CN1694569A - Downhole positioning system, device and method based on radio sensor network - Google Patents
Downhole positioning system, device and method based on radio sensor network Download PDFInfo
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- CN1694569A CN1694569A CN 200510071144 CN200510071144A CN1694569A CN 1694569 A CN1694569 A CN 1694569A CN 200510071144 CN200510071144 CN 200510071144 CN 200510071144 A CN200510071144 A CN 200510071144A CN 1694569 A CN1694569 A CN 1694569A
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Abstract
This invention relates to an underground positioning system, device and method based on wireless sensor networks. The system includes: mobile positioning nexuses set in cap-lamps, gateways connecting with wire and wireless networks and a system management center. The method includes: a mobile nexus related position locating method based on RF signal strength, an accurate positioning method combining mobile nexuses and gateways, a method for connecting the ground and underground wire communication system to realize accurate position of mobile persons and equipments.
Description
Technical field
The present invention relates to the mine safety monitoring field, particularly a kind of downhole positioning system, device and method based on wireless sensor network.
Background technology
For many years, there is the geological environment complexity in the underground work environment of mine, various pernicious gases, not clear water body effusion situation.Along with progress of science and technology, multiple detection system, supervisory control system have been laid.But the serious accident of mine still constantly takes place, and underground work personnel's safety in serious threat.And the flowability of underground operators is big, the operational environment complexity.In case contingency takes place, personnel in the pit's definite quantity, everyone residing particular location all are difficult to determine, bring very big difficulty to rescue operation, usually can incur loss through delay the best opportunity of rescue, cause serious consequence.In addition,,, to personnel's injury, can not use big plant equipment to rescue in excavate, cause rescue to be made slow progress because wrecked personnel's particular location can not determine in case contingency takes place.If can determine underground work personnel's definite position, will accelerate the progress of rescuing greatly, just might succour out more personnel, loss is dropped to minimum limit.
At present, the general mode that adopts electronic recognition card (RFID) in location, down-hole.The employee carries the electronic recognition card with unique number, and the inquiry unit emission request signal in tunnel receives the answer signal of employee's electronic recognition card, thereby realizes employee's location.There are some problems in this navigation system: at first be that positioning accuracy is low, positioning accuracy depends on the distance between the inquiry unit of tunnel, the distance of tunnel inquiry unit is tens meters a magnitude in the general electronic recognition fastening position mode, so the positioning accuracy of navigation system is tens meters a magnitude, can not fine positioning, can only help within limits for the rescue of emergency.In addition, radio-frequency card generally is passive card, can only reply fixing inquiry.Under something unexpected happened, the employee only relies on the electronic recognition card only can determine that Position Approximate before takes place accident, and can not carry out two-way communication with the tunnel inquiry unit.
The inaccurate problem in downhole positioning system location before the present invention has overcome has realized that the down-hole accurately locatees.The present invention utilizes technology such as wireless communication technology, embedded technology, and a kind of system of can be pinpoint in the down-hole, can realizing self-organizing network is provided, and can be used for scheduling, safety management, emergency relief, work attendance of mine etc.
Summary of the invention
According to the deficiencies in the prior art, the objective of the invention is to design a kind of support mobile positioning function, portative mobile node, design the mobile personnel localization method that a kind of mobile node and gateway cooperatively interact, accurately locate the realization down-hole.The objective of the invention is to utilize mobile node and gateway, realize underground work personnel's the accurately location of moving.After contingency takes place, can launch rescue work rapidly according to the nearest position history record that writes down in pinpoint position or the management system.Because personnel's exact position is known, just can use mechanized equipment, accelerate the progress of rescue, and can not injure by the rescue personnel, reduce the loss that contingency brings.In routine duties, this system can be used for personal scheduling, monitoring, work attendance etc.Mine management level, operating efficiency are improved greatly, also brought more benefit.
Content of the present invention comprises: the down-hole Precise Position System, insert mobile node (1), gateway (2), cable network and the administrative center (3) of mine lamp.Method comprises: based on the mobile node relative position localization method of radio-frequency (RF) signal strength; The accurate positioning method of mobile node and gateway combination.
A kind of downhole positioning system based on sensor network, by the mobile node (1) that is built in the band positioning function in the mine lamp, gateway (2) and administrative center (3) form, connect by cable network between administrative center (3) and the gateway (2), gateway (2) is connected by radio communication with mobile node (1), during the location, administrative center sends positioning instruction at regular intervals, this instruction arrives gateway (2) by cable network, gateway and mobile node (1) carry out alternately, calculate its position by mobile node with respect to gateway, be transferred to gateway, the positional information of gateway affix oneself, be sent to administrative center, management software obtains the exact position of mobile node to data computation.
A kind of down-hole localization method based on wireless sensor network, by the mobile node (1) that places the band location in the mine lamp, the system that gateway (2) and administrative center (3) form, during the location, administrative center (3) sends positioning instruction at regular intervals, this instruction arrives gateway (2) by cable network, gateway and mobile node (1) carry out alternately, calculate its position by mobile node with respect to gateway, be transferred to gateway, the positional information of gateway affix oneself, be sent to administrative center, management software is to data computation, obtain the exact position of mobile node, localization method comprises: based on the mobile node relative position localization method of radio-frequency (RF) signal strength and the accurate positioning method of mobile node and gateway combination.
Mobile node has been inserted mine lamp inside, when mobile, this mobile node can receive the radiofrequency signal of at least two gateways, by calculating the ratio of their signal strength signal intensities, adopt two point measurement methods, multimetering method or triangulation, can calculate the residing position of this node, mobile node arrives gateway to this location transmission.
The present invention can be widely used in the underground work personnel of various mines or the accurate location of mobile device.The personal scheduling commander of routine work, safety supervision, work attendance etc.By this navigation system, can improve the managerial skills and the operating efficiency in mine.Particularly after contingency took place, the dependence system can accelerate the progress of afterwards rescuing, the loss that the minimizing accident causes to personnel's accurate location and wrecked personnel's position history record information.
Description of drawings
Fig. 1 is the downhole positioning system schematic diagram based on sensor network of the present invention.
Fig. 2 is a mobile node system construction drawing of inserting in the mine lamp of the present invention.
Fig. 3 is a mobile node relative positioning flow chart of the present invention.
Fig. 4 is the pinpoint flow chart of mobile node of the present invention.
Embodiment
Fig. 1 is the downhole positioning system schematic diagram with sensor network.This system is made up of mobile node (1), gateway (2), cable network and administrative center (3).Be connected by cable network between administrative center and the gateway, be connected by radio communication between gateway and the mobile node.Administrative center is the center of whole network, comprises computer, server, the network equipment, and operates in the management software in computer and the server.During the location, the management software of administrative center sends positioning instruction at regular intervals, this instruction arrives gateway (2) by cable network, gateway and mobile node carry out calculating its position with respect to gateway by mobile node alternately, are transferred to gateway, the positional information of gateway affix oneself, be sent to administrative center, management software arrives the exact position of mobile node to data computation.
Fig. 2 is the mobile node of inserting mine lamp, and this mobile node has comprised central processing unit, memory, radio-frequency communication module, navigation system module.Central processing unit, memory and navigation system and radio-frequency communication module are interconnected.This node is an embedded system, has very little volume, so can place mine lamp inside, makes full use of the remaining space in the mine lamp, and places mine lamp inside, and the mine lamp shell provides protection to mobile node, avoids external impacts.And mobile node can utilize the power supply of mine lamp, reduced it volume, prolonged the operating time with respect to the mobile node that uses dry cell as power supply.
Fig. 3 is the relative position localization method flow chart of mobile node.Each employee carries a mobile node, and the band node has been inserted mine lamp inside.When the employee moved, this mobile node can receive the radiofrequency signal of at least two gateways, by calculating the ratio of their signal strength signal intensities, can calculate the residing position with respect to two gateways of this employee, and mobile node arrives gateway to this location transmission.Mobile node relative position positioning step based on radio-frequency (RF) signal strength is as follows:
Step S3-1: at first lay the gateway that is connected with cable network along certain distance in the down-hole, this gateway can also carry out two-way wireless communication with mobile node simultaneously, and the arbitrary mobile node (1) in the navigation system is within the radio-frequency transmissions scope of two gateways at least;
Step S3-2: mobile node is numbered, numbers correspondingly one by one with personnel, this numbering can be corresponding with personnel's file number, can unique identity of fix the number of workers really by numbering;
Step S3-3: during mobile node desire location, at first set up wireless connections with the gateway that is connected with spider lines and wireless network;
Step S3-4: mobile node detects the radio-frequency (RF) signal strength of the contiguous gateway that is received respectively, and notes this intensity level;
Step S3-5: have certain corresponding relation between the intensity of radiofrequency signal and the transmitting range, can determine distance by signal strength signal intensity, because of the distance between two gateways known; Mobile node adopts two point measurement methods, multimetering method or triangulation according to the radio-frequency (RF) signal strength of received gateway emission, calculates the two dimension or the three-dimensional distance of this nodal distance gateway;
Step S3-6: the positional value of this mobile node sends to gateway by radio frequency, is transferred to the network center on ground then, and the ground network center obtains this positional value, has just realized the relative positioning of the relative gateway location of mobile node.
Fig. 4 is the accurate positioning method of mobile node and gateway combination: mobile node at first adopts localization method shown in Figure 3 to determine its position with respect to gateway.Because of the position of each gateway is known, gateway is transferred to the network center on ground to the positional information of the information affix of mobile node oneself by cable network.The management system at center is resolved packet, calculates the position of each mobile node in the down-hole.Positioning step is as follows:
Step S4-1: at first to each gateway numbering, write down the corresponding relation of its position and numbering, the numbering that guarantees each gateway is unique;
Step S4-2: during mobile node desire location, at first set up wireless connections with the gateway that is connected with spider lines and wireless network;
Step S4-3: when certain mobile node process gateway, gateway receives the radiofrequency signal of this mobile node, reads its numbering, just can determine that someone is near this gateway, determines its residing approximate location;
Step S4-4: adopt the mobile node relative position localization method of Fig. 3, determine the position of this mobile node with respect to gateway;
Step S4-5: the position addition the position of gateway and this mobile node can obtain the exact position of mobile node in the down-hole;
Step S4-6: this positional value sends to gateway by radio frequency, is transferred to the network center on ground then, and the ground network center obtains this positional value, has promptly realized the two dimension or the three-dimensional localization of mobile node.
Claims (7)
1. downhole positioning system based on sensor network, by the mobile node (1) that is built in the band positioning function in the mine lamp, gateway (2) and administrative center (3) form, connect by cable network between administrative center (3) and the gateway (2), gateway (2) is connected by radio communication with mobile node (1), during the location, administrative center sends positioning instruction at regular intervals, this instruction arrives gateway (2) by cable network, gateway and mobile node (1) carry out alternately, calculate its position by mobile node with respect to gateway, be transferred to gateway, the positional information of gateway affix oneself, be sent to administrative center, management software obtains the exact position of mobile node to data computation.
2. according to the downhole positioning system based on sensor network of claim 1, it is characterized in that: place the mobile node (1) in the mine lamp; This mobile node is an embedded system, integrated central processing unit, memory, radio-frequency communication module and navigation system module, central processing unit, memory and navigation system and radio-frequency communication module are interconnected, can realize that data processing, radio communication and operation comprise the various application programs in being positioned at.
3. according to the downhole positioning system based on sensor network of claim 1, it is characterized in that: administrative center (3) generally by computer, server, the network equipment and run on computer and server on various softwares form.
4. down-hole localization method based on wireless sensor network, by the mobile node (1) that places the band location in the mine lamp, the system that gateway (2) and administrative center (3) form, during the location, administrative center (3) sends positioning instruction at regular intervals, this instruction arrives gateway (2) by cable network, gateway and mobile node (1) carry out alternately, calculate its position by mobile node with respect to gateway, be transferred to gateway, the positional information of gateway affix oneself, be sent to administrative center, management software is to data computation, obtain the exact position of mobile node, localization method comprises: based on the mobile node relative position localization method of radio-frequency (RF) signal strength and the accurate positioning method of mobile node and gateway combination.
5. according to the down-hole localization method based on wireless sensor network of claim 4, based on the mobile node relative position localization method of radio-frequency (RF) signal strength, the radio frequency positioning step is as follows:
Step S3-1: at first lay the gateway that is connected with cable network along certain distance in the down-hole, this gateway can also carry out two-way wireless communication with mobile node simultaneously, and the arbitrary mobile node (1) in the navigation system is within the radio-frequency transmissions scope of two gateways at least;
Step S3-2: mobile node is numbered, numbers correspondingly one by one with personnel, this numbering can be corresponding with personnel's file number, can unique identity of fix the number of workers really by numbering;
Step S3-3: during mobile node desire location, at first set up wireless connections with the gateway that is connected with spider lines and wireless network;
Step S3-4: mobile node detects the radio-frequency (RF) signal strength of the contiguous gateway that is received respectively, and notes this intensity level;
Step S3-5: have certain corresponding relation between the intensity of radiofrequency signal and the transmitting range, can determine distance by signal strength signal intensity, because of the distance between two gateways known; Mobile node adopts two point measurement methods, multimetering method or triangulation according to the radio-frequency (RF) signal strength of received gateway emission, calculates the two dimension or the three-dimensional distance of this nodal distance gateway;
Step S3-6: the positional value of this mobile node sends to gateway by radio frequency, is transferred to the network center on ground then, and the ground network center obtains this positional value, has just realized the relative positioning of the relative gateway location of mobile node.
6. according to the down-hole localization method based on wireless sensor network of claim 4, it is characterized in that, mobile node has been inserted mine lamp inside, when mobile, this mobile node can receive the radiofrequency signal of at least two gateways, by calculating the ratio of their signal strength signal intensities, adopts two point measurement methods, multimetering method or triangulation, can calculate the residing position of this node, mobile node arrives gateway to this location transmission.
7. according to the down-hole localization method based on wireless sensor network of claim 4, the accurate positioning method that mobile node and gateway combine, positioning step is as follows:
Step S4-1: at first to each gateway numbering, write down the corresponding relation of its position and numbering, the numbering that guarantees each gateway is unique;
Step S4-2: during mobile node desire location, at first set up wireless connections with the gateway that is connected with spider lines and wireless network;
Step S4-3: when certain mobile node process gateway, gateway receives the radiofrequency signal of this mobile node, reads its numbering, just can determine that someone is near this gateway, determines its residing approximate location;
Step S4-4: adopt mobile node relative position localization method, determine the position of this mobile node with respect to gateway;
Step S4-5: the position addition the position of gateway and this mobile node can obtain the exact position of mobile node in the down-hole;
Step S4-6: this positional value sends to gateway by radio frequency, is transferred to the network center on ground then, and the ground network center obtains this positional value, has promptly realized the two dimension or the three-dimensional localization of mobile node.
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| CN104316902A (en) * | 2014-07-15 | 2015-01-28 | 浙江利尔达物联网技术有限公司 | Underground positioning method |
| CN109254262A (en) * | 2018-09-03 | 2019-01-22 | 深圳小淼科技有限公司 | A kind of localization method and system of intelligent mine lamp |
| CN110619697A (en) * | 2019-09-25 | 2019-12-27 | 天地（常州）自动化股份有限公司 | Well entry uniqueness detection device and detection method based on low-frequency triggering |
| CN112797974A (en) * | 2020-12-29 | 2021-05-14 | 国家能源集团宁夏煤业有限责任公司 | Underground navigation and illumination device and underground navigation system |
| CN117110982A (en) * | 2023-10-25 | 2023-11-24 | 山西燕山鑫源防护设备股份有限公司 | Mining personnel management and environmental parameter mobile monitoring system |
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