Communication method, device and tag based on UWB positioning system

Abstract

The embodiments of this specification provide a communication method, device and tag based on the UWB positioning system. The method applied on the base station side includes: receiving a report message from a first tag; determining the communication success rate of the first tag based on the ID of the first tag; if the communication success rate of the first tag is lower than a preset threshold, and this report is a communication method that seizes a time slot, a fixed time slot is allocated to the first tag, and a message is sent to instruct the first tag to report a message in the fixed time slot. The technical solution of the embodiments of this specification, the communication method between the tag and the base station combines the communication methods of fixed time slots and preemptive time slots. The base station side calculates the communication success rate of each tag and adjusts the communication method between the tag and the base station, thereby increasing the concurrency while ensuring communication stability, effectively meeting the production needs of underground mines.

Description

Technical Field

[0001] The present disclosure relates to the field of coal mine information technology, and more specifically, to a base station side communication method, a tag side communication method and corresponding base station side devices and tags, and electronic equipment based on a UWB positioning system. Background Art

[0002] The positioning system based on UWB technology is often used in coal mine scenarios. The positioning system consists of hardware positioning equipment, positioning base stations and servers. To achieve the positioning function, one or more positioning base stations need to be deployed in the positioning area, and the personnel in the mine need to wear the corresponding UWB tags (hereinafter referred to as tags). Through the communication between the tag and the positioning base station, the positioning system can calculate the distance between the tag and the base station, thereby determining the location of the tag, and thus the location of the personnel in the mine.

[0003] At present, the positioning system using UWB technology needs to support a sufficient number of concurrent tags. The hard indicators proposed by the state for underground mine safety production also have requirements for the number and stability of concurrency. In the traditional UWB positioning system, multiple tags establish communication with the base station in time division multiple access mode. In each time slot (time slot is the minimum communication time unit), only one tag can communicate with the base station. This method can ensure the stability of the system, but due to the limited number of time slots in each communication cycle, the number of concurrent tags that the system can support is also limited.

[0004] Based on this, there is an urgent need for a UWB positioning system that supports high concurrency and stable connection. Summary of the invention

[0005] In order to solve the problems in the related art, the embodiments of this specification provide a base station side communication method, a tag side communication method, a corresponding base station side device and a tag and an electronic device based on a UWB positioning system.

[0006] One aspect of the present specification provides a communication method based on a UWB positioning system, which is applied to a base station side, including:

[0007] receiving a report message of the first tag, wherein the report message includes an ID of the first tag and an identifier of a communication mode reported this time;

[0008] determining a communication success rate of the first tag based on the ID of the first tag, wherein the communication success rate of the first tag is obtained based on the number of successful communications and the number of communications of the first tag;

[0009] If the communication success rate of the first tag is lower than a preset threshold and the current report is a communication mode of occupying a time slot, a fixed time slot is allocated to the first tag, and a message is sent to instruct the first tag to report a message in the fixed time slot.

[0010] Another aspect of the present specification provides a communication method based on a UWB positioning system, which is applied to a tag side, including:

[0011] Reporting a message to the base station, wherein the report message includes the tag ID and the identifier of the communication mode reported this time, so that the base station determines the communication success rate of the tag and thus determines the subsequent communication mode of the tag;

[0012] receiving an indication message sent by a base station, wherein the indication message includes an identifier of a subsequent communication mode;

[0013] If the identification of the subsequent communication mode is a communication mode of fixed time slot, and the indication message also includes information of the fixed time slot allocated by the base station side, then the message is reported in the fixed time slot starting from the next communication cycle;

[0014] If the identifier of the subsequent communication mode is a communication mode of seizing a time slot, a time slot is seized in the next communication cycle to report the message.

[0015] In another aspect of the present specification, a communication device based on a UWB positioning system is provided, which is applied to a base station side, and includes:

[0016] A receiving module, configured to receive a report message of the first tag, wherein the report message includes an ID of the first tag and an identifier of a communication mode reported this time;

[0017] a calculation module, configured to determine a communication success rate of the first tag based on the ID of the first tag, wherein the communication success rate of the first tag is obtained based on the number of successful communications and the number of communications of the first tag; if the communication success rate of the first tag is lower than a preset threshold, and the communication mode reported this time is a time slot preemption communication mode, a fixed time slot is allocated to the first tag;

[0018] The sending module is used to send a message to the first tag to instruct the first tag to report a message in the fixed time slot.

[0019] In another aspect of the present specification, a tag based on a UWB positioning system is provided, comprising:

[0020] A reporting module, used to report a message to a base station, wherein the reporting message includes a tag ID and an identifier of the communication mode reported this time, so that the base station determines the communication success rate of the tag and thus determines the subsequent communication mode of the tag; if the identifier of the subsequent communication mode is a communication mode of a fixed time slot, and the indication message also includes information of a fixed time slot allocated by the base station side, then the message is reported in the fixed time slot starting from the next communication cycle; if the identifier of the subsequent communication mode is a communication mode of seizing a time slot, then a time slot is seized in the next communication cycle to report the message;

[0021] The receiving module is used to receive an indication message sent by a base station, wherein the indication message includes an identifier of a subsequent communication mode.

[0022] According to the technical solution of the embodiments of this specification, the communication method between the tag and the base station combines the communication methods of fixed time slots and preemptive time slots. The base station side calculates the communication success rate of each tag and adjusts the communication method between the tag and the base station, thereby improving the concurrency while ensuring communication stability, effectively meeting the production needs of underground mines.

[0023] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objectives and advantages of the present disclosure will become more apparent through the following detailed description of non-limiting embodiments in conjunction with the accompanying drawings. In the accompanying drawings:

[0025] Figure 1 A schematic diagram of an application scenario of a communication method based on a UWB positioning system is shown;

[0026] Figure 2 A flow chart of a base station side communication method based on a UWB positioning system is shown;

[0027] Figure 3 shows a registration flow chart for a new tag newly added to the system;

[0028] Figure 4 A flow chart showing a tag reporting a message in a communication mode of occupying a time slot;

[0029] Figure 5 A flow chart of a tag-side communication method based on a UWB positioning system is shown;

[0030] Figure 6 The structure block diagram of the base station side communication device based on the UWB positioning system is shown;

[0031] Figure 7 The structure block diagram of the tag based on UWB positioning system is shown. DETAILED DESCRIPTION

[0032] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, parts not related to the description of the exemplary embodiments are omitted in the accompanying drawings.

[0033] In the present disclosure, it should be understood that terms such as "include" or "have" are intended to indicate the presence of features, numbers, steps, behaviors, components, parts, or a combination thereof disclosed in the present specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or a combination thereof exist or are added.

[0034] It should also be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0035] In the mining scenario, the UWB positioning system consists of hardware positioning devices such as UWB tags, UWB terminals, one or more positioning base stations, and servers. Tags are carried by personnel or set on equipment. The base station and the tag can be located and ranged through algorithms such as TDOA (Two Way Ranging) two-way ranging positioning and TWR (Time of Arrival) arrival time triangulation positioning. After the positioning base station and server solve, the personnel position can be displayed in real time and the trajectory can be replayed, thereby realizing functions such as personnel attendance, electronic fences, behavior analysis, multi-card identification, and intelligent inspection.

[0036] In the current positioning system using UWB technology, the base station mainly uses time division multiple access to communicate with multiple tags, that is, in each communication cycle, the time in the cycle is divided into multiple time slots, and only one tag is communicated in each time slot. These time slots are usually pre-allocated to multiple tags by the base station, so that multiple tags report messages in their respective predetermined time slots, and there will be no conflict or competition between them. These time slots can also be not pre-allocated. When multiple tags need to report messages, they actively seize a time slot to report messages. If the base station responds to the report message of a tag in the time slot, it means that the time slot is successfully seized by the current tag, and other tags need to seize other time slots to communicate with the base station.

[0037] The communication method of pre-allocating fixed time slots is conducive to improving system stability. The communication connection between the tag and the base station is stable in the current time slot. However, in this case, the number of concurrent tags that the system can support is limited, because the number of time slots is limited, and once a time slot is allocated to a tag, it cannot be allocated to other tags for use until the tag is offline and the time slot is released. In the communication method based on competition-based preemptive time slots, time slots are shared resources and need to be occupied by tags through competition. This method can increase the number of concurrent tags, but stability is difficult to guarantee. The wireless channel status of tags in certain locations is poor, resulting in their competition failure. They may not be able to communicate with the base station for a long time, affecting the positioning results of the tags, which is also not allowed for underground mine safety production.

[0038] Based on this, the present application proposes a communication method based on the UWB positioning system, which is applied to the base station side and the tag side respectively, combines the communication methods of allocating fixed time slots and seizing time slots, and adjusts the communication method between the tag and the base station through the average communication success rate of the tag, thereby increasing the number of concurrency while also ensuring the stability of the system.

[0039] Figure 1 A schematic diagram of an application scenario of a communication method based on a UWB positioning system according to an embodiment of this specification is shown.

[0040] like Figure 1 As shown, the scenario includes a positioning base station 10, a UWB tag 20 and a server 30. There are multiple positioning base stations 10 and multiple tags 20.

[0041] The positioning base station 10 is a base station supporting UWB and is pre-deployed in the underground mine environment. Multiple positioning base stations can obtain accurate positioning results of a tag by applying positioning algorithms.

[0042] Tag 20 is a UWB positioning tag. Common tags include card-type and helmet clip-on tags. Miners need to wear tags when going down the mine, so that the miners' location information can be obtained through tag positioning.

[0043] The server 30 is used to execute the positioning algorithm and coordinate multiple positioning base stations, and send indication information about the subsequent communication mode of the tag to the tag through one of the base stations.

[0044] exist Figure 1 In the scenario, the positioning base station 10 and the tag 20 communicate through UWB technology. The characteristic of UWB is that it transmits wireless signals encoded by pulse modulation at a low power and a wide frequency band within a short distance. The operating frequency band of UWB is in the 3.1 to 10.6 GHz spectrum range, and its signal bandwidth is above 500 MHz, presenting non-sinusoidal narrow pulses in the nanosecond to microsecond range. Figure 1 In the scenario, the communication between multiple tags and each base station adopts time division multiple access, and only one tag communicates with the base station in each time slot.

[0045] exist Figure 1 In the scenario, some of the operation steps performed by the base station side are completed by the positioning base station and some are completed by the server. For example, the base station is responsible for sending messages, and the server is responsible for executing the algorithm to allocate time slots. This is related to the network architecture method during specific implementation. For the sake of simplicity and clarity, the "base station" or "base station side" mentioned in the communication method in the following embodiments refers to the network entity on the opposite side relative to the tag side, which may involve multiple positioning base stations and servers, but this reference does not constitute a limitation on the method of the embodiment.

[0046] like Figure 3 As shown, the communication method based on the UWB positioning system applied to the base station side provided in this specification includes steps S110 to S130.

[0047] S110: Receive a report message from a first tag, where the report message includes an ID of the first tag and an identifier of a communication method reported this time.

[0048] S120: Determine a communication success rate of the first tag based on the ID of the first tag, where the communication success rate is obtained based on the number of successful communications and the number of communications of the first tag.

[0049] S130: If the communication success rate is lower than a preset threshold and the current report is a communication mode of occupying a time slot, a fixed time slot is allocated to the first tag, and a message is sent to instruct the first tag to report a message in the fixed time slot.

[0050] In step S110, the first tag may be a new tag that has just entered the system and has not yet registered, and needs to register with the base station for the first time, or the first tag may be a tag that has completed registration on the base station side and is instructed by the base station side to report messages in a communication mode of preempting time slots or fixed time slots. The format of the report message of the first tag is a unified format defined by the system, which includes not only the ID of the tag, but also the communication mode of this report message, that is, whether to report the message in a communication mode of preempting time slots or fixed time slots. For new tags registered for the first time, it is registered with the base station by preempting time slots by default. If the preemption fails, the preemption report will continue in the next communication cycle. For tags that have been registered, the message is reported in accordance with the communication mode indicated by the base station side. The report message includes registration information, positioning information, and information generated by other tags.

[0051] In step S120, the communication success rate of the first tag is obtained based on the number of successful communications and the number of communications. The specific calculation method is rate = n / count, wherein n represents the number of successful communications between the tag and the base station, that is, one uplink and downlink message interaction counts as one successful communication, and count represents the number of times the tag initiates communication with the base station, including the cases where the base station responds to the tag and does not respond. The communication success rate of the tag can be a success rate within a set interval, such as the success rate within the last 50 seconds, or calculated based on the success rate of the last x communications, for example, calculated based on the number of successful communications in the last 100 communications.

[0052] In step 130, if the communication success rate is greater than a preset threshold, for example, greater than 70%, it proves that the communication success rate between the tag and the base station is high and the system stability meets the requirements. For the first tag that communicates by seizing the time slot, if the communication success rate of the first tag calculated by the base station side is lower than 70%, it means that the success rate of the tag seizing the time slot is low. At this time, the base station side can allocate a fixed time slot for the first tag so that the first tag can report messages within the fixed time slot to improve its connection stability.

[0053] Specifically, when the base station side allocates a fixed time slot to the first tag, it can: obtain the time slot list in each communication cycle, traverse the time slot list, and allocate the first idle time slot in the time slot list to the first tag. The base station side can adopt a traversal method starting from the head of the time slot list, or other traversal methods, for example, traversing from the middle to both ends. In addition, the base station side can also define an idle time slot array, only record the ID of the idle time slot, query the idle time slot array when allocating time slots, and update the idle time slot array after allocating time slots. This situation is suitable for the case where the system load is large, there are not many time slots in the idle time slot array, and the traversal time can be reduced during allocation. If the system load is small and there are many idle time slots, this method is not suitable.

[0054] The system divides each communication cycle, for example, 1000ms as a communication cycle, into multiple communication time units, that is, time slots. The time slot interval can be determined according to the minimum time of communication interaction between the tag and the base station, for example, 5ms, so there will be multiple time slots in each communication cycle. In this example, 1000 / 5=200 time slots can be allocated. When allocating, a time slot array that matches multiple time slot lengths can be defined, and the mark of the time slot array can be set. Each bit is used to indicate whether the time slot is occupied. When the tag of a time slot is confirmed to be offline, the corresponding bit of the time slot array is cleared. For example, the initialization state of the time slot array is all 1. If a time slot is occupied, the corresponding bit is marked as 0. The following table shows a frame structure with 8 time slots, where time slots 5, 7 and 8 are idle. If a new tag registers with the base station at this time, the base station can allocate the first idle time slot 5 to the new tag, and mark the corresponding bit in the time slot array as occupied.

[0055] Time Slot 1 Time Slot 2 Time Slot 3 Time Slot 4 Time Slot 5 Time Slot 6 Time Slot 7 Time Slot 8 0 0 0 0 1 0 1 1

[0056] When the base station side allocates a fixed time slot for the first tag, if there is no idle time slot available for allocation in the time slot list, the base station side needs to coordinate the time slots occupied by multiple tags. Specifically, if there is no idle time slot available for allocation in the time slot list, a list of tags occupying the time slot is obtained, and the time slot occupied by the second tag in the tag list whose communication success rate meets the preset conditions is allocated to the first tag. At this time, the base station can also send a message to instruct the second tag to report the message in a communication mode that seizes the time slot. The second tag is a tag with a higher communication success rate. The higher communication success rate indicates to a certain extent that the wireless environment in which the tag is located is good and the connection is relatively stable. The conversion to a communication mode that seizes the time slot has little effect on the overall stability of the system. The base station side coordinates the time slot allocation based on the communication success rate of each tag, which can improve the utilization rate of the time slot and the stability of the system, and can increase the number of concurrent tags.

[0057] When the base station side coordinates the time slots occupied by multiple tags, it is necessary to calculate the communication success rate of each tag. After obtaining the communication success rate data of these tags, the time slot occupied by the second tag that meets the preset conditions is allocated to the first tag, and the second tag uses the method of grabbing the time slot for subsequent communication. The preset condition can be that the time slot occupied by the second tag with the highest communication success rate is allocated to the first tag, or the time slot occupied by the second tag in the tag list with a communication success rate higher than the preset value is allocated to the first tag. Assuming that the A tag is a tag that reports messages in the time slot grabbing method, the communication success rate of the A tag calculated by the base station side is 70%, and the B tag is a tag that reports messages in the fixed time slot method, and its communication success rate is 95%, then the base station orders A and B to exchange, A occupies the time slot of B for subsequent communication, and B changes to the communication method of grabbing the time slot. If there are multiple first tags, then by analogy, exchange with other tags in the system.

[0058] For a tag that has been assigned a fixed time slot, when the tag goes offline, the time slot it occupies can be released. Determining that the tag is offline can be done by checking whether the tag has reported a message within a set time. For example, a 60s offline waiting period is set. If the tag does not report any message within 60s, it is considered that the tag has gone offline. If the communication cycle is 1s, then 60 communication cycles need to pass before the time slot is released. If the time slots during the period when it is determined that the tag is offline can be utilized by other tags, the utilization rate of the time slots can be increased, thereby increasing the capacity of the system. Therefore, in some embodiments, when the base station assigns a fixed time slot to the first tag, if there is no idle time slot available in the time slot list, it obtains the list of tags occupying the time slots, and assigns the time slot occupied by the third tag that has entered the offline waiting period in the tag list to the first tag. Further, the offline waiting period can be set to n communication cycles, and the offline counting period can be set to m communication cycles, where m < n. When the tag does not report a message within the offline counting period, it is considered that the tag enters the offline waiting state, and it is used as an offline waiting tag, and the corresponding time slot it occupies is used as a time slot to be multiplexed. When there is no idle time slot available in the system, this time slot to be multiplexed can be preferentially assigned to the first tag with a low communication success rate.

[0059] If multiple tags simultaneously seize the opportunity to report messages in a certain time slot, the base station will select one tag to communicate with it in that time slot, and the other tags will continue to seize the time slot in the next communication cycle to communicate with the base station. Among these tags that simultaneously seize the opportunity, for a new tag newly entering the system, since its number of communications and successes are both 0, its communication success rate is also 0. Therefore, the success rate of the new tag initiating a seizure registration will be very high. However, for a tag that has been registered and has a relatively high communication success rate, its success rate when seizing the opportunity will be low.

[0060] The communication success rate used in the embodiments of this specification not only reflects the communication status of the tag, that is, tags with high communication success rates have relatively high signal strength and are located in a good wireless environment, such as being close to the base station or having no obstructions from the base station; while tags with low communication success rates have relatively weak signal strength and are located in a poor wireless environment, and their communication with the base station consumes more power. The base station side should give priority to such tags so that they report information within a fixed time slot, which can reduce excessive power consumption in the time slot preemptive communication mode and improve the reliability and effectiveness of the system. The communication success rate also reflects the number of tags in the system from another aspect. When the communication success rate of the tags that occupy the time slots in the system is generally high, it means that the number of concurrent tags in the system is small and the system capacity load is low. At this time, even if there are a large number of tags that occupy the time slots, it will not have a significant impact on the stability of the system. When the communication success rate of the tags that occupy the time slots in the system is generally low, it means that the system load is high, the time slots are allocated and idle less, there are a large number of tags in the system that are active, and the system is close to full load. At this time, the preemption success rate of the newly added tags is relatively low. If the communication success rate of the tags that are allocated with fixed time slots in the system is generally low, it can be said that the wireless environment between the base station and the tag is not good at this time, there may be obstructions or the receiver sensitivity on the base station side needs to be adjusted.

[0061] Furthermore, after step S130, the base station side can also update the number of successful communications and the number of communications of the first tag based on the sent message. This data is used to calculate the communication success rate of the first tag at the next allocation. Since the communication success rate is the average success rate within a period of time, when the first tag is stably connected to the base station for a period of time, its communication success rate will increase significantly, thereby improving the stability of the system.

[0062] According to the above communication method, Figure 3 and Figure 4 A schematic diagram of the communication process between the tag and the base station is given.

[0063] Figure 3 The figure shows the registration process of a new tag that has just joined the system. After the new tag is turned on, it sends registration information to the base station in the default communication mode of occupying the time slot. The base station receives the registration information from the new tag and can judge that the tag is a newly registered tag through the tag ID and message type. The base station traverses the time slot list, assigns a suitable time slot position to the tag, and marks the occupied state and the ID of the tag on the corresponding position of the time slot array. Then, a successful registration message is returned to the new tag, and the time slot list is updated. In the next communication cycle, the tag that has completed the registration reports the message according to the time slot assigned by the base station.

[0064] Figure 4The process of a registered tag reporting a message in a communication mode of occupying a time slot is shown. In this process, the tag reports a message in a communication mode of occupying a time slot according to the system configuration or based on the message sent by the base station last time. After receiving the message, the base station calculates the communication success rate of the tag. If it is lower than the preset threshold, a fixed time slot is allocated to the tag according to the aforementioned method. If the communication success rate is higher than the preset threshold, no fixed time slot is allocated, and the tag is instructed to use the subsequent communication mode by sending a message.

[0065] Further, according to this embodiment, the base station side communication method based on the UWB positioning system also includes step S150:

[0066] S150, if the communication success rate of the first tag is lower than a preset threshold, and the communication mode reported this time is a fixed time slot, a fixed time slot is reallocated to the first tag, and a message is sent to instruct the first tag to report a message in the reallocated fixed time slot.

[0067] In step S150, the first tag is a tag that has completed the first registration with the base station, and the base station has allocated a fixed time slot for it. However, due to the deterioration of the wireless environment of the first tag, the communication success rate between it and the base station is low. When the base station side finds that the communication success rate of the first tag is lower than the preset threshold, it allocates a new fixed time slot for it. If there is an idle time slot available for allocation, the first idle time slot can be traversed from the time slot list and allocated to the first tag, and the time slot originally occupied by the first tag is released. If there is no idle time slot at present, it can be exchanged with the time slot of other tags whose communication success rate meets the preset conditions. The specific implementation is similar to the aforementioned step S130 and can be implemented with reference. There is no order relationship between step S150 and the aforementioned step S130, but it is related to the communication mode reported by the first tag this time. For the first tag that has been allocated a fixed time slot, when its communication success rate decreases, the randomization effect can be obtained to a certain extent by switching the time slot, which can improve its communication success rate.

[0068] Furthermore, if the base station indicates to the first tag or the second tag that the subsequent communication mode is a communication mode that seizes time slots, the indication message sent by the base station also includes a time slot avoidance interval, and the corresponding first tag or second tag determines the time slot position to be seized in the next communication cycle according to the time slot avoidance interval. For example, if the time slot avoidance interval is a, and the time slot position of this communication is b, then the time slot position of the next communication is a+b. This avoidance method has the following benefits: if the first tag fails to seize the time slot in this communication, it chooses to initiate communication in other time slots after avoidance, which may reduce the probability of collision with other tags. If the second tag is converted to a communication mode that seizes time slots, it avoids the time slot in the next cycle, which can reduce interference with tags that have just been assigned fixed time slots, thereby improving the communication success rate of new tags.

[0069] According to the technical solution of this embodiment, the communication method between the tag and the base station combines the communication methods of fixed time slots and preemptive time slots. The base station side calculates the communication success rate of each tag and adjusts the communication method between the tag and the base station. It improves the concurrency while ensuring communication stability, effectively meeting the production needs of underground mines.

[0070] Based on the same inventive concept, an embodiment of this specification also provides a communication method based on a UWB positioning system, which is applied to a tag side.

[0071] Figure 5 A flow chart of a communication method based on a base station tag side of a UWB positioning system provided in an embodiment of the present disclosure.

[0072] like Figure 5 As shown, the communication method on the tag side includes steps S210 to S240.

[0073] S210, reporting a message to a base station, wherein the reporting message includes a tag ID and an identifier of the communication mode reported this time, so that the base station determines the communication success rate of the tag and thus determines a subsequent communication mode of the tag.

[0074] S220, receiving an indication message sent by the base station, wherein the indication message includes an identifier of a subsequent communication mode.

[0075] S230: If the subsequent communication mode is identified as a fixed time slot communication mode, and the indication message also includes information about the fixed time slot allocated by the base station side, then the message is reported in the fixed time slot starting from the next communication cycle.

[0076] S240: If the subsequent communication mode is identified as a communication mode of seizing a time slot, a time slot is seized in the next communication cycle to report a message.

[0077] The tag in this embodiment can be a new tag that has just entered the system and initiated registration with the base station, or it can be a tag that has been registered and instructed by the base station to report a message in a certain communication mode. The message it reports contains the ID of the tag and the identifier of the communication mode reported this time. The tag ID on the base station side determines its communication success rate, and then determines the subsequent communication mode of the tag. If the base station side indicates that the subsequent communication mode is a fixed time slot communication mode, the fixed time slot allocated by the base station side is the first idle time slot in the time slot list; or, it is the time slot occupied by the second tag in the tag list whose communication success rate meets the preset conditions; or, it is the time slot occupied by the third tag in the tag list that enters the offline waiting period. The specific implementation method can refer to the aforementioned implementation plan on the base station side.

[0078] According to the technical solution of this embodiment, the communication method between the tag and the base station combines the communication methods of fixed time slots and preemptive time slots. The tag side adjusts the instruction information sent according to the communication success rate of each tag on the base station side, and communicates with the base station according to the indicated communication method. This improves the concurrency while ensuring communication stability, effectively meeting the production needs of underground mines.

[0079] like Figure 6 As shown, a base station side communication device 300 based on a UWB positioning system provided in an embodiment of this specification is provided. The communication device 300 can be implemented as part or all of an electronic device through software, hardware or a combination of both.

[0080] like Figure 6 As shown, the communication device 300 on the base station side includes a receiving module 310, a calculating module 320 and a sending module 330. The communication device 300 can execute the base station side method described in any of the above embodiments.

[0081] The receiving module 310 is configured to receive a report message of the first tag, wherein the report message includes the ID of the first tag and an identifier of the communication mode reported this time.

[0082] The calculation module 320 is used to determine the communication success rate of the first tag based on the ID of the first tag, and the communication success rate of the first tag is obtained based on the number of successful communications and the number of communications of the first tag; when the communication success rate of the first tag is lower than a preset threshold and the communication method reported this time is to seize the time slot, a fixed time slot is allocated to the first tag.

[0083] The sending module 330 is configured to send a message to the first tag to instruct the first tag to report a message in the fixed time slot.

[0084] According to the technical solution of this embodiment, the communication method between the tag and the base station combines the communication methods of fixed time slots and preemptive time slots. The base station side calculates the communication success rate of each tag and adjusts the communication method between the tag and the base station. It improves the concurrency while ensuring communication stability, effectively meeting the production needs of underground mines.

[0085] like Figure 7 As shown, a tag 400 based on a UWB positioning system is provided in an embodiment of the present disclosure. The tag 400 can execute the tag-side method described in any of the above embodiments.

[0086] like Figure 7 As shown, the tag 400 includes a reporting module 410 and a receiving module 420 .

[0087] The reporting module 410 is used to report a message to the base station, wherein the reporting message includes a tag ID and an identifier of the communication mode reported this time, so that the base station can determine the communication success rate of the tag and thereby determine the subsequent communication mode of the tag; if the identifier of the subsequent communication mode is a communication mode of a fixed time slot, and the indication message also includes information on the fixed time slot allocated by the base station side, then the message is reported in the fixed time slot starting from the next communication cycle; if the identifier of the subsequent communication mode is a communication mode of seizing a time slot, then a time slot is seized in the next communication cycle to report the message.

[0088] The receiving module 420 is configured to receive an indication message sent by a base station, wherein the indication message includes an identifier of a subsequent communication mode.

[0089] According to the technical solution of this embodiment, the communication method between the tag and the base station combines the communication methods of fixed time slots and preemptive time slots. The tag side adjusts the instruction information sent according to the communication success rate of each tag on the base station side, and communicates with the base station according to the indicated communication method. This improves the concurrency while ensuring communication stability, effectively meeting the production needs of underground mines.

[0090] The embodiment of this specification also provides an electronic device based on a UWB positioning system, including:

[0091] at least one processor;

[0092] as well as,

[0093] a memory communicatively coupled to the at least one processor;

[0094] in,

[0095] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the communication method based on the UWB positioning system described in any of the above embodiments on the base station side.

[0096] An embodiment of the present specification further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the communication method based on the UWB positioning system described in any of the above embodiments is implemented.

[0097] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0098] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, electronic device, and non-volatile computer storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0099] For the convenience of description, the above devices are described in terms of functions and are divided into various units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0100] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data optimization device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data optimization device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0101] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data optimization device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0102] These computer program instructions may also be loaded onto a computer or other programmable data optimization device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0103] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0104] The specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media including storage devices.

[0105] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0106] The above is only an embodiment of this specification and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A communication method based on a UWB positioning system, applied to a base station side, characterized in that: include: receiving a report message of the first tag, wherein the report message includes an ID of the first tag and an identifier of a communication mode reported this time; determining a communication success rate of the first tag based on the ID of the first tag, wherein the communication success rate of the first tag is obtained based on the number of successful communications and the number of communications of the first tag; If the communication success rate of the first tag is lower than a preset threshold, and the current report is a communication mode of occupying a time slot, a fixed time slot is allocated to the first tag, and a message is sent to instruct the first tag to report a message in the fixed time slot; Among them, the fixed time slot allocated by the base station side to the first tag is the time slot occupied by the second tag in the tag list whose communication success rate meets the preset conditions; or the time slot occupied by the third tag in the tag list that enters the offline waiting period.

2. The method according to claim 1, characterized in that The method further includes: sending a message to the second tag to instruct the second tag to report a message in a communication mode of occupying a time slot.

3. The method according to claim 1, characterized in that The method further comprises: If the communication success rate of the first tag is lower than a preset threshold, and the current report is a communication mode of a fixed time slot, a fixed time slot is reallocated to the first tag, and a message is sent to instruct the first tag to report a message in the reallocated fixed time slot.

4. A communication method based on a UWB positioning system, applied to a tag side, characterized in that: include: Reporting a message to the base station, wherein the report message includes the tag ID and the identifier of the communication mode reported this time, so that the base station determines the communication success rate of the tag and thus determines the subsequent communication mode of the tag; receiving an indication message sent by a base station, wherein the indication message includes an identifier of a subsequent communication mode; If the identification of the subsequent communication mode is a communication mode of fixed time slot, and the indication message also includes information of the fixed time slot allocated by the base station side, then the message is reported in the fixed time slot starting from the next communication cycle; If the identification of the subsequent communication mode is a communication mode of seizing a time slot, then seizing a time slot in the next communication cycle to report the message; The fixed time slot allocated by the base station side is the time slot occupied by the second tag in the tag list whose communication success rate meets the preset conditions; or the time slot occupied by the third tag in the tag list that enters the offline waiting period.

5. A communication device based on a UWB positioning system, applied to a base station side, characterized in that: include: A receiving module, configured to receive a report message of the first tag, wherein the report message includes an ID of the first tag and an identifier of a communication mode reported this time; a calculation module, configured to determine a communication success rate of the first tag based on the ID of the first tag, wherein the communication success rate of the first tag is obtained based on the number of successful communications and the number of communications of the first tag; if the communication success rate of the first tag is lower than a preset threshold, and the communication mode reported this time is a time slot preemption communication mode, a fixed time slot is allocated to the first tag; A sending module, used for sending a message to the first tag to instruct the first tag to report a message in the fixed time slot; The fixed time slot allocated by the base station to the first tag is the time slot occupied by the second tag in the tag list whose communication success rate meets the preset conditions; or the time slot occupied by the third tag in the tag list that enters the offline waiting period.

6. A tag based on a UWB positioning system, characterized in that: include: A reporting module, used to report a message to a base station, wherein the report message includes a tag ID and an identifier of the communication mode reported this time, so that the base station determines the communication success rate of the tag and thus determines the subsequent communication mode of the tag; A receiving module, configured to receive an indication message sent by a base station, wherein the indication message includes an identifier of a subsequent communication mode; if the identifier of the subsequent communication mode is a communication mode of a fixed time slot, and the indication message also includes information of a fixed time slot allocated by the base station side, then a message is reported in the fixed time slot starting from the next communication cycle; if the identifier of the subsequent communication mode is a communication mode of seizing a time slot, then a time slot is seized in the next communication cycle to report the message; The fixed time slot allocated by the base station is the time slot occupied by the second tag in the tag list whose communication success rate meets the preset conditions; or the time slot occupied by the third tag in the tag list that enters the offline waiting period.

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