CN100481797C - A method for realizing real-time monitoring of the underground coal miners by ZigBee network - Google Patents
A method for realizing real-time monitoring of the underground coal miners by ZigBee network Download PDFInfo
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- CN100481797C CN100481797C CNB2006100976372A CN200610097637A CN100481797C CN 100481797 C CN100481797 C CN 100481797C CN B2006100976372 A CNB2006100976372 A CN B2006100976372A CN 200610097637 A CN200610097637 A CN 200610097637A CN 100481797 C CN100481797 C CN 100481797C
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Abstract
The invention relates to a method for real-time detecting under-mine worker via IEEE802.15.4 technique. Wherein, it arranges one or several networks at tree, star or mesh structure in the under-mine channel; each network is formed by one base station and several routes; the worker is arranged with positioning device; the base station, route and positioning device are connected via IEEE802.15.4 wireless network protocol; the base station and superior control computer are connected by Ethernet or RS485 communication protocol; the RRSI value of wireless electric signal between network nodes is relative to the spatial distance, via self learnt network, said relationship can be fixed, and the positioning device can via said relationship and tested RRSI value, fixes the spatial position and sends the information to the computer control system to real-time detect the under-mine worker.
Description
Technical field
The invention belongs to a kind of safety of coal mines technical field, specifically is to utilize the IEEE802.15.4 network technology to realize the coal mine down-hole personnel method of monitoring in real time
Background technology
The China's coal-mine security incident frequently takes place, and some collieries take place after the mine disaster, and personnel in the pit's number and accurate position can't be provided, and has had a strong impact on the search operations of mine disaster.At present, the data transmission medium of domestic coal mine underground monitoring, monitoring system is mainly cable, transmission means is an analog quantity, there is following defective in this purpose monitoring system, working environment at coal mines is abominable, and cable subjects to damage, in case this situation takes place, difficult definite system failure point influences the normal use of system; This external system adopts analog quantity to carry out transfer of data and exchange, and poor anti jamming capability easily causes wrong report; The sorts of systems that present colliery puts into effect all can not provide personnel in the pit's Kinematic Positioning and speech communication, and wrecked personnel can't in time be succoured.
IEEE802.15.4 is a kind of wireless network communication technique standard of rising in recent years, have low-power consumption, low cost, low complex degree, low rate, in short-term, the characteristic of high safety, be suitable for very much network requirement such as security information collection and communication under the colliery.
Summary of the invention
The purpose of this invention is to provide a kind of IEEE802.15.4 of utilization network technology and realize the coal mine down-hole personnel method of monitoring in real time, can be by computer at the situation of aboveground real-time understanding down-hole miner, the IEEE802.15.4 network technology have power saving, reliable, cost is low, time delay is short, network capacity is big, major advantage such as safe, be to solve the communication under the coal mine and the practical scheme of dynamic monitoring at present.
Technical scheme of the present invention is as follows:
A kind of IEEE802.15.4 network technology of utilizing realizes the coal mine down-hole personnel method of monitoring in real time, it is characterized in that may further comprise the steps:
(1) be provided with at underworkings one or more, tree-shaped, starlike, the cancellated network of tool, each network is made up of a base station (Tunnel Position Gateway--TPG) and several routers (TunnelPosition Router--TPR).Base station (TPG) is arranged in the initiating terminal of network, along the network bearing of trend, a plurality of routers is set at a certain distance, and placement positioning device on one's body underground operators (Tunnel Position Device-TPD).Adopt the IEEE802.15.4 wireless network protocol to realize wireless transmission between base station and router, the locator, carry out exchanges data by Ethernet or RS485 communications protocol between base station and the aboveground control computer;
(2) carry out netinit, send initialization package by the base station, each router of base station periphery at first receives initialization package, router is embedded in the processor that declines increases by 1 with initialization package middle distance counter value (Hop), and will append self networks ID or IEEE identification address, transmit to the next router of network, simultaneously that this is new packet sends it back the base station again.After the next neighbor router is received new initialization package, repeat upper router data handling procedure, and continue to transmit to the next router, simultaneously that this is new packet sends it back base station or upper router, to the tail end to network.
After the base station receives the packet that returns from each router, via embedded microprocessor according to minimal path priority algorithm (Short Distance First), range information in the packet that returns according to each router, determine distance with self, distinguish the relative position of upper level router and next stage router, set up the data transfer path option table.
Each level router from the range information in the packet of upper or the next router, with the range information comparison of self, is distinguished the relative position of upper router and the next router according to what receive, sets up its data selection of transmission paths table.
(3) locator determining at the down-hole coordinate position, because base station, router belongs to prior fixed point setting, the coordinate data of its each position is known, when the personnel in the pit who disposes locator when underworkings moves, can receive and close on each router and send at interval the ICQ signal simultaneously by setting-up time, the ICQ information packet of cycle emission contains the ID and the coordinate information of emission router, after locator receives these RI radio intelligence, the embedded microprocessor that includes will be according to these information and the numerical value of measuring the energy RRSI (the radio signal strength indication that Receive Signal Strength ind.cator accepts) of each router radio signal, adopt the location algorithm of Anhui farsighted instrument ANT Nachrichtentechnik GmbH research and development, calculate the relative position of self.
This location algorithm principle is according under the specific environment, there is mathematical relationship between RRSI value between each node of network and the space length, self study by network, determine this mathematical relationship, locator is determined the relative position in its space according to mathematical relationship of setting up and the new RRSI value of measuring afterwards.
(4), each router is received the information of sending from locator, outwards transmit after adding self range information, after other router is received this information, judge that this information is to send or the next router sends from upper router, for the information that upper router sends, will not transmit; The information of sending for the next router continues outwards to transmit, and carries out successively, is finally received the coordinate information of locator by the base station, and by base station transmits to aboveground control computer.
Described base station, locator, wireless router constitute by microprocessor, ZigBee wireless transmission chip and external antenna, and the base station is by TCP/IP or the communication of RS485 procotol brow-up position, the communication of IEEE802.15.4 procotol brow-down position.
On miner's mine lamp, have locator (TPD) when moving in the down-hole, can periodically repeat said process, after these locator coordinate informations continuously are forwarded to ground-based computer, will show the Position Approximate of each miner on the mine three-dimensional digit map in the master-control room of ground in the down-hole.
The present invention is depended on the density of wireless router and the reasonability of distribution to the accuracy of locator coordinate setting, and sampling time interval, when router density bigger, distribution uniform, sampling time interval is short, the accuracy of identification of system is just high more.
The present invention adopts the wireless network transmissions mode, is the center with the exploiting field, and the segmentation networking adopts 100 m ethernet to connect between each zoning section, guarantee data transmission quality, has extremely strong antijamming capability; Wireless router, base station in the network are powered by high capacity cell, and acquisition control circuit and input, output circuit are thoroughly isolated on electric, have improved reliability of operation.
Description of drawings
Fig. 1 is wireless network architecture figure of the present invention.
Embodiment
A kind of IEEE802.15.4 network that utilizes is realized the coal mine down-hole personnel method of monitoring in real time, may further comprise the steps:
(1) be provided with at underworkings one or more, tree-shaped, starlike, the cancellated network of tool, each network is made up of a base station (Tunnel Position Gateway--TPG) and several routers (TunnelPosition Router--TPR).Base station (TPG) is arranged in the initiating terminal of network, along the network bearing of trend, a plurality of routers is set at a certain distance, and placement positioning device on one's body underground operators (Tunnel Position Device-TPD).Adopt the IEEE802.15.4 wireless network protocol to realize wireless transmission between base station and router, the locator, carry out exchanges data by Ethernet or RS485 communications protocol between base station and the aboveground control computer;
(2) carry out netinit, send initialization package by the base station, each router of base station periphery at first receives initialization package, router is embedded in the processor that declines increases by 1 with initialization package middle distance counter value (Hop), and will append self networks ID or IEEE identification address, transmit to the next router of network, simultaneously that this is new packet sends it back the base station again.After the next neighbor router is received new initialization package, repeat upper router data handling procedure, and continue to transmit to the next router, simultaneously that this is new packet sends it back base station or upper router, to the tail end to network.
After the base station receives the packet that returns from each router, via embedded microprocessor according to minimal path priority algorithm (Short Distance First), range information in the packet that returns according to each router, determine distance with self, distinguish the relative position of upper level router and next stage router, set up the data transfer path option table.
Each level router from the range information in the packet of upper or the next router, with the range information comparison of self, is distinguished the relative position of upper router and the next router according to what receive, sets up its data selection of transmission paths table.
(3) locator determining at the down-hole coordinate position, because base station, router belongs to prior fixed point setting, the coordinate data of its each position is known, when the personnel in the pit who disposes locator when underworkings moves, can receive and close on each router and send at interval the ICQ signal simultaneously by setting-up time, the ICQ information packet of cycle emission contains the ID and the coordinate information of emission router, after locator receives these RI radio intelligence, the embedded microprocessor that includes will be according to these information and the numerical value of measuring the energy RRSI of each router radio signal, adopt following location algorithm, calculate the relative position of self.
This location algorithm is under specific colliery underworkings environment, corresponding relation between different space length in the Measurement Network between router and the locator and the decay of RRSI value (router sends and the RRSI value variation of locator when receiving), according to this corresponding relation, sum up to conclude and obtain the experience mathematical relationship, self study by network, determine this mathematical relationship, locator is determined the relative position in its space according to experience mathematical relationship of setting up and the new RRSI value of measuring afterwards.
(4) each router is received the information of sending from locator, outwards transmit after adding self range information, after other router is received this information, judge that this information is to send or the next router sends from upper router, for the information that upper router sends, will not transmit; The information of sending for the next router continues outwards to transmit, and carries out successively, is finally received the coordinate information of locator by the base station, and by base station transmits to aboveground control computer.Base station, locator, wireless router are made of microprocessor, ZigBee wireless transmission chip and external antenna, and the base station is by TCP/IP or the communication of RS485 procotol brow-up position, the communication of IEEE802.15.4 procotol brow-down position.
Claims (2)
1, a kind of IEEE802.15.4 network technology of utilizing realizes the coal mine down-hole personnel method of monitoring in real time, it is characterized in that may further comprise the steps:
(1) be provided with at underworkings one or more, tree-shaped, starlike, the cancellated network of tool, each network is made up of a base station and several routers; Arrangement of base stations along the network bearing of trend, is provided with a plurality of routers at the initiating terminal of network at a certain distance, placement positioning device on one's body underground operators; Adopt the IEEE802.15.4 wireless network protocol to realize wireless transmission between base station and router, the locator, carry out exchanges data by Ethernet or RS485 communications protocol between base station and the aboveground control computer;
(2) carry out netinit, send initialization package by the base station, each router of base station periphery at first receives initialization package, router is embedded in the processor that declines increases by 1 with initialization package middle distance counter value Hop, and will append self networks ID or IEEE identification address, transmit to the next router of network, simultaneously that this is new packet is sent the base station back to again; After the next neighbor router is received new initialization package, repeat upper router data handling procedure, and continue to transmit to the next router, simultaneously that this is new packet sends it back base station or upper router, to the next router to the network tail end;
After the base station receives the packet that returns from each router, via embedded microprocessor according to the minimal path priority algorithm, range information in the packet that returns according to each router, determine distance with self, distinguish the relative position of upper level router and next stage router, set up the data transfer path option table;
Each level router from the range information in the packet of upper or the next router, with the range information comparison of self, is distinguished the relative position of upper router and the next router according to what receive, sets up its data selection of transmission paths table;
(3) locator determining at the down-hole coordinate position, because base station, router belongs to prior fixed point setting, the coordinate data of its each position is known, when the personnel in the pit who disposes locator when underworkings moves, can receive the ICQ information that each router sends at interval simultaneously by setting-up time of closing on, the ICQ information packet of cycle emission contains the ID and the coordinate information of emission router, after locator receives these RI radio intelligence, the embedded microprocessor that includes will be according to these information and the numerical value of measuring the energy RRSI of each router radio signal, adopt following location algorithm, calculate the relative position of self:
Corresponding relation between different space length in the Measurement Network between router and the locator and the decay of RRSI value, according to this corresponding relation, sum up to conclude and obtain this experience mathematical relationship, locator is determined the relative position in its space according to mathematical relationship of setting up and the new RRSI value of measuring afterwards;
(4) each router is received the information of sending from locator, outwards transmit after adding self range information, after other router is received this information, judge that this information is to send or the next router sends from upper router, for the information that upper router sends, will not transmit; The information of sending for the next router continues outwards to transmit, and carries out successively, is finally received the information of locator by the base station, and by base station transmits to aboveground control computer.
2, method according to claim 1, it is characterized in that described locator, wireless router are made of microprocessor, ZigBee is wireless core shooting sheet and external antenna, the base station is by TCP/IP or the communication of RS485 procotol brow-up position, by the communication of IEEE802.15.4 procotol brow-down position.
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Cited By (1)
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