CN202634708U - Underground personnel positioning system - Google Patents

Abstract

The utility model discloses a personnel positioning system used in underground coal mines. The system includes a ground monitoring center located on the well, a transmission base station located underground, multiple gateway nodes, optical fibers, buses, multiple wireless beacon nodes, and multiple mobile nodes. The equipment used in the underground are all intrinsically safe of. The system adopts a personnel positioning method based on pattern matching, and divides the roadway into different blocks according to the structure of the roadway and the signal coverage of the beacon nodes, and the beacon nodes are arranged in the same way in each block. In the training phase, the training node generates a positioning pattern database in the ground monitoring center. In the positioning phase, the mobile node sends the positioning pattern to the ground monitoring center according to the received positioning signal of the beacon node, and matches the pattern generated by the training node in the database. Find the closest pattern for precise positioning. The utility model has high positioning precision, low cost, simple structure of system equipment and low energy consumption.

Description

An underground personnel positioning system

technical field

The utility model relates to the field of underground safety monitoring of coal mines, in particular to an underground personnel positioning system based on a wireless sensor network. the

Background technique

Coal is the main energy source of our country, but for many years, the working environment of coal mines is harsh, the geological environment is complex, and there are always hidden dangers of disasters such as the escape of various harmful gases and unknown water bodies. The low quality has led to the continuous occurrence of vicious accidents in various mines, and the life safety of underground workers has been seriously threatened. With the continuous advancement of science and technology, people have deployed a variety of detection systems and monitoring systems underground in order to know the location of underground workers, facilitate timely rescue work and management scheduling in daily production when mine disasters occur. the

In order to realize the positioning of underground personnel, Chinese patent application 01122258.1 discloses an intelligent positioning safety management system for underground personnel, which is composed of an electronic identification card, a roadway inquiry receiving device and a management dispatching center. Underground workers wear electronic identification cards. The identification cards are written with the employee's electronic number and powered by the battery of the miner's lamp. The arrival signal is transmitted to the management dispatch center, and the management dispatch center records the signal and the time of occurrence. Through multi-point positioning reception, the underground staff can be tracked and located, which is beneficial to dispatching and commanding, safety supervision and personnel statistics and attendance, and especially can provide personnel location information for rescue when an accident occurs. the

However, this invention can only determine that the position of the underground staff is within the receiving range of the interrogation device, and the general underground wireless communication distance is on the order of tens of meters, so the positioning accuracy of the positioning system is also on the order of tens of meters. very low. On the other hand, if you want to improve the accuracy, you must increase the layout density of the interrogation devices, which will increase the cost of the positioning system. the

Most of the existing underground positioning systems are based on RFID (Radio Frequency Identification) radio frequency identification technology, and the methods used are similar to the above-mentioned patents, but there are problems such as insufficient positioning accuracy and cost-limited accuracy. the

Utility model content:

Aiming at the deficiencies of the existing technology, especially the problem of insufficient positioning accuracy of the mine positioning technology and the accuracy being limited by cost, the utility model proposes an underground personnel positioning system with simple structure, high positioning accuracy and low cost. The system combines the characteristics of the roadway space, uses limited reference nodes and simple algorithms to achieve real-time and accurate target positioning, and meets the needs of mine production scheduling and timely rescue after disasters. the

In order to achieve the above object, the utility model adopts the following technical solutions:

An underground personnel positioning system based on a wireless sensor network, which consists of a ground monitoring center, a transmission base station, a gateway node, an optical fiber, a bus, a wireless beacon node, a training node and a mobile node. It must be pointed out that all the downhole equipment involved in the system are intrinsically safe equipment. The wireless beacon node and the gateway node are arranged in the roadway, the gateway node is connected with the transmission base station through the bus, and the transmission base station is connected with the ground monitoring center through the optical fiber. the

The ground monitoring center is a computer or server, or a computer network composed of multiple computers or servers. The database of the ground monitoring center stores the positioning mode data, and receives the positioning information sent from the underground from the base station, and processes the positioning information. the

The transmission base station is a switch, responsible for converging the information sent by the gateway node through the bus, and transmitting it to the ground monitoring center through optical fiber. the

The gateway node includes: a processor, a memory, a wireless transceiver, a sensor, a power supply and a bus module. The gateway node is responsible for receiving the positioning information sent by the mobile node and sending it to the transmission base station through the bus. the

The beacon node includes: a processor, a memory, a wireless transceiver, a sensor, and a power supply. Beacon nodes are arranged in blocks in the lane, and the number of beacon nodes in each block is the same. Each beacon node has a block number and a unique self-number in this block; the beacon node is responsible for Transmit positioning information to the mobile node, the positioning information includes the number of the block where the beacon node is located and the number of the beacon node itself. the

Each of the training nodes includes: a processor, a memory, a wireless transceiver, a display, a keyboard, and a power supply. The training node receives positioning information from the beacon node at a position with known coordinates, and generates a location including its own position coordinates, the block number, The mode data of the beacon node's own number and the signal strength of the beacon node are uploaded to the ground monitoring center and stored in the database as the positioning mode data;

Each mobile node also includes: a processor, a memory, a wireless transceiver, a sensor, and a power supply, and is assigned a unique number corresponding to the identity of the underground staff. The mobile node is placed on the safety helmet of the underground personnel, and the battery of the miner's lamp is used as the auxiliary power supply; the mobile node periodically transmits a positioning request signal to the beacon node, and processes the positioning information received from the beacon node to generate a The mode data of the number, the number of the beacon node itself and the signal strength of the beacon node are uploaded to the ground monitoring center, and are matched and calculated with the positioning mode data to realize positioning. the

The bus is CAN bus, or LAN bus, or RS-485 bus. the

The sensor in the gateway node, the beacon node and the mobile node, the wireless transceiver, the wireless transceiver, keyboard and display of the training node and the bus module in the gateway node are connected to the processor and the memory unit in each node; The wireless transceiver in the node receives and sends wireless electromagnetic waves; the sensors in the gateway node, beacon node and mobile node perceive the temperature, humidity and methane concentration information of the surrounding environment, and use the same transmission method as the positioning data to transmit the sensing data to the ground monitoring center; the processor and memory unit in each node store the received data, and process and control the operation of other units; the keyboard of the training node inputs the position coordinates of the training node, and the display shows the input coordinates; the bus module in the gateway node Connected to the bus; power supplies in each node provide power. the

The utility model can be widely used in the precise positioning of underground personnel or mobile equipment in mines. Although it takes a certain amount of time to generate the database during the training phase, it is worth the time in order to achieve high-precision and reliable positioning results. Moreover, the method of generating the database is very simple and easy to implement. Moreover, the utility model can also easily realize underground personnel dispatching, attendance supervision and the like. Through the utility model, the management level and work efficiency of the mine can be effectively improved. the

The beneficial effects of the utility model are:

1. The utility model adopts the method that the mobile node actively transmits the positioning request signal, and the beacon node only transmits the positioning signal when it detects the positioning request signal, and the block selection and the formation and transmission of the data frame are placed in the miner's lamp battery. On the powered mobile node, the battery-powered wireless beacon node only needs to emit electromagnetic wave signals when it receives the positioning request signal sent by the mobile node, which can greatly extend the battery life in the beacon node, thereby prolonging the entire wireless sensor. Network lifespan. the

2. The utility model adopts a positioning algorithm based on pattern matching, and takes the signal strength sent from the beacon node to the mobile node as the calculation parameter, and does not need to calculate the signal transmission distance according to the signal strength. On the one hand, the complexity of the algorithm is low, and the calculation time can be reduced. On the other hand, positioning determines the specific coordinates of each location in the roadway. Compared with the RFID (Radio Frequency Identification) radio frequency identification technology commonly used in coal mines, it can only determine that the mobile node is in a certain card reader. The positioning method near the device greatly improves the positioning accuracy. the

3. The utility model divides the underground roadway into different blocks in combination with the characteristics of the underground roadway, each block only needs to lay a few beacon nodes to achieve high-precision positioning, and the cost is small; and the structure and function are simple , the number of beacon nodes can also be flexibly set according to the specific environment and positioning accuracy requirements. the

Description of drawings

Fig. 1 is the composition block diagram of the underground personnel positioning system based on sensor network of the present utility model;

Fig. 2 is a top view schematic diagram of the training stage roadway in the positioning method of the present utility model;

Fig. 3 is the packet format sent by the beacon node of the present utility model;

Fig. 4 is the data packet format that training node of the present utility model sends to ground monitoring center;

Fig. 5 is the data packet format that mobile node of the present utility model sends to ground monitoring center;

Fig. 6 is a top view schematic diagram of the roadway in the positioning stage in the positioning method of the present utility model;

Fig. 7 is the circuit block diagram of the training node of the present utility model;

Fig. 8 is the same circuit block diagram of mobile node and beacon node of the present utility model;

Fig. 9 is a circuit block diagram of the gateway node of the present invention. the

Detailed ways

In order to make the technical solution, features and advantages of the present utility model clearer, the specific implementation of the present utility model will be further described below in conjunction with the accompanying drawings. the

Fig. 1 is a block diagram of the underground personnel positioning system of the present invention. the

As shown in Figure 1, the utility model is an underground personnel positioning system, including a ground monitoring center 1, a transmission base station 2, an optical fiber 3, a bus 4, a gateway node 5, a beacon node 6, a training node 7 and a mobile node 8. The positions of training nodes and mobile nodes in the network structure of the system are the same, and they appear successively in the system instead of simultaneously. The realization of underground personnel positioning is divided into two stages: one is the training stage, and the other is the positioning stage. In the training phase, the keyboard of the training node enters the coordinates of its own location, and receives the positioning signal transmitted by the beacon node in the block where the coordinate position is located. The positioning signal transmitted by the beacon node contains the number of the block it is located in and its own number , after the training node receives the positioning signal sent by each beacon node in the block, it measures the signal strength of each signal, and lists the block number, the own number of each beacon node, the corresponding signal strength, and the location of the training node The location coordinates of the data packet is sent to the adjacent gateway node, the gateway node sends the received data packet to the transmission base station through the bus, and the transmission base station transmits the received data packet to the ground monitoring center through the customs clearance fiber After the data packet, the pattern contained in it is stored in the database; in the positioning stage, the mobile node is placed on the helmet of the underground worker, and the battery of the miner's lamp can be used as the auxiliary power supply of the mobile node, and the memory of the mobile node stores its own Unique number, the number corresponds to the identity of the person, the mobile node periodically sends a positioning request signal to the surroundings, and the beacon node sends a positioning signal after receiving the signal, the information contained in the positioning signal is the same as the information in the training phase mentioned above , the mobile node stores the received signals, sorts the received signals according to the signal strength, and sorts out all nodes belonging to the same block, indicating that the mobile node is in the block where these beacon nodes are located, and other nodes The signal is discarded, and the mobile node will send the block number, the number of all beacon nodes and the corresponding signal strength into a data packet and send it to the adjacent gateway node. If the positioning signal of all beacon nodes belonging to the same block cannot be received Or did not receive signals from a predetermined number of beacon nodes, indicating that one or some of the beacon nodes in the block where the node is located has failed, and the mobile node sends a fault notification signal to the ground monitoring center for timely troubleshooting. The gateway node sends the data packet sent by the mobile node to the transmission base station through the bus, and the transmission base station sends it to the ground monitoring center through the optical fiber. Pattern matching calculation is performed to find the pattern closest to the pattern in the data packet sent by the mobile node, and the coordinates corresponding to the pattern are positioned as the coordinates where the mobile node is located. the

The ground monitoring center can be a computer or server, or a computer network composed of multiple computers or servers. It has a large database and can use Microsoft SQL Server as a management system to store the positioning data patterns generated by the training nodes during the training phase. In the positioning phase, the control station is responsible for matching the data pattern sent by the mobile node 7 through the gateway node 5 and the transmission base station 2 with the patterns in the database to find the closest pattern to obtain the precise coordinates of the mobile node. the

The specific implementation of pattern matching calculation is as follows:

The data mode data sent by the training node 7 to the ground monitoring center is represented by (1), where A is the number of the block to which it belongs,

K[A, X<i ₁ , r ₁ , i ₂ , r ₂ ,..., i _n , r _n >, L] (1)

X contains the number i _n of the beacon node in the block and the corresponding signal strength r _n , and L is the corresponding coordinate.

The mode that mobile node 8 sends to the ground monitoring center is represented by (2), wherein, B is the serial number of mobile node itself,

M[B, D, Y<i ₁ , p ₁ , i ₂ , p ₂ ,..., i _n , p _n >] (2)

D is the number of the block to which it belongs, and the content contained in Y is the same as X described above. During the pattern matching calculation, first according to the block number in the data pattern sent by the mobile node 7, the pattern corresponding to the corresponding block number in the database is found, and then the matching calculation is performed. The matching calculation is shown in (3), and finally the smallest one is selected. N, take the coordinates in the corresponding mode as the coordinates of the mobile node. the

$\mathrm{<span\; class="notranslate">\; N</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}_{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}^{\mathrm{<span\; class="notranslate">\; no</span>}}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; r</span>}}_{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; p</span>}}_{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

Fig. 2 is a schematic top view of the roadway in the training stage of the positioning algorithm of the present invention. the

As shown in Figure 2, it is assumed that four beacon nodes constitute a block. In practical applications, the number of beacon nodes in the block can be selected according to the actual situation of the roadway. Of course, the number of different beacon nodes corresponds to the number of beacon nodes in the mode The data volume of the marked nodes is different. 9 in the figure is a beacon node, 10 is a training node, each beacon node has its own number, the training node knows the coordinates of its location, and receives the positioning signals of the four beacon nodes in the block. The positioning signal of a node includes the number of the block it is in and its own number. The format of its data packet is shown in Figure 3. After the training node receives the signal of the beacon node, it measures the signal strength when it arrives, and then assembles the block number, the number of the four beacon nodes, the signal strength, and the location coordinates of the training node into a data packet. The format of the data packet is shown in Figure 4, sent to the gateway node 5, the gateway node 5 sends the data packet to the transmission base station 2 through the bus 4, and the transmission base station 2 sends the data packet to the ground monitoring center 1 through the optical fiber 3, and the ground monitoring center 1 and store it in the database. the

Fig. 3 is the data packet format sent by the beacon node of the present invention. the

As shown in Figure 3, because the numbering methods of beacon nodes in different blocks are the same, if each block uses 4 beacon nodes, a total of 4 numbers are needed, so one byte is enough space, and A large mine can be divided into many blocks, so the block number is stored in two bytes. the

Fig. 4 is the data packet format that the training node of the present invention sends to the ground monitoring center. the

As shown in Figure 4, because in pattern matching, first determine which block the mobile node belongs to, then perform pattern matching in this block, and finally determine the coordinates of the mobile node, so the data in the data packet is also arranged in this order . the

Fig. 5 is the data packet format sent by the mobile node of the present invention to the ground monitoring center. the

As shown in Figure 5, compared with Figure 4, only the last byte is missing, which is the node coordinates that need to be obtained by pattern matching. the

Fig. 6 is a schematic top view of the positioning stage in the positioning algorithm of the present invention. the

As shown in Figure 6, for two adjacent blocks 11 and 12, for the mobile node 13, since the beacon node 19 and the beacon node 21 of the 12 block are relatively far away, the signals of these two nodes cannot be received, Only the signals of four beacon nodes in block 11 can be received, and it is easy to determine that the beacon nodes are in block 11. But for the mobile node 14, although it is also in the block 11, it can receive the signals transmitted by the beacon nodes in the block 11, but it is relatively close to the block 12, and it is possible to receive the signal in the block 12. The signal of beacon node 19 and beacon node 21 can even receive the signal of beacon node 20 and beacon node 22, so it is necessary to judge which block the mobile node is in. The block selection algorithm based on signal strength in the present invention is to solve this problem. The mobile node sorts the received signals according to the signal strength from large to small, and takes the signals of the first four beacon nodes belonging to the same block. The mobile node belongs to this block, discards other signals, and then forms a data packet according to the format in Figure 5 and sends it to the gateway node. the

Fig. 7 is a circuit block diagram of the training node of the present invention. the

As shown in FIG. 7 , the training node includes a storage processor memory unit 23 , a keyboard 24 , a wireless transceiver 25 , a display 26 and a power supply 27 . Wherein, the keyboard 24, the wireless transceiver 25, and the display 26 are all connected to the processor memory 23 unit. The keyboard 24 is used to input the position coordinates of the training node, and the input coordinates are displayed on the display 26; the processor and the memory are most closely connected, and it is regarded as a processor memory module 23, which is responsible for storing, processing and controlling other received data. The operation of the unit; the wireless transceiver 25 is responsible for sending and receiving wireless signals; the power supply is connected with each power supply to provide electrical energy for each unit. the

Fig. 8 is a block diagram of the same circuit of the mobile node and the beacon node of the present invention. the

As shown in FIG. 8 , the circuit block diagrams of the mobile node and the beacon node are the same, including a processor memory unit 28 , a sensor 29 , a wireless transceiver 30 , and a power supply 31 . Among them, the connection between the processor and the memory is the closest, so it is regarded as a unit 28, which is responsible for storing and processing the received data and controlling the operation of other units. In addition, the number of the node is stored in the memory of the mobile node and the beacon node; the sensor 29, The wireless transceiver 30 is all connected with the processor memory unit 28; the wireless transceiver 30 is responsible for receiving and sending wireless electromagnetic waves; the sensor 29 is responsible for sensing information such as temperature, humidity, and methane concentration of the surrounding environment, and monitors the environment in real time. The positioning information is transmitted to the ground monitoring center in the same way; the power supply 26 is connected with each unit and is responsible for providing electric energy for each unit. the

Fig. 9 is a circuit block diagram of the gateway node of the present invention. the

As shown in FIG. 9 , the gateway node includes a processor memory unit 32 , a bus module 33 , a sensor 34 , a wireless transceiver 35 and a power supply 36 . Compared with the same circuit block diagram of the training node, the mobile node and the beacon node, the circuit block diagram of the gateway node has only one more bus module 33, and its function is to be connected with the bus, and the functions of other units are the same as those of the above-mentioned Fig. 8 The functions of each unit are the same. the

Claims (7)

1. A downhole personnel positioning system is characterized in that it comprises a ground monitoring center, a transmission base station, an optical fiber, a gateway node, a bus, a beacon node, a training node and a mobile node; The ground monitoring center is a computer or server, or a computer network composed of multiple computers or servers; the ground monitoring center stores positioning mode data, and receives positioning information sent from the underground from the transmission base station through an optical fiber, and processes the positioning information ; The transmission base station is a switch, which aggregates the information sent by the gateway node through the bus, and transmits the information to the ground monitoring center through optical fiber; The gateway node receives the positioning information sent by the mobile node, and transmits it to the transmission base station through the bus; The beacon nodes are laid out by blocks in the roadway, and the number of beacon nodes in each block is the same, and each beacon node has a block number and a unique self-number in this block; The node transmits positioning information to the mobile node, and the positioning information includes the number of the block where the beacon node is located and the number of the beacon node itself; Each of the training nodes receives positioning information from the beacon node at a position with known coordinates, generates pattern data including its own position coordinates, the block number, the beacon node's own number, and the signal strength of the beacon node, and uploads it to the ground monitoring center , stored in a database as the positioning mode data; Each mobile node has a unique number, which corresponds to the identity of the underground personnel; the mobile node is placed on the helmet of the underground personnel, and the battery of the miner's lamp is used as an auxiliary power supply; the mobile node periodically sends a positioning request to the beacon node signal, and process the positioning information received from the beacon node, generate pattern data including the block number, the beacon node’s own number, and the signal strength of the beacon node, and upload it to the ground monitoring center for comparison with the positioning pattern data Match calculation to achieve positioning; The underground equipment involved in the underground personnel positioning system, including transmission base stations, multiple gateway nodes, buses, multiple beacon nodes, a small number of training nodes and multiple mobile nodes, are intrinsically safe equipment. 2. The underground personnel positioning system according to claim 1, wherein the bus is a CAN bus, or a local area network bus, or an RS-485 bus. 3. The underground personnel positioning system according to claim 1, wherein the beacon node comprises: a processor, a memory, a wireless transceiver, a sensor, and a power supply. 4. The underground personnel positioning system according to claim 1, wherein the training node comprises: a processor, a memory, a wireless transceiver, a keyboard, a display, and a power supply. 5. The underground personnel positioning system according to claim 1, wherein each mobile node comprises: a processor, a memory, a wireless transceiver, a sensor, and a power supply. 6. underground personnel positioning system according to claim 1, is characterized in that, comprises the sensor on gateway node, beacon node and mobile node in the system, monitors the temperature, humidity, methane concentration information of surrounding environment, and uses with positioning data The same transmission method, transmit data to the ground monitoring center. 7. underground personnel positioning system according to claim 1, is characterized in that, sensor, wireless transceiver in gateway node, beacon node and mobile node, the bus in the wireless transceiver, keyboard and display of training node and gateway node The module is connected to the processor and memory unit in each node; the wireless transceiver in each node receives and sends wireless electromagnetic waves; the processor and memory unit in each node store the received data, and process and control the operation of other units; train the node Input the location coordinates of the training nodes through the keyboard, and the monitor displays the input coordinates; the bus module in the gateway node is connected to the bus; the power supply in each node provides electric energy. the

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