Chain topology jumper networking positioning method based on UWB tag card

Abstract

The invention relates to the technical field of underground communication, in particular to a chained topology jumper networking positioning method and device based on a UWB tag card and a medium of the chained topology jumper networking positioning method and device. The system comprises a label card, a plurality of base stations and an upper computer, the label card is provided with a mode triggering key, and the mode comprises a positioning card mode and a temporary base station mode; the method comprises the following steps: when a network signal is not covered, the label card enters a positioning card mode through a mode triggering key, and data interaction between base stations is executed; when the network signal of at least one base station is covered, the label card is switched to a temporary base station mode through a mode trigger key, and the label cards are switched to a temporary base station mode through an ad hoc network method by taking the base station with the covered network signal as a transmission end point and taking the label card as a temporary node; and establishing a chain topology positioning and transmission model to expand and extend the tag card in a cascading manner, and filling the covered network signals. According to the invention, the realization cost is low, and the problem of base station network signal coverage under special conditions can be completely solved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground communication, and in particular to a chain topology jump networking positioning method based on UWB tag cards, a device and a medium thereof. Background Art

[0002] In the current underground mining industry, especially the coal mining industry, precise positioning technology with UWB technology as the core has gradually matured and been widely used. The current mainstream UWB positioning system mainly adopts a three-level architecture of tag card, base station, and host computer. The tag card is carried by personnel or vehicles and is the system positioning terminal; the base station can also be called a card reader, which is responsible for ranging interaction with the terminal on the one hand, and for uploading data to the host computer through the ring network on the other hand; the host computer is responsible for the comprehensive processing and display of all underground data.

[0003] At present, the positioning technology for areas with good construction environments such as underground tunnels has been very mature. However, special situations such as power outages, construction, accidents, etc. cause base station disconnections, resulting in a lack of regional signal coverage, which is a common problem underground. This has caused great pressure on the mine's production safety and construction management. The current solutions to this problem mainly include improving equipment and personnel management and increasing the number of base stations to expand the coverage area. The former requires a higher level of management, and the latter requires additional construction costs and cannot completely solve the signal coverage problem under special circumstances. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, the present invention provides a chain topology hopping networking positioning method based on UWB tag cards, which has low implementation cost and can completely solve the base station network signal coverage problem under special circumstances.

[0006] According to the chain topology jump networking positioning method based on UWB tag card of the embodiment of the present invention, the system includes: a tag card carried by a carrier to be positioned, multiple base stations and a host computer, each base station is deployed at intervals in the underground tunnel, wherein the tag card is provided with a mode trigger button, and the mode includes a positioning card mode and a temporary base station mode;

[0007] The method comprises the following steps:

[0008] When the network signal has no coverage, the tag card enters the positioning card mode through the mode trigger button to perform data interaction between the base stations;

[0009] When the network signal of at least one base station is covered, the tag card is switched to temporary base station mode through the mode trigger button, with the base station where the network signal is covered as the transmission end point and the tag card as a temporary node. The tag cards are connected through a self-organizing network method to establish a chain topology positioning and transmission model, and the tag cards are extended in a cascade manner to fill the covered network signal.

[0010] The beneficial effect of the present invention is that the chain topology jump networking positioning method based on the UWB tag card of the present invention relies on the existing system tag card hardware structure, does not require additional equipment or modification, and can provide a temporary positioning network when communication is interrupted due to special circumstances in the mine. In places where it is inconvenient to install base stations, such as excavation, when there are personnel for maintenance and charging, the method provided by the present invention can be used to continue to implement positioning services. The present invention has low implementation cost and can completely solve the problem of base station network signal coverage in special circumstances.

[0011] According to one embodiment of the present invention, when the tag card is a temporary node, it is used as a data hopping anchor point to transmit data to a base station not covered by the network. The data includes the positioning data of the tag card itself and the data packet transmitted by the tag card that was previously used as a temporary node.

[0012] According to an embodiment of the present invention, after the tag card enters the positioning card mode, it periodically performs the cyclic functions of tag ranging, low-power sleep, and key trigger detection;

[0013] After the tag card is switched to the temporary base station mode, the tag ranging, temporary node response, and key trigger detection functions are periodically and cyclically executed.

[0014] According to one embodiment of the present invention, establishing a positioning and transmission model of a chain topology includes:

[0015] Build a network model with the tag card itself as the center;

[0016] Or a chain transformation model that initiates the network topology with the base station as the network end point.

[0017] According to an embodiment of the present invention, establishing a network model with the tag card itself as the center specifically includes:

[0018] When the tag card temporary node sends data, it senses the surrounding temporary nodes and obtains information about the surrounding temporary nodes;

[0019] When receiving data, the temporary node locates itself with the temporary nodes of the adjacent tag cards, broadcasts its own information to the temporary nodes of the adjacent tag cards, and establishes a first-level star network with itself as the center;

[0020] When the first-level star network is established, by obtaining temporary node information within the network, it is expanded and extended step by step to establish a multi-level network, and finally a star-shaped topology model is formed.

[0021] According to one embodiment of the present invention, a chain conversion model for initiating a network topology with a base station as a network end point includes:

[0022] Based on the one-dimensional environment of underground tunnels, when the node network signal is covered, search for the nearest base station;

[0023] The searched base station is used as the network end point, a data path extending from the temporary node of the tag card is determined, and the tag card transmits positioning data level by level through the data path.

[0024] According to one embodiment of the present invention, determining the data path for extending the temporary node of the tag card includes:

[0025] A multi-level network topology is formed by synchronously establishing a plurality of said tag card temporary node networks;

[0026] The data path is determined based on the network distance of the tag card temporary node and data transmission.

[0027] According to one embodiment of the present invention, the data path includes a bridge path and an extension path.

[0028] A computer device comprising:

[0029] processor;

[0030] A memory for storing executable instructions;

[0031] The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the chain topology hopping networking positioning method based on the UWB tag card as described above.

[0032] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor implements the above-mentioned chain topology hopping networking positioning method based on UWB tag cards.

[0033] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0036] Figure 1 It is a schematic diagram of the system structure of the first embodiment of the present invention.

[0037] Figure 2 It is a schematic diagram of the method flow of embodiment 1 of the present invention.

[0038] Figure 3 It is a schematic diagram of jump connection networking application according to the first embodiment of the present invention.

[0039] Figure 4 This is a flowchart of the tag card mode switching according to the first embodiment of the present invention.

[0040] Figure 5 It is a schematic diagram of a first-level network model according to an embodiment of the present invention.

[0041] Figure 6 It is a schematic diagram of a star-shaped distribution topology model according to the first embodiment of the present invention.

[0042] Figure 7 It is a schematic diagram of a chain conversion model for initiating a network topology with a base station as a network end point according to the first embodiment of the present invention.

[0043] Figure 8 It is a schematic diagram of the computer device structure of the second embodiment of the present invention.

[0044] In the figure, 10 is a computer device; 1002 is a processor; 1004 is a memory; and 1006 is a transmission device. DETAILED DESCRIPTION

[0045] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0046] Example 1

[0047] The present application embodiment provides a chain topology jump networking positioning method based on UWB tag card, such as Figure 1 As shown, the system includes: a tag card carried by the carrier to be positioned, multiple base stations and a host computer, each base station is deployed at intervals in the underground tunnel, wherein the tag card is provided with a mode trigger button, and the modes include a positioning card mode and a temporary base station mode; in this embodiment, the installation distance between adjacent base stations is 400m.

[0048] like Figure 2-3 As shown, the method comprises the following steps:

[0049] When there is no network signal coverage, the tag card enters the positioning card mode through the mode trigger button to perform data interaction between base stations;

[0050] When the network signal of at least one base station is covered, the tag card is switched to temporary base station mode through the mode trigger button. The base station where the network signal is covered is used as the transmission end point, and the tag card is used as a temporary node. The tag cards are connected through a self-organizing network method to establish a chain topology positioning and transmission model. The tag cards are extended in a cascade manner to fill the covered network signal.

[0051] In an embodiment, when the tag card is a temporary node, it is used as a data hopping anchor point to transmit data to a base station that is not covered by the network. The data includes the positioning data of the tag card itself and the data packet transmitted by the last tag card used as a temporary node;

[0052] In the embodiment, after the tag card enters the positioning card mode, it periodically performs the cyclic functions of tag ranging, low power sleep and key trigger detection;

[0053] After the tag card is switched to temporary base station mode, the tag ranging, temporary node response, and key trigger detection functions are periodically executed.

[0054] It should be noted that the operating status of the tag card mode switching can be prompted by indicator lights of different colors, so that the carrier can intuitively know the current tag card mode, such as Figure 4 As shown, when the tag card is in the positioning card mode, the green light of the tag card flashes, the tag card performs distance measurement, and enters a low-power sleep state after the distance measurement is completed, and detects whether the button is triggered. If the button is not triggered, the tag card maintains the positioning card mode. If the button is triggered, the tag card switches from the positioning card mode to the temporary base station mode. At this time, the tag card first detects the node, searches for other base stations or temporary nodes within the signal coverage range, and builds the network. The yellow light of the tag card flashes. If the node is not detected successfully, the node detection continues. On the contrary, if the node detection is successful, the node is updated, the green light of the tag card is long on, the temporary node responds, and it is determined whether the positioning cycle has arrived. If the cycle has arrived, the node update continues. If the cycle has not arrived, it detects whether the button has been triggered. If it is triggered again, it switches to the positioning card mode.

[0055] In an embodiment, establishing a positioning and transmission model of a chain topology includes:

[0056] Build a network model with the tag card itself as the center;

[0057] Or a chain transformation model that initiates the network topology with the base station as the network end point.

[0058] In an embodiment, establishing a network model with the tag card itself as the center specifically includes:

[0059] When the tag card temporary node sends data, it senses the surrounding temporary nodes and obtains the information of the surrounding temporary nodes;

[0060] When a temporary node receives data, it locates itself with the temporary nodes of the adjacent tag cards, broadcasts its own information to the temporary nodes of the adjacent tag cards, and establishes a first-level star network with itself as the center; Figure 5 As shown, the network node is centered on tag card T1, and tag cards T2, T3 and T4 are directly connected to tag card T1 to establish a first-level star network.

[0061] When the first-level star network is established, by obtaining temporary node information in the network, multi-level networks are gradually extended and extended to form a star-shaped topology model. Figure 6 As shown, tag card T4 extends outward, tag card T4 is connected to tag card T5, tag card T5 continues to extend outward, and tag card T5 is also connected to tag card T8, then tag card T5 is the secondary network of tag card T1, tag card T8 is the tertiary network of tag card T1, tag card T4 is the network node of tag card T5, tag card T5 is the network node of tag card T8, forming a star-shaped distribution topology model. If tag card T8 is the shortest distance from base station S1, tag card T8 is the transmission end point, tag card T1 sends the acquired data packet to tag card T4, and then transmits it to tag card T5 via tag card T4, tag card T5 packages and updates its own positioning data and data packet and transmits it to tag card T8 again, and tag card T8 finally transmits its own positioning data and the packaged and updated data packet to base station S1.

[0062] In an embodiment, a chain conversion model for initiating a network topology with a base station as a network end point includes:

[0063] Based on the one-dimensional environment (one-dimensional space environment) of the underground tunnel, when the node network signal is covered, search for the nearest base station;

[0064] Taking the searched base station as the network end point, determining the data path of the tag card temporary node extension, and transmitting the positioning data step by step through the data path tag card. Further, determining the data path of the tag card temporary node extension includes:

[0065] A multi-level network topology is formed by synchronously establishing a temporary node network of multiple tag cards;

[0066] The data path is determined based on the distance and data transmission direction of the tag card temporary node network; the data path includes a bridge path and an extended path. The bridge path has a positioning direction leading to the base station, and the extended path only points to the positioning distance of a temporary node.

[0067] like Figure 7As shown, the network signal is covered and the nearest base stations include base station S1 and base station S2. The primary network of tag card T7 and tag card T8 includes base station S1 and base station S2 respectively. Therefore, the tag card T7 and tag card T8 nodes will be marked as the transmission end points in the network, and the data path leading to T7 or T8 in the search network model will be searched. With tag card T1 as the origin, the network contains three data paths, namely: the three-level bridge path of tag card T1→tag card T4→tag card T5→tag card T8, the secondary bridge path of tag card T1→tag card T2→tag card T7, and the secondary extension path of tag card T1→tag card T3→tag card T6. The positioning data of T1 will be preferentially transmitted to base station S2 according to the shortest path principle, that is, the positioning data of all paths will be preferentially transmitted according to the shortest path principle.

[0068] In this implementation, the label cards of the intermediate temporary nodes are extended outward step by step to form a multi-level network topology and link optimization will be performed. For example, when the first-level network of label card T4 can directly cover label card T8, that is, label card T8 and label card T5 are both the first-level networks of label card T4, it means that label card T5 is a redundant node in this link. The network will delete this node, and the deleted node will not participate in the network positioning to prevent the link complexity from being too high due to repeated coverage over short distances, which will affect the coverage of the overall network.

[0069] It should be noted that the coverage range refers to the signal coverage range of the tag card's temporary node transformation. It is affected by the antenna gain in the tag card. The reliable range is about 300 meters. When establishing a connection, the tag card will interact N times in succession. If the success rate exceeds 80%, the connection is allowed to be established. The base station has a large antenna gain and a reliable range of more than 600 meters.

[0070] In this embodiment, the temporary node supports a one-way four-level network. The effective coverage range of a single tag is 300m. There are a total of 5 nodes in the four-level network including itself, which can provide one-way 1500m and two-way 3000m signal blind area coverage, which can basically meet the use requirements of the temporary positioning network.

[0071] The chain topology jump networking positioning method based on UWB tag cards of the present invention relies on the existing system tag card hardware structure, does not require additional equipment or modification, and can provide a temporary positioning network when communication is interrupted due to special circumstances in the mine. In places where it is inconvenient to install base stations, such as excavation, when there are personnel for maintenance and charging, the method provided by the present invention can be used to continue to implement positioning services. The present invention has low implementation cost and can completely solve the problem of base station network signal coverage in special circumstances.

[0072] Example 2

[0073] An embodiment of the present application provides a computer device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement a chain topology hopping networking positioning method based on UWB tag cards as provided in the above method embodiment.

[0074] Figure 8 A schematic diagram of the hardware structure of a device for implementing a chain topology jump networking positioning method based on a UWB tag card provided in an embodiment of the present application is shown. The device may participate in or include the apparatus or system provided in an embodiment of the present application. Figure 8 As shown, the computer device 10 may include one or more processors 1002 (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1004 for storing data, and a transmission device 1006 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 8 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 8 More or fewer components as shown, or with Figure 8 Different configurations are shown.

[0075] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer device 10 (or mobile device). As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0076] The memory 1004 can be used to store software programs and modules of application software, such as a program instruction / data storage device corresponding to a chain topology jump networking positioning method based on a UWB tag card in an embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 1004, that is, implementing the above-mentioned method. The memory 1004 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1004 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer device 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0077] The transmission device 1006 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer device 10. In one example, the transmission device 1006 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 1006 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0078] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer device 10 (or mobile device).

[0079] Example 3

[0080] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a server to store at least one instruction or at least one program related to a chain topology hopping networking positioning method based on a UWB tag card in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement a chain topology hopping networking positioning method based on a UWB tag card provided in the above method embodiment.

[0081] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0082] Example 4

[0083] The embodiment of the present invention also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes a chain topology jump networking positioning method based on a UWB tag card provided in the above various optional implementations.

[0084] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. 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.

[0085] Each embodiment in this application 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, equipment and 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 embodiment.

[0086] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0087] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A chain topology hopping networking positioning method based on UWB tag card, characterized in that: The system includes: a tag card carried by a carrier to be positioned, multiple base stations and a host computer, each base station is deployed at intervals in an underground tunnel, wherein the tag card is provided with a mode trigger button, and the modes include a positioning card mode and a temporary base station mode; The method comprises the following steps: When the network signal has no coverage, the tag card enters the positioning card mode through the mode trigger button to perform data interaction between the base stations; When the network signal of at least one base station is covered, the tag card is switched to temporary base station mode through the mode trigger button, with the base station where the network signal is covered as the transmission end point and the tag card as a temporary node. The tag cards are connected through a self-organizing network method to establish a chain topology positioning and transmission model, and the tag cards are extended in a cascade manner to fill the covered network signal.

2. The chain topology hopping networking positioning method based on UWB tag card according to claim 1 is characterized in that: When the tag card is a temporary node, it is used as a data hopping anchor point to transmit data to a base station that is not covered by the network. The data includes the positioning data of the tag card itself and the data packet transmitted by the tag card used as a temporary node last time.

3. The chain topology hopping networking positioning method based on UWB tag card according to claim 1 is characterized in that: After the tag card enters the positioning card mode, it periodically performs the cyclic functions of tag ranging, low-power sleep and key trigger detection; After the tag card is switched to the temporary base station mode, the tag ranging, temporary node response, and key trigger detection functions are periodically and cyclically executed.

4. The chain topology hopping networking positioning method based on UWB tag card according to claim 1 is characterized in that: The positioning and transmission model for establishing a chain topology includes: Build a network model with the tag card itself as the center; Or a chain transformation model that initiates the network topology with the base station as the network end point.

5. The chain topology hopping networking positioning method based on UWB tag card according to claim 4 is characterized in that: Establishing a network model with the tag card itself as the center specifically includes: When the tag card temporary node sends data, it senses the surrounding temporary nodes and obtains information about the surrounding temporary nodes; When receiving data, the temporary node locates itself with the temporary nodes of the adjacent tag cards, broadcasts its own information to the temporary nodes of the adjacent tag cards, and establishes a first-level star network with itself as the center; When the first-level star network is established, by obtaining temporary node information within the network, it is expanded and extended step by step to establish a multi-level network, and finally a star-shaped topology model is formed.

6. The chain topology hopping networking positioning method based on UWB tag card according to claim 4 is characterized in that: The chain conversion model that initiates the network topology with the base station as the network end point includes: Based on the one-dimensional environment of underground tunnels, when the node network signal is covered, search for the nearest base station; The searched base station is used as the network end point, a data path extending from the temporary node of the tag card is determined, and the tag card transmits positioning data level by level through the data path.

7. The chain topology hopping networking positioning method based on UWB tag card according to claim 6 is characterized in that: The data path for determining the extension of the temporary node of the tag card includes: A multi-level network topology is formed by synchronously establishing a plurality of said tag card temporary node networks; The data path is determined based on the distance and data transmission direction of the tag card temporary node network.

8. The chain topology hopping networking positioning method based on UWB tag card according to claim 7 is characterized in that: The data path includes a bridge path and an extension path.

9. A computer device, characterized in that: include: processor; A memory for storing executable instructions; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the chain topology hopping networking positioning method based on UWB tag card as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor implements the chain topology hopping networking positioning method based on UWB tag cards according to any one of claims 1 to 8.

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