CN102932740A - Location, search and rescue system for mining personnel - Google Patents
Location, search and rescue system for mining personnel Download PDFInfo
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- CN102932740A CN102932740A CN201210464303XA CN201210464303A CN102932740A CN 102932740 A CN102932740 A CN 102932740A CN 201210464303X A CN201210464303X A CN 201210464303XA CN 201210464303 A CN201210464303 A CN 201210464303A CN 102932740 A CN102932740 A CN 102932740A
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Abstract
The invention discloses a location, search and rescue system for mining personnel. The system comprises a location server, a monitoring terminal, a wired communication sub-system, wireless communication base stations, a location device and a rescue device, wherein the wired communication sub-system mainly comprises an optical fiber, a light splitter and a wireless exchanger; the wireless communication base station mainly comprises an explosion-proof tank, a power supply, a standby battery, a wireless access device, an antenna and the like; the wireless communication base stations are arranged under the coal mine at intervals, and connected with the location server on the coal mine through the wired communication sub-system; the location device is wirelessly communicated with the wireless communication base stations; the location server is used for locating the personnel through location devices carried by the mining personnel, and periodically sending the information such as the location and the identity number of the personnel to the location server; the rescue device can be directly wirelessly communicated with the location device; and the rescue system can locate the trapped personnel, so that the useless work is avoided, the precious rescue time is saved and the rescue efficiency is increased. The location, search and rescue system is a comprehensive system integrated with the functions such as tracking and locating of the mining personnel, dispatching management, and searching and rescuing for a disaster.
Description
Technical field
The present invention relates to a kind of personnel in the pit and locate search and rescue system.The present invention is specifically related to WI-FI radio communication, the technical fields such as wireless location.
Background technology
The personnel in the pit location is the important measures of safety in production.People adopt the whole bag of tricks down-hole personnel position to detect for many years, and when mine met accident accident, navigation system can be personnel's search-and-rescue work important reference is provided.But present location and search and rescue system have the following disadvantages.
Actual use is take REID (RFID) as main at present, and RFID utilizes RF-wise to carry out the noncontact two-way communication, to reach identifying purpose and swap data.Different from other contact recognition technology, need not contact between the radio-frequency card of rfid system and the read write line and just can realize automatic identification and the position monitoring under different conditions to personnel or object.Typical radio-frequency recognition system mainly comprises radio-frequency card and read write line two parts.Use RFID to have following problem:
1.RFID communication distance is limited, the active RFID card is 80 meters of accessible communication distances farthest;
2.RFID the volume of card read-write equipment is larger, is not easy to carry.
3. be not easy to two-way communication.
Based on the navigation system of wireless sensor network, such as the Zigbee navigation system, in the actual use in down-hole, there is following problem:
1.Zigbee the networking of wireless sensor network needs network core device telegon, router support, network core device particularly telegon is damaged, and network will all be paralysed.Can't support to search and rescue the location.
2.Zigbee the communication of wireless sensor network must have network support, not support point point to-point communication.Without network support the time, locating terminal can't with other devices communicatings.
3. can't know the current active state of trapped personnel.
" Ad hoc network " is that a kind of special self-organizing of formulating of IEEE802.11 standard committee is to equation multi-hop mobile communications network, in Ad hoc network, node has the message repeating ability, the forwarding of a plurality of intermediate nodes is passed through in communication between node possibly, namely pass through multi-hop (MultiHop), this is Ad hoc network and other mobile networks' fundamental difference.Node is coordinated mutually by procotol and the distributed algorithm of layering, has realized automatic tissue and the operation of network.Therefore it is also referred to as multi-hop wireless net (MultiHop Wireless Network), self-organizing network (SelfOrganized Network) or infrastructureless network (Infrastructureless Network), and the module of WI-FI wireless network is supported Ad hoc network simultaneously mostly.
Summary of the invention
The object of the invention is to provide a kind of can accurately locate the personnel in the pit, and can be in the mine accident that meets accident, personnel are stranded, and the fixed communication facility is damaged and can't work the time, have location and the search and rescue system of search trapped personnel position functions and bi-directional communication function.
Personnel in the pit of the present invention locates search and rescue system and comprises: location-server, monitor terminal, wire communication subsystem, radio communication base station, positioner and search and rescue device; The wire communication subsystem mainly comprises optical fiber, optical splitter and wireless exchange board; Radio communication base station mainly comprises explosion-proof tank, power supply, reserve battery, radio reception device, antenna isolator and antenna; The installation radio communication base station that keeps at a certain distance away in the down-hole, radio communication base station is by wireless exchange board and location-server on the optical fiber connecting well; Positioner is communicated by letter by wireless mode with radio communication base station; Location-server is realized personnel positioning by the positioner that the underground work personnel carry, and positioner regularly sends user of service's the information such as position, identity and active state to location-server; Positioner and search and rescue device are realized radio communication by Ad hoc networking mode;
The search and rescue device parts comprise: the parts such as processor, radio communication, button, storage, display screen, LED light, buzzer, temperature sensor and power circuit; The detailed process that search and rescue device is searched and rescued is as follows:
1. initialization system arranges communication unit and has Ad hoc networking function, opens the IP address assignment function;
2. search and rescue device is opened TCP/IP or UDP communication after organizing the success of Ad hoc network, and when search and rescue device arrived the communication distance of positioner, positioner was set up TCP/IP or LDP communication link automatically from being dynamically connected search and rescue device;
3. after the link establishment success, positioner regularly detects the signal strength of search and rescue device.
4. positioner sends field intensity information, the ID of self and the vibrational state information of vibrating sensor acquisition by the communication link with search and rescue device to search and rescue device.
5. after search and rescue device receives the information that positioner sends, calculate distance according to signal strength.The formula of field intensity and distance is that relevant parameter obtains by in-site measurement with reference to empirical equation, and is as follows:
A is that signal is propagated the power that 1m receives signal when far away in the formula;
N is that propagation factor is also referred to as loss index, and its numerical values recited depends on the communication environments of wireless signal;
Rd is the signal strength signal intensity of the wireless base station that receives of positioner, i.e. RSSI value;
X
δGaussian Profile normal random variable for zero-mean
6. the LCD screen display of search and rescue device is shown the ID of signal strength and estimated distance, positioner, and the vibrating sensor sense state information of trapped personnel, the rescue worker can judge according to the vibrational state informix active state of trapped personnel, is convenient to implement corresponding search and rescue measure.
7. search and rescue device is by the distance of sound and lamplight pointing search and rescue device and trapped personnel, after receiving the information that positioner that trapped personnel is taken sends, send sound and the light of different interval frequency according to the distance that calculates, the shorter sound of distance and light flash frequency are higher, the user can not see LCD display, only know namely that by listening or observation lamp optical flare situation trapped personnel institute is apart from distance, in order to improve search-and-rescue work efficient.When searching a plurality of positioner, take nearest as the target indication.
8. search and rescue device and positioner two-way communication namely worked as positioner and can be sent information to the positioner that trapped personnel is taken by the communication link search and rescue device with search and rescue device, and trapped personnel also can use positioner to send information to search and rescue device.
9. temperature detection, there is temperature sensor positioner inside, has temperature detecting function, can show real time temperature in LCD display
10. upload and search and rescue record, do not damage the wireless communication normal region at communications facility, upload to location-server communication and search and rescue record.
Characteristics of the present invention
1. search and rescue device and trapped personnel are taken the positioner self-organizing network, need not any other immobilizing foundation network facilities support, each node is coordinated separately behavior by layered protocol and distributed algorithm, can be rapidly and efficiently group-net communication automatically, have higher search sensitivity.
2. search and rescue device and positioner that trapped personnel is taken composition Ad hoc network is a dynamic network.Network node can move everywhere, and network configuration changes at any time, and node can add and deviated from network at any time, is convenient to mobile working and continuously search.
3. search and rescue device is not only located the trapped personnel position, and can know the vital movement state of trapped personnel, avoids invalid work, the time of saves valuable rescue, improves rescue efficiency.
Description of drawings
Fig. 1 locates search and rescue system location work schematic diagram
Fig. 2 locates search and rescue system search-and-rescue work schematic diagram
Fig. 3 search and rescue device hardware structure diagram
The system block diagram of Fig. 4 search and rescue device
Fig. 5 search and rescue device workflow diagram
Fig. 6 positioner connects the search and rescue device workflow diagram
Embodiment
The present invention will be further described below in conjunction with the drawings and the specific embodiments.
As depicted in figs. 1 and 2, described location search and rescue system forms and comprises:
The personnel in the pit locates search and rescue system and comprises: location-server (1), wire communication subsystem, radio communication base station (2) positioner (3) and search and rescue device (6).The wire communication subsystem is the backbone network of whole location search and rescue system, and the wire communication subsystem is take optical fiber as main transmission medium.The wire communication subsystem also comprises optical splitter, the network management devices such as wireless exchange board (5).The installation radio communication base station that keeps at a certain distance away in the down-hole, radio communication base station is by the server on the optical fiber connecting well.The radio communication base station major function is the WI-FI wireless access, and radio communication base station comprises explosion-proof tank, power supply, reserve battery, radio reception device, antenna isolator and antenna.Radio reception device is called AP (Access Point) in standard WI-FI network, be responsible for wireless terminal device access wired ethernet, by radio communication base station the WI-FI WLAN (wireless local area network) is covered each tunnel.Each AP is assigned service set identifier SSID and different physical addresss, navigation system is according to the different radio communication base station of sign difference of AP, radio communication base station is supported the trans-regional roaming of wireless terminal device, radio communication base station is used as the positioning datum reference point when the computing of location simultaneously, the positional information of radio communication base station and identification information are stored in the storage subsystem of location-server and positioner, for the location computing provides foundation.Positioner is communicated by letter with aboveground location-server as standard WI-FI terminal equipment access WI-FI WLAN (wireless local area network).Location-server is responsible for system communication management, data storage and the information service of personnel and equipment is provided for monitor terminal.The production management personnel are by the Real Time Monitoring of monitor terminal (4) access location-server realization to underground work personnel and relevant device, monitor terminal has map and shows, location of personnel and data show inquiry, the location of personnel statistics, and historical position is followed the trail of the functions such as inquiry.Geographical information platform can use MapX mapable parts, and the mine map is the map vector of tunnel two dimensional cross-section, and map file is the MapInfo form.
Fig. 2 is for location and search and rescue system search-and-rescue work schematic diagram, and when the fixed communication access device breaks down, search and rescue device (6) is set up Ad hoc network with positioner (3), is positioner distributing IP address by the search and rescue device organization network.
In embodiment illustrated in fig. 3, search and rescue device hardware forms and comprises following part:
1. processor (306) is selected the MSP430F147 single-chip microcomputer of TI company.This model is 16 risc architectures, has 32kFlash, 1kRAM; And 5 kinds of low-power consumption modes are arranged, abundant sheet inner peripheral module, the flexibly plurality of advantages such as clock system.MSP430 can work under 1.8～3.6V low-voltage, and system adopts the 3.3V operating voltage.The built-in precision of MSP430F147 is the A/D converter of 12 200kps.1 non-linear differential error, 1 non-linear integral error, 4 kinds of analog-to-digital conversion patterns.
2.WI-FI communication (307) part comprises WI-FI communication module and antenna, the WI-FI communication module adopts take the iChip series of ConnectOne company and encrypts networking control chip CO2128 as the product of the scheme of core, and inside modules comprises radio-frequency module, communication interface modules, state control and detection module and memory; Antenna adopts directional antenna.
3. button (304) control circuit is comprised of 4 buttons, adopts independent button keyboard, in conjunction with the display interface of display screen, realizes the switching of each function and state.
4. storage (305) chip adopts 1 24C512, because described positioner has only used a storage chip, chip select address need be set, so the sheet of 24C512 clicks the whole ground connection of pin.24C512 uses the I2C bus communication,, use two standard I/O interfaces to add and draw resistance to connect SCL and SDA pin, realize processor and storage chip Control on Communication.
5.LCD display screen (301) adopts two row dot matrix type LCD MODULE, have the characteristics such as low in energy consumption, that the supply voltage range is wide, ken size: 60.5 * 18.0mm, 54.8 * 18.3mm, processor to the Liquid Crystal Module transmitting display data, drives the control Liquid Crystal Module by 4 I/O mouths by 8 I/O mouths in addition.
6.LED indicator light (302) adopts two paster LEDs, be respectively red and green, green as the system mode indication, state comprises power supply indication and charging indication etc., red LED is indicated as state, and state comprises information indication, search indication and distance indication etc.
7. buzzer (303) adopts passive buzzer.
8. temperature sensor (310) hardware components comprises thermo-sensitive resistor and wheatstone bridge, thermo-sensitive resistor has the good linearity, and precision is high, good reliability,. by the thermo-sensitive resistor resistance variations of wheatstone bridge measurement as temperature-sensing element (device), thermo-sensitive resistor directly is converted to the variable quantity of resistance the variation of bridge pressure as one of them arm resistance.The module kernel of the ADC12 of MSP430147 shares, and finishes respectively Gather and input by the analog switch of front end.So the brachium pontis optional arbitrary mouth that connects 12 AD analog quantity inputs in thermo-sensitive resistor place is pressed for detection of bridge and is changed.。MSP430F147 Chip Microcomputer A/D changes the reference data voltage that reference data voltage can use outside input, and the reference data voltage that also can use internal reference voltage generator to produce can be finished A/D conversion setting by the ADC12CTL control register is set.Owing to using the single-chip microcomputer internal reference voltage can increase the power consumption of processor, consider for the Design of power saving of device, select external reference voltage, with the operating time of assurance device.Also need to carry out software filtering by processor for the signal that detects.
Among the embodiment, the system of search and rescue device forms and comprises as shown in Figure 4:
1. acquisition subsystem (401) is responsible for the collection of device input signal, comprising: the collection of temperature information collection, vibrating sensor induced signal, the step computing of voltage acquisition meter and actuation of keys collection.
2. positioning subsystem (402), be responsible for gathering peripheral WI-FI access point to the signal strength of module from the WI-FI communication module, and according to the positional information of field intensity signal, access point, obtain the position of positioner in conjunction with the personnel's of wearing step-length step number computing, be uploaded to location-server by communication subsystem.
3. communication subsystem (403) is responsible for the communication of equipment and system and external device, comprises the control of WI-FI radio communication, the UART Control on Communication.
4. display subsystem (404) is responsible for the driving of LCD screen of device and the demonstration of information.
5. control subsystem (405), the hardware cells such as buzzer, LED, the LCD that is responsible for control device is backlight, power supply are realized separately function.
6. storage subsystem (406) is responsible for communicating by letter between control device and the storage chip, realizes data storage and read operation.
Fig. 5 is the search and rescue device workflow diagram, behind the initialization system, search and rescue device automatic search positioner (501), search and rescue device has Ad hoc networking function, when search and rescue device arrives the communication distance of positioner, search and rescue device is positioner distributing IP address (502), search and rescue device is accepted the connection (503) of positioner, communication link (504) is set up in the open communication service, after the link establishment success, positioner regularly detects the signal strength of search and rescue device, and positioner sends field intensity information and the ID (505) of self by the communication link with search and rescue device to search and rescue device.Search and rescue device receives resolves the signal strength that obtains the search and rescue device that positioner detects after the information that positioner sends, with field intensity substitution empirical equation
Calculate the distance (506) of search and rescue device and positioner; There is temperature sensor search and rescue device inside, has temperature detecting function, periodic monitor ambient temperature (507); The last activity time of showing the ID of signal strength positioner and the user that positioner is sensed by the LCD screen display, search and rescue person can this as reference of judging the captive active state; Search and rescue device is according to sending sound and the light (508) of different interval frequency with the distance of positioner, the shorter sound of distance and light flash frequency are higher, the user can not see LCD display, only namely know the distance of trapped personnel by listening or observation lamp optical flare situation, in order to improve search-and-rescue work efficient; LCD display shows real time temperature; Search and rescue device has time clock feature, can show in real time the current time, can make the wearer can grasp in real time correct time.The rescue worker can show that prompting and operation push-button search and rescue device are set to upload recording status (509) by the LCD screen display, uploading under the recording status, the communication subsystem of search and rescue device is revised the WI-FI communication module (510) is set, its operating state is set to common WI-FI network terminal node mode, near the radio communication base station of the normal operation search and rescue device search, as finding then automatically to connect into the WI-FI network, connect location-server TCP serve port and send the searching record (512) of not uploading in the TCP mode, automatic recovery WI-FI communication module changes Ad hoc networking working method (513) over to after whole records are uploaded, and continues search positioner (501).
In embodiment illustrated in fig. 6, positioner connects under the communication mode the special-purpose search and rescue device of automatic search and to be connected the implementation process example as follows at TCP: positioner is set up TCP with the location-server communicating pair in client-server end mode and is connected (601), positioner connects location-server fixed ip address and port as client, the location-server end is that server side uses fixed ip address and fixed port, and up-downgoing information is transmitted based on the TCP link channel.When not having transfer of data on the link channel, positioner should send link detecting packet (603) to keep the TCP connection by per interval S (602), system begins timing and do not receive answer (604) after the link detecting packet sends overtime K, sends immediately link detecting bag (603) again; Do not receive yet that after continuously sending R time (605) answer judges that then link is invalid, data receiver initiatively disconnects this connection (614) repetition TCP connection procedure (601); If TCP fails successful connection, then reconnect network, as not connecting yet connect to the Net (606) G time and then automatically enter the search pattern (608) of crying for help surpassing, communication subsystem arranges the WI-FI communication module and enters search search and rescue device state, and positioner is supported the networking of Ad hoc mode under this state; Be connected with location-server TCP not such as positioner that number of success (606) does not reach G time, then show information in the LCD screen display, the user can enter help-asking mode (608) with often manually controlling positioner by the special function keys of positioner; When positioner searches near the signal of search and rescue device, the Ad hoc network that adds the search and rescue device tissue, the IP address that the automatic acquisition search and rescue device distributes, be connected to search and rescue device (610) by TCP, detect search and rescue device signal strength (611), send the information (612) such as field intensity, positioner identity and last time of vibration to search and rescue device by the TCP interface channel, duplicate detection field intensity (611) and transmission information (612) process behind H blanking time (613); Repeat acousto-optic if positioner does not detect the search and rescue device signal and call for help (609) continuation search search and rescue device signal.Location-server as the data receiver also can initiatively regularly detect link, and overtime S1 does not receive uploading data or the link detecting packet of positioner, then judges link failure, initiatively disconnects the therewith connection of positioner.Parameter S, K, R, G, H, S1 can set according to link condition.
Claims (9)
1. a personnel in the pit locates search and rescue system, comprising: location-server, monitor terminal, wire communication subsystem, radio communication base station, positioner and search and rescue device; The wire communication subsystem comprises optical fiber, optical splitter and wireless exchange board; Radio communication base station comprises explosion-proof tank, power supply, reserve battery, radio reception device, antenna isolator and antenna; The installation radio communication base station that keeps at a certain distance away in the down-hole, radio communication base station is by wireless exchange board and location-server on the optical fiber connecting well; Positioner is communicated by letter by wireless mode with radio communication base station; Positioner is used for the location and physical activity detects; Positioner regularly sends user of service's the information such as position, identity and active state to location-server; Positioner when wireline communication network and radio communication base station break down and search and rescue device realize radio communication by Ad hoc networking mode; The work of search and rescue device may further comprise the steps: search and rescue device processor control wireless communication module is realized automatic Ad hoc networking, accepts positioner that the personnel in the pit carries or the wireless connections of call device, and is its distributing IP address; Field intensity information and ID between that receiving positioner sends and the search and rescue device; According to the distance of field intensity information calculating with positioner; Show the last movable time of user that positioner distance, ID and positioner are sensed by display screen; The distance of sound and lamplight pointing search and rescue device and trapped personnel is sent sound and the light of different interval frequency according to the distance of calculating; Search and rescue device and positioner send Word message mutually; Upload and search and rescue record.
2. personnel in the pit as claimed in claim 1 locates search and rescue system, it is characterized in that: positioner is used for the location and detects user of service's active state, in the situation that with location-server proper communication, timed sending user of service's positional information, identity and active state.
3. personnel in the pit as claimed in claim 1 locates search and rescue system, it is characterized in that: when positioner a period of time fails to connect into intrinsic wireless network, from the Ad hoc network that is dynamically connected by the search and rescue device tissue, and to information such as search and rescue device transmitted signal field intensity, ID and the last activity times, make search and rescue system obtain position, identity and the active state of trapped personnel.
4. personnel in the pit as claimed in claim 1 locates search and rescue system, it is characterized in that: search and rescue device comprises: processor, wireless communication unit, button, storage, display screen, LED light, temperature sensor and power circuit.
5. personnel in the pit as claimed in claim 1 locates search and rescue system, it is characterized in that: the search and rescue device receiving positioner sends information, resolves the field intensity information and the ID that obtain between the search and rescue device, and shows by display screen.
6. personnel in the pit as claimed in claim 1 locates search and rescue system, it is characterized in that: search and rescue device follows the field intensity Rd that beams back according to positioner to calculate the distance of search and rescue device and positioner, and formula is as follows:
A is that signal is propagated the power that 1m collects mail when far away number in the formula;
N is that propagation factor is also referred to as loss index, and its numerical values recited depends on the communication environments of wireless signal;
Rd is the signal strength signal intensity of the radio communication base station that receives of positioner, i.e. RSSI value;
X
δGaussian Profile normal random variable for zero-mean.
7. personnel in the pit as claimed in claim 1 locates search and rescue system, it is characterized in that: search and rescue device shows the time of the last time vibration that positioner distance, ID and positioner are sensed by LCD, judges thus present positioner user's active state.
8. personnel in the pit as claimed in claim 1 locates search and rescue system, it is characterized in that: search and rescue device is by the distance of sound and lamplight pointing search and rescue device and trapped personnel, send sound and the light of different interval frequency according to the distance of calculating, the nearlyer frequency of distance is higher.
9. personnel in the pit as claimed in claim 1 locates search and rescue system, it is characterized in that: search and rescue device is uploaded the search and rescue record in the wireless communication normal region to location-server.
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| CN105898860A (en) * | 2016-03-31 | 2016-08-24 | 成都理工大学 | Downhole person location rescue system |
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| CN108235290A (en) * | 2017-12-26 | 2018-06-29 | 南京熊猫电子股份有限公司 | A kind of method of the mobile communication terminal user ID in quick and precisely extraction low coverage space |
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| CN110225477A (en) * | 2018-03-02 | 2019-09-10 | 光力科技股份有限公司 | The localization method and ground through communication system of wireless network node in underground goaf |
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| CN105872982B (en) * | 2016-05-05 | 2023-05-02 | 中国矿业大学(北京) | Disaster-resistant mine emergency communication and positioning system |
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