and weaken the signal of other frequencies, while removing the DC component 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 position people A1 returns ground rescue contral center.
The amplitude of the subcarrier of filtered CSI signal, 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,
∈kIt (i) is noise contribution；
The expression formula of the sub-carrier amplitude of additional sine component are as follows:
Gk(i)=Akcos(2πfti+φk) (5)
Wherein, Ak, φkThe amplitude and phase of k-th subcarrier are respectively indicated, f indicates the frequency of breathing；
The expression formula of sub-carrier amplitude after above-mentioned sine component is added are as follows:
Wherein Gk(i) be greater 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 step (1), when amplitude is greater than 0.2, table
It is shown with people's breathing, i.e., with the presence of personnel, then the position robot A1 is returned into ground rescue contral center.
Above-mentioned steps pass through microprocessor 23 and carry out operation and processing.
This Incorporated Rescue robot, applied in the case of mine disaster 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 detection is greatly saved electricity, extends equipment and search in underground for most no man's lands without opening camera
The time of rescue improves rescue efficiency.In addition, algorithm is judged using orientation when the wireless exploration module of WiFi finds someone,
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 (5)
1. a kind of rescue mode of the downhole rescuing robot joint based on wireless CSI, which includes robot A
(1), robot B (2) and the wireless exploration module based on WiFi, wherein robot A (1) is wireless signal transmitting terminal, 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 the receiving antenna (22) being mounted on robot B (2) and it is loaded with the micro- of intel5300 wireless network card (24)
Processor (23) forms, and is also equipped with video image identification module (21) and receiving antenna (22) on the robot B (2), on
Shu Liang robot is 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 receiving antenna (22) passes through bandpass filter, wireless network card (24) and micro process
Device (23) is connected, and the robot A (1) is connected with robot B (2) by wireless signal；It is characterized in that, rescue mode includes
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 signal is penetrated, robot B (2) receives wireless signal by receiving antenna (22), filters wireless communication 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 signal from the wireless signal received；
2) microprocessor (23) extracts CSI grouping 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 end, and Nc is the quantity of subcarrier；
3) judge whether there are personnel to walk about in WiFi investigative range
The tranmitting frequency of transmitting terminal is set, and the CSI amplitude that receiving end is sampled every time utilizes surprise as a matrix
Different value decomposes (SVD) to above-mentioned Matrix Calculating singular value, and when between 1≤singular value≤2, judgement is walked about without personnel, enters step
(6)；When singular value >=3, the personnel of being determined with walk about, and enter step (4)；
4) orientation locating 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 signal reached after body reflection is greater than the length of the propagation path of through CSI signal, 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
Disconnected personnel out are in the region a or the region 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 using the small chest exercise of the Cheyne-Stokes bring of people with the presence of personnel
After the receiving antenna (22) of robot B (2) receives CSI signal, by bandpass filter, retains 0.167HZ and arrive
Signal between 0.667HZ, and weaken the signal of other frequencies, while removing the DC component in original signal, and filtering
A sine component is added in CSI signal afterwards, personnel are judged whether there is by the size of amplitude and are existed, if existing without personnel,
It is then moved to next investigative range and carries out people search, with the presence of personnel, then rescue (1) position robot A passback ground
Help control centre；
Above-mentioned steps pass through microprocessor (23) and carry out operation and processing.
2. a kind of rescue mode of the downhole rescuing robot joint based on wireless CSI, feature according to right 1 exist
In the receiving antenna (22) is equipped with three.
3. a kind of rescue mode of the downhole rescuing robot joint based on wireless CSI, feature according to right 1 or 2
It is, the video image identification module (21) is camera.
4. a kind of rescue mode of the downhole rescuing robot joint based on wireless CSI, feature according to right 1 exist
In the specific judgment method of the step (4) is as follows:
Receiving end received signal is regarded to the set of signal under N item difference 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) phase offset under, e-j2πΔftIt is
Phase offset caused by carrier frequency difference between transmitting terminal and receiving end；
Due to the propagation delay τ of K pathsk(t) equal to K paths the propagation distance dk (t) of t from the moment 0 to the moment with
The ratio of spread speed C, and therefore product of the electromagnetic wave propagation speed C equal to frequency f and wavelength X can become formula (1)
Shaped like under:
Hs (f) is the channel frequency response of static path, PdIt is dynamic route；
It is as follows that formula can 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 and 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 line direction to the region 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 greater than L1, personnel
In the region b, if L2 is less than L1, personnel are in the region a.
5. a kind of rescue mode of downhole rescuing robot joint based on wireless CSI according to claim 1, feature
It is, the specific detection method is as follows for the step (6):
The amplitude of the subcarrier of filtered CSI signal, 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
It (i) is noise contribution；
The expression formula of the sub-carrier amplitude of additional sine component are as follows:
Gk(i)=Ak cos(2πfti+φk), (5)
Wherein, Ak, φkThe amplitude and phase of k-th subcarrier are respectively indicated, f indicates the frequency of breathing；
The expression formula of sub-carrier amplitude after above-mentioned sine component is added are as follows:
Wherein Gk(i) be greater 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's search, when amplitude is greater than 0.2, expression someone's breathing then returns (1) position robot A that is, with the presence of personnel
Ground rescue contral center.
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| 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 |
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