A method and device for positioning personnel in underground coal mines based on UWB and gyroscope

Abstract

The present invention discloses a method and device for positioning personnel in coal mines based on UWB and gyroscope. The method sends communication data to several card readers through a positioning card, and records the sending timestamp T1 through a UWB positioning tag; the nearest card reader receives the communication data and records the receiving timestamp T2; the nearest card reader sends reply data and records the sending timestamp T3; the positioning card receives the reply data and records the receiving timestamp T4; the positioning card sends T1, T4 and acceleration value a to the nearest card reader; the nearest card reader calculates the current distance d between the underground personnel and the nearest card reader according to T1, T2, T3 and T4; the nearest card reader judges the validity of d according to the distance d' and acceleration value a calculated in the last round; after the judgment is completed, the invalid data is cleared; when the valid d exceeds the set distance, the positioning card searches for the nearest card reader and establishes communication. The present invention can solve the problem of decreased positioning accuracy of underground personnel caused by a large amount of invalid data.

Description

Technical Field

[0001] The present invention relates to the technical field of mine personnel positioning, and in particular to a method and a device for positioning underground coal mine personnel based on UWB and a gyroscope. Background Art

[0002] In the personnel positioning system in coal mines, in the traditional mode, the positioning card and the card reader based on UWB ultra-wideband communication technology use algorithms such as TOF or TDOA to measure distance and position. Due to factors such as damp tunnels in coal mines, poor natural conditions, complex terrain, narrow tunnel space, many tunnel corners and branches, and the fact that the entire coal mine environment is a flammable and explosive space, and with the widespread popularization and application of intelligent equipment in coal mines, there are a lot of metals and other wireless signal interference in coal mines. These factors will cause the positioning card and the card reader to generate a lot of invalid data during wireless data transmission, which will lead to inaccurate positioning data, greatly reducing the accuracy of UWB positioning technology in the positioning of personnel in coal mines.

[0003] Therefore, how to invent a method for accurately locating underground personnel in coal mines, filter out invalid data, and solve the problem of decreased positioning accuracy of underground personnel caused by a large amount of invalid data has become an urgent problem to be solved. Summary of the invention

[0004] To this end, the present invention provides a method and device for positioning personnel underground in a coal mine based on UWB and a gyroscope. By integrating a UWB positioning tag and a gyroscope chip on the same card, the acceleration principle of the gyroscope is used to assist in filtering out invalid data based on the UWB positioning technology, thereby improving the positioning accuracy of UWB positioning technology for personnel underground in a coal mine.

[0005] In order to achieve the above object, the present invention provides the following technical solution: a method for positioning personnel in coal mines based on UWB and gyroscope, comprising:

[0006] The positioning card installed on the underground personnel sends communication data to several card readers in the underground tunnel, and records the sending timestamp T1 through the UWB positioning tag in the positioning card; the nearest card reader closest to the positioning card receives the communication data and records the receiving timestamp T2; the nearest card reader sends reply data to the positioning card and records the sending timestamp T3; after the positioning card receives the reply data, the UWB positioning tag records the receiving timestamp T4;

[0007] The positioning card sends the sending timestamp T1, the receiving timestamp T4 and the acceleration value a of the underground personnel recorded by the gyroscope chip to the nearest card reader;

[0008] The nearest card reader calculates and obtains the current distance d between the underground personnel and the nearest card reader according to the sending timestamp T1, the receiving timestamp T2, the sending timestamp T3, and the receiving timestamp T4;

[0009] The nearest card reader determines the validity of the current distance d according to the distance d' calculated in the previous round and the acceleration value a; after the determination is completed, the invalid data is cleared;

[0010] When the effective current distance d exceeds the set distance, the communication between the positioning card and the nearest card reader is disconnected; the positioning card initiates a broadcast signal again to find the card reader closest to the positioning card and establish communication.

[0011] As a preferred solution for a method for locating personnel underground in a coal mine based on UWB and a gyroscope, the positioning card is provided with a UWB positioning tag and a gyroscope chip; the UWB positioning tag is used to record the timestamp generated during communication between the positioning card and the card reader; the gyroscope chip is used to obtain the acceleration value of the underground personnel.

[0012] As a preferred solution for a coal mine underground personnel positioning method based on UWB and gyroscope, several card readers in the underground tunnel are evenly distributed according to a set distance L; when the effective current distance d exceeds L / 2, the communication between the positioning card and the nearest card reader is disconnected.

[0013] As a preferred solution of a method for positioning personnel in coal mines based on UWB and gyroscope, the calculation formula of the current distance d is:

[0014] d = c × T / 2;

[0015] T = (T2-T1) + (T4-T3);

[0016] Where d is the current distance; T is the total data transmission time; and c is the speed of light.

[0017] As a preferred solution of a method for locating personnel in coal mines based on UWB and gyroscope, in the process of the nearest card reader judging the validity of the current distance d according to the distance d' calculated in the last round and the acceleration value a, the acceleration threshold is set to a1; the difference between the current distance d and the distance d' calculated in the last round is Δd; the moving distance threshold is set to L1;

[0018] In an environment without interference signals, the transmitted a and d values ​​are valid data. Therefore, when the underground personnel move, a>a1, Δd>L1; when the underground personnel do not move, a <a1,Δd<L1;

[0019] In an environment with interference signals in underground coal mines:

[0020] Case 1: If Δd > L1 and at this time a > a1, it indicates that the underground personnel are moving, and the current distance d is determined to be valid; conversely, if a < a1 at this time, it indicates that the underground personnel are not moving, and the current distance d is determined to be invalid;

[0021] Case 2: If Δd < L1 and at this time a < a1, it indicates that the underground personnel are in a non - moving state, and the current distance d is determined to be valid;

[0022] Case 3: If Δd < L1 and at this time a > a1, it indicates that the underground personnel may have fallen. Subsequently, if the underground personnel are continuously measured in the non - moving state described in Case 2 for n times, it is considered that the underground personnel are in a real fallen state, and the current distance d is determined to be valid; if the underground personnel are not continuously measured in the non - moving state described in Case 2 for n times, the current distance d is determined to be invalid.

[0023] The present invention also provides a positioning device for underground coal mine personnel based on UWB and gyroscopes. Based on the above - mentioned positioning method for underground coal mine personnel based on UWB and gyroscopes, it includes:

[0024] A signal transmission and timestamp recording module, which is used for the positioning card installed on the underground personnel to send communication data to several card readers in the underground roadway, and record the sending timestamp T1 through the UWB positioning tag in the positioning card; the nearest card reader to the positioning card receives the communication data and records the receiving timestamp T2; the nearest card reader sends reply data to the positioning card and records the sending timestamp T3; after the positioning card receives the reply data, the UWB positioning tag records the receiving timestamp T4;

[0025] A positioning card timestamp and acceleration value sending module, which is used for the positioning card to send the sending timestamp T1, the receiving timestamp T4, and the acceleration value a of the underground personnel recorded by the gyroscope chip to the nearest card reader;

[0026] A current distance calculation module, which is used for the nearest card reader to calculate the current distance d between the underground personnel and the nearest card reader according to the sending timestamp T1, the receiving timestamp T2, the sending timestamp T3, and the receiving timestamp T4;

[0027] A current distance validity judgment module, which is used for the nearest card reader to judge the validity of the current distance d according to the distance d' calculated in the previous round and the acceleration value a; after the judgment is completed, the invalid data is cleared;

[0028] A communication re - establishment module, which is used to disconnect the communication between the positioning card and the nearest card reader when the effective current distance d exceeds the set distance; the positioning card then initiates a broadcast signal again to find the nearest card reader to the positioning card and establish communication.

[0029] As a preferred solution of a mine underground personnel positioning device based on UWB and gyroscope, in the signal transmission and timestamp recording module, a UWB positioning tag and a gyroscope chip are provided in the positioning card; the UWB positioning tag is used to record the timestamp generated during the communication between the positioning card and the card reader; the gyroscope chip is used to obtain the acceleration value of underground personnel.

[0030] As a preferred solution of a mine underground personnel positioning device based on UWB and gyroscope, in the communication re - establishment module, several card readers in the underground roadway are evenly distributed according to the set distance L; when the effective current distance d exceeds L / 2, the communication between the positioning card and the nearest card reader is disconnected.

[0031] As a preferred solution of a mine underground personnel positioning device based on UWB and gyroscope, in the current distance calculation module, the calculation formula for the current distance d is:

[0032] d = c×T / 2;

[0033] T=(T2 - T1)+(T4 - T3);

[0034] In the formula, d is the current distance; T is the total data transmission time; c is the speed of light.

[0035] As a preferred solution of a mine underground personnel positioning device based on UWB and gyroscope, in the current distance validity judgment module, during the process of the nearest card reader judging the validity of the current distance d according to the previously calculated distance d’ and the acceleration value a, an acceleration threshold a1 is set; the difference between the current distance d and the previously calculated distance d’ is Δd; a moving distance threshold L1 is set.

[0036] In an environment without interference signals, the transmitted a and d values are both valid data. Therefore, when underground personnel move, a > a1, Δd > L1; when underground personnel do not move, a < a1, Δd < L1.

[0037] In an environment with interference signals in the coal mine underground:

[0038] Case 1: If Δd > L1 and at this time a > a1, it means that the underground personnel are moving, and it is determined that the current distance d is valid; conversely, if at this time a < a1, it means that the underground personnel are not moving, and it is determined that the current distance d is invalid.

[0039] Case 2: If Δd < L1 and at this time a < a1, it indicates that the underground personnel are in a non-moving state, and it is determined that the current distance d is valid;

[0040] Case 3: If Δd < L1 and at this time a > a1, it indicates that the underground personnel may have fallen. Subsequently, if the underground personnel are continuously measured in the non-moving state described in Case 2 for n times, it is considered that the underground personnel are in a real falling state, and it is determined that the current distance d is valid; if the underground personnel are not continuously measured in the non-moving state described in Case 2 for n times, it is determined that the current distance d is invalid.

[0041] The present invention has the following advantages: The positioning card installed on the underground personnel sends communication data to several card readers in the underground roadway, and records the transmission timestamp T1 through the UWB positioning tag in the positioning card; the nearest card reader to the positioning card receives the communication data and records the reception timestamp T2; the nearest card reader sends reply data to the positioning card and records the transmission timestamp T3; after the positioning card receives the reply data, the UWB positioning tag records the reception timestamp T4; the positioning card sends the transmission timestamp T1, the reception timestamp T4, and the acceleration value a of the underground personnel recorded by the gyroscope chip to the nearest card reader; the nearest card reader calculates the current distance d between the underground personnel and the nearest card reader based on the transmission timestamp T1, the reception timestamp T2, the transmission timestamp T3, and the reception timestamp T4; the nearest card reader judges the validity of the current distance d according to the distance d' calculated in the previous round and the acceleration value a; after the judgment is completed, the invalid data is cleared; when the valid current distance d exceeds the set distance, the communication between the positioning card and the nearest card reader is disconnected; the positioning card initiates a broadcast signal again to find the nearest card reader to the positioning card and establish communication. When the complex environment in the coal mine underground causes invalid data to be generated during the data transmission between the UWB positioning tag and the card reader, the present invention can accurately judge whether the calculated distance between the positioning card and the card reader is valid by using the gyroscope technology, thereby filtering out the invalid data in the distance value and improving the positioning accuracy of the underground personnel in the coal mine. At the same time, the density of underground personnel in the coal mine is sparse, and it is not easy to detect in time when underground personnel have fainted or had an accidental fall accident. The present invention can timely sense the fall accident of underground personnel, greatly shorten the rescue time, and ensure the safety of underground personnel. The calculation of the present invention is simple, the operation is reliable, and it can meet the precise positioning of underground personnel in the coal mine. Description of the Drawings

[0042] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0043] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0044] Figure 1 This is a schematic flow chart of a method for positioning personnel in underground coal mines based on UWB and a gyroscope provided in Example 1 of the present invention;

[0045] Figure 2 A partial schematic diagram of an underground tunnel in a coal mine in a method for locating personnel in a coal mine based on UWB and a gyroscope provided in Example 1 of the present invention;

[0046] Figure 3 This is a hardware schematic diagram of a positioning card in a method for positioning personnel in an underground coal mine based on UWB and a gyroscope provided in Example 1 of the present invention;

[0047] Figure 4 A schematic diagram of the UWB positioning principle in a method for positioning personnel in an underground coal mine based on UWB and a gyroscope provided in Example 1 of the present invention;

[0048] Figure 5 This is a schematic diagram of the architecture of a coal mine underground personnel positioning device based on UWB and a gyroscope provided in Example 2 of the present invention;

[0049] In the figure, 100, underground tunnel of coal mine; 200, underground personnel; 300, positioning card; 310, UWB positioning tag; 320, gyroscope chip; 330, positioning tag timeline; 400, card reader; 410, nearest card reader; 420, card reader timeline DETAILED DESCRIPTION

[0050] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Example 1

[0052] See also Figure 1 Embodiment 1 of the present invention provides a method for positioning personnel in a coal mine based on UWB and a gyroscope, comprising the following steps:

[0053] S1, the positioning card installed on the underground personnel sends communication data to several card readers in the underground tunnel, and records the sending timestamp T1 through the UWB positioning tag in the positioning card; the nearest card reader closest to the positioning card receives the communication data and records the receiving timestamp T2; the nearest card reader sends reply data to the positioning card and records the sending timestamp T3; after the positioning card receives the reply data, the UWB positioning tag records the receiving timestamp T4;

[0054] S2, the positioning card sends the sending timestamp T1, the receiving timestamp T4 and the acceleration value a of the underground personnel recorded by the gyroscope chip to the nearest card reader;

[0055] S3, the nearest card reader calculates and obtains the current distance d between the underground personnel and the nearest card reader according to the sending timestamp T1, the receiving timestamp T2, the sending timestamp T3, and the receiving timestamp T4;

[0056] S4, the nearest card reader determines the validity of the current distance d according to the distance d' calculated in the previous round and the acceleration value a; after the determination is completed, the invalid data is cleared;

[0057] S5. When the effective current distance d exceeds the set distance, the communication between the positioning card and the nearest card reader is disconnected; the positioning card initiates a broadcast signal again to find the card reader closest to the positioning card and establish communication.

[0058] In this embodiment, in step S1, the positioning card installed on the underground personnel sends communication data to several card readers in the underground tunnel, and records the sending timestamp T1 through the UWB positioning tag in the positioning card; the nearest card reader closest to the positioning card receives the communication data and records the receiving timestamp T2; the nearest card reader sends reply data to the positioning card and records the sending timestamp T3; after the positioning card receives the reply data, the UWB positioning tag records the receiving timestamp T4;

[0059] Specifically, Figure 3 As shown, the positioning card 300 is provided with a UWB positioning tag 310 and a gyroscope chip 320; a plurality of card readers 400 are provided in the underground tunnel 100 of the coal mine, and the distance L between adjacent card readers 400 is 800m. Figure 2 and Figure 4 As shown, the positioning card 300 installed on the underground personnel 200 sends communication data to several card readers 400 in the underground tunnel, and records the sending timestamp T1 on the positioning tag timeline 330 through the UWB positioning tag 310 in the positioning card 300; the nearest card reader 410 closest to the positioning card 300 receives the communication data and records the receiving timestamp T2 on the card reader timeline 420; the nearest card reader 410 sends reply data to the positioning card 300, and records the sending timestamp T3 on the card reader timeline 420; after the positioning card 300 receives the reply data, the UWB positioning tag 310 records the receiving timestamp T4 on the positioning tag timeline 330.

[0060] In this embodiment, in step S2, the positioning card sends the sending timestamp T1, the receiving timestamp T4 and the acceleration value a of the underground personnel recorded by the gyroscope chip to the nearest card reader;

[0061] Specifically, the positioning card 300 sends the sending timestamp T1 , the receiving timestamp T4 , and the acceleration value a of the underground personnel 200 recorded by the gyroscope chip 320 to the nearest card reader 410 .

[0062] In this embodiment, in step S3, the nearest card reader calculates and obtains the current distance d between the underground personnel and the nearest card reader according to the sending timestamp T1, the receiving timestamp T2, the sending timestamp T3, and the receiving timestamp T4;

[0063] Specifically, the nearest card reader 410 calculates the current distance d between the underground personnel 200 and the nearest card reader 410 according to the sending timestamp T1, the receiving timestamp T2, the sending timestamp T3, and the receiving timestamp T4;

[0064] From the time when the positioning card 300 sends communication data to the nearest card reader 410 in step S1 to the time when the nearest card reader 410 receives T1, T4 and a in step S2, the communication data is transmitted twice between the positioning card 300 and the nearest card reader 410, and the total transmission time T is:

[0065] T = ΔT1 + ΔT2;

[0066] Among them: Figure 4 As shown, ΔT1=T2-T1 is the time for the communication data to fly from the positioning card 300 to the nearest card reader 410, and ΔT2=T4-T3 is the time for the communication data to fly from the nearest card reader 410 back to the positioning card 300.

[0067] Therefore, the time taken for data to be transmitted between the positioning card 300 and the nearest card reader 410 is T / 2, and the speed of data transmission is the speed of light 3×108 m / s, then the current distance d between the positioning card 300 and the nearest card reader 410 is:

[0068] d = 3 × 108 m / s × (T / 2);

[0069] In this embodiment, in step S4, the nearest card reader determines the validity of the current distance d according to the distance d' calculated in the previous round and the acceleration value a; after the determination is completed, the invalid data is cleared;

[0070] Specifically, since there is no absolute uniform motion when the underground personnel 200 is walking, as long as the underground personnel 200 moves, a>0 obtained by the gyroscope chip 320, and the underground personnel 200 will not be completely still when not moving, and sometimes will walk in place. At this time, a is a value greater than or equal to 0 and less than 1 m / s2, so the acceleration threshold is set to a1=1 m / s2.

[0071] When the underground personnel 200 moves, the difference between the distances d and d' calculated by the nearest card reader 410 for two consecutive rounds is Δd>0, and the underground personnel will not be completely still when not moving, so Δd is a value greater than or equal to 0 and less than 1m. Therefore, the distance difference threshold L1=1m is set.

[0072] If there is no interference, the transmitted a and d values ​​are valid data. Therefore, when the underground personnel 200 moves, a>1 m / s2, Δd>1m; when the underground personnel 200 does not move, a<1 m / s2, Δd<1m.

[0073] Based on this, it can be determined that in the case of interference in coal mines:

[0074] Case 1: If Δd>1m, and a>1 m / s2 at this time, it means that the underground personnel 200 is moving, and the current distance d is determined to be valid; conversely, if a<1 m / s2 at this time, it means that the underground personnel 200 is not moving, and the current distance d is determined to be invalid.

[0075] Case 2: If Δd<1m, and a<1 m / s2 at this time, it means that the underground personnel 200 is in a non-moving state, and the current distance d is determined to be valid.

[0076] Case three: If Δd<1m, and a>1 m / s2 at this time, it means that the underground personnel 200 may fall. If the underground personnel 200 is subsequently measured to be in the immobile state in the above case two for three consecutive times, it is considered that the underground personnel 200 is in a real fall state, and the current distance d is determined to be valid; if the underground personnel 200 is not measured to be in the immobile state in the above case two for three consecutive times, the current distance d is determined to be invalid.

[0077] Since the position information of the card reader 400 is fixed and known, and in the coal mine underground tunnel 100, the underground personnel 200 can only move forward or backward along the coal mine underground tunnel 100, the real position of the underground personnel 200 can be calculated through the current distance d and the specific position of the card reader 400 to achieve precise positioning.

[0078] In this embodiment, in step S5, when the effective current distance d exceeds the set distance, the communication between the positioning card and the nearest card reader is disconnected; the positioning card initiates a broadcast signal again to find the card reader closest to the positioning card and establish communication.

[0079] Specifically, when the effective current distance d exceeds the set distance, the communication between the positioning card 300 and the nearest card reader 410 is disconnected; the set distance is L / 2, that is, a communication distance of 400m. Then the positioning card 300 initiates a broadcast signal again to find the nearest card reader 400 to establish communication.

[0080] In summary, the positioning card installed on the underground personnel of the present invention sends communication data to several card readers in the underground tunnel, and records the sending timestamp T1 through the UWB positioning tag in the positioning card; the nearest card reader closest to the positioning card receives the communication data and records the receiving timestamp T2; the nearest card reader sends reply data to the positioning card and records the sending timestamp T3; after the positioning card receives the reply data, the UWB positioning tag records the receiving timestamp T4; the positioning card records the sending timestamp T1, the receiving timestamp T4 and the acceleration value a of the underground personnel recorded by the gyroscope chip Send to the nearest card reader; the nearest card reader calculates the current distance d between the underground personnel and the nearest card reader according to the sending timestamp T1, the receiving timestamp T2, the sending timestamp T3, and the receiving timestamp T4; the nearest card reader judges the validity of the current distance d according to the distance d' calculated in the previous round and the acceleration value a; after the judgment is completed, the invalid data is cleared; when the valid current distance d exceeds the set distance, the communication between the positioning card and the nearest card reader is disconnected; the positioning card initiates a broadcast signal again to find the card reader closest to the positioning card and establish communication. When the complex environment in the coal mine causes invalid data to be generated during data transmission between the UWB positioning tag and the card reader, the present invention can accurately judge whether the calculated distance between the positioning card and the card reader is valid by using gyroscope technology, and then filter out the invalid data in the distance value, thereby improving the positioning accuracy of the underground personnel in the coal mine. At the same time, the density of underground personnel in coal mines is sparse, and it is difficult to detect in time when underground personnel faint or fall down accidentally. The present invention can timely sense the fall of underground personnel, which can greatly shorten the rescue time and ensure the safety of underground personnel. The present invention has simple calculation and reliable operation, and can meet the precise positioning of underground personnel in coal mines.

[0081] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0082] It should be noted that the above describes some embodiments of the present disclosure. 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 above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying 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.

[0083] Example 2

[0084] See also Figure 5 Embodiment 2 of the present invention further provides a coal mine personnel positioning device based on UWB and a gyroscope, comprising:

[0085] The signal transmission and timestamp recording module 001 is used for the positioning card installed on the underground personnel to send communication data to several card readers in the underground tunnel, and record the sending timestamp T1 through the UWB positioning tag in the positioning card; the nearest card reader closest to the positioning card receives the communication data and records the receiving timestamp T2; the nearest card reader sends reply data to the positioning card and records the sending timestamp T3; after the positioning card receives the reply data, the UWB positioning tag records the receiving timestamp T4;

[0086] The positioning card timestamp and acceleration value sending module 002 is used for the positioning card to send the sending timestamp T1, the receiving timestamp T4 and the acceleration value a of the underground personnel recorded by the gyroscope chip to the nearest card reader;

[0087] The current distance calculation module 003 is used for the nearest card reader to calculate the current distance d between the underground personnel and the nearest card reader according to the sending timestamp T1, the receiving timestamp T2, the sending timestamp T3, and the receiving timestamp T4;

[0088] The current distance validity judgment module 004 is used for the nearest card reader to judge the validity of the current distance d according to the distance d' calculated in the previous round and the acceleration value a; after the judgment is completed, the invalid data is cleared;

[0089] The communication re-establishment module 005 is used to disconnect the communication between the positioning card and the nearest card reader when the effective current distance d exceeds the set distance; the positioning card initiates a broadcast signal again to find the card reader closest to the positioning card and establish communication.

[0090] In this embodiment, in the signal transmission and timestamp recording module 001, a UWB positioning tag and a gyroscope chip are provided in the positioning card; the UWB positioning tag is used to record the timestamp generated during the communication between the positioning card and the card reader; the gyroscope chip is used to obtain the acceleration value of the underground personnel.

[0091] In this embodiment, in the communication re-establishment module 005, several card readers in the underground roadway are evenly distributed according to a set distance L; when the effective current distance d exceeds L / 2, the communication between the positioning card and the nearest card reader is disconnected.

[0092] In this embodiment, in the current distance calculation module 003, the calculation formula for the current distance d is:

[0093] d = c×T / 2;

[0094] T = (T2 - T1) + (T4 - T3);

[0095] Where d is the current distance; T is the total data transmission time; c is the speed of light.

[0096] In this embodiment, in the current distance validity judgment module 004, during the process of the nearest card reader judging the validity of the current distance d according to the distance d' calculated in the previous round and the acceleration value a, an acceleration threshold is set to a1; the difference between the current distance d and the distance d' calculated in the previous round is Δd; a moving distance threshold is set to L1;

[0097] In an environment without interference signals, the transmitted a and d values are both valid data. Therefore, when the underground personnel move, a > a1 and Δd > L1; when the underground personnel do not move, a < a1 and Δd < L1;

[0098] In an environment with interference signals in the coal mine underground:

[0099] Case 1: If Δd > L1 and at this time a > a1, it means that the underground personnel are moving, and it is determined that the current distance d is valid; conversely, if a < a1 at this time, it means that the underground personnel are not moving, and it is determined that the current distance d is invalid;

[0100] Case 2: If Δd < L1 and at this time a < a1, it means that the underground personnel are in a non-moving state, and it is determined that the current distance d is valid;

[0101] Case 3: If Δd < L1 and at this time a > a1, it indicates that the underground personnel may fall. Subsequently, if the underground personnel are continuously measured in the immobile state described in Case 2 for n consecutive times, it is considered that the underground personnel are in a real fall state, and the current distance d is determined to be valid; if the underground personnel are not continuously measured in the immobile state described in Case 2 for n consecutive times, the current distance d is determined to be invalid.

[0102] It should be noted that for the information interaction, execution process, etc. among the above-mentioned system modules, since they are based on the same concept as the method embodiment in Embodiment 1 of the present application, the technical effects brought by them are the same as those of the method embodiment of the present application. For specific content, reference can be made to the description in the method embodiment shown above in the present application, and details will not be repeated here.

[0103] Embodiment 3

[0104] Embodiment 3 of the present invention provides a non-transitory computer-readable storage medium, in which a program code of a method for positioning underground coal mine personnel based on UWB and gyroscope is stored. The program code includes instructions for executing a method for positioning underground coal mine personnel based on UWB and gyroscope in Embodiment 1 or any possible implementation manner thereof.

[0105] The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrating one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid-state drive (SSD)).

[0106] Embodiment 4

[0107] Embodiment 4 of the present invention provides an electronic device, including: a memory and a processor;

[0108] The processor and the memory complete communication with each other through a bus; the memory stores program instructions executable by the processor, and the processor can execute a method for positioning underground coal mine personnel based on UWB and gyroscope in Embodiment 1 or any possible implementation manner thereof by calling the program instructions.

[0109] Specifically, the processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor, which is implemented by reading software code stored in the memory. The memory can be integrated in the processor or can exist independently outside the processor.

[0110] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable systems. The computer instructions can be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center.

[0111] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing system, they can be concentrated on a single computing system, or distributed on a network composed of multiple computing systems, and optionally, they can be implemented by a program code executable by a computing system, so that they can be stored in a storage system and executed by the computing system, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0112] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A method for positioning personnel in coal mines based on UWB and gyroscope, characterized in that: Including: A positioning card installed on an underground worker sends communication data to several card readers in the underground roadway, and records the transmission timestamp T1 through the UWB positioning tag in the positioning card; the nearest card reader to the positioning card receives the communication data and records the reception timestamp T2; the nearest card reader sends response data to the positioning card and records the transmission timestamp T3; after the positioning card receives the response data, the UWB positioning tag records the reception timestamp T4; The positioning card sends the transmission timestamp T1, the reception timestamp T4, and the acceleration value a of the underground worker recorded by the gyroscope chip to the nearest card reader; The nearest card reader calculates the current distance d between the underground worker and the nearest card reader based on the transmission timestamp T1, the reception timestamp T2, the transmission timestamp T3, and the reception timestamp T4; The nearest card reader judges the validity of the current distance d according to the distance d' calculated in the previous round and the acceleration value a; after the judgment is completed, the invalid data is cleared; When the valid current distance d exceeds the set distance, the communication between the positioning card and the nearest card reader is disconnected; the positioning card initiates a broadcast signal again to find the nearest card reader to the positioning card and establish communication; During the process that the nearest card reader judges the validity of the current distance d according to the distance d' calculated in the previous round and the acceleration value a, an acceleration threshold is set as a1; the difference between the current distance d and the distance d' calculated in the previous round is △d; a moving distance threshold is set as L1; In an environment without interference signals, the transmitted a and d values are all valid data. Therefore, when the underground worker moves, a > a1 and △d > L1; when the underground worker does not move, a < a1 and △d < L1; In an environment with interference signals in the coal mine underground: Situation 1: If △d > L1 and at this time a > a1, it means that the underground worker is moving, and it is determined that the current distance d is valid; on the contrary, if a < a1 at this time, it means that the underground worker is not moving, and it is determined that the current distance d is invalid; Situation 2: If △d < L1 and at this time a < a1, it means that the underground worker is in a non-moving state, and it is determined that the current distance d is valid; Situation 3: If △d < L1 and at this time a > a1, it means that the underground worker may have fallen. Subsequently, if the underground worker is continuously measured in the non-moving state in Situation 2 for n times, it is considered that the underground worker is in a real fallen state, and it is determined that the current distance d is valid; if the underground worker is not continuously measured in the non-moving state in Situation 2 for n times, it is determined that the current distance d is invalid.

2. A method for positioning personnel in underground coal mines based on UWB and gyroscope according to claim 1, characterized in that: The positioning card is provided with a UWB positioning tag and a gyroscope chip; the UWB positioning tag is used to record the timestamps generated during the communication between the positioning card and the card reader; the gyroscope chip is used to obtain the acceleration value of the underground worker.

3. A method for positioning personnel in coal mines based on UWB and gyroscope according to claim 2, characterized in that: Several of the card readers in the underground roadway are evenly distributed according to the set distance L; when the valid current distance d exceeds L / 2, the communication between the positioning card and the nearest card reader is disconnected.

4. A method for positioning personnel in underground coal mines based on UWB and gyroscope according to claim 3, characterized in that: The calculation formula for the current distance d is as follows: d = c×T / 2 T = (T2 - T1) + (T4 - T3) Wherein, d is the current distance; T is the total data transmission time; c is the speed of light.

5. A coal mine underground personnel positioning device based on UWB and a gyroscope, using a coal mine underground personnel positioning method based on UWB and a gyroscope as claimed in any one of claims 1 to 4, characterized in that: Including: A signal transmission and timestamp recording module, configured to send communication data from a positioning card installed on an underground worker to several card readers in an underground roadway, and record the transmission timestamp T1 through a UWB positioning tag in the positioning card; the nearest card reader to the positioning card receives the communication data and records the reception timestamp T2; the nearest card reader sends reply data to the positioning card and records the transmission timestamp T3; after the positioning card receives the reply data, the UWB positioning tag records the reception timestamp T4; A positioning card timestamp and acceleration value sending module, configured to send the transmission timestamp T1, the reception timestamp T4, and the acceleration value a of the underground worker recorded by a gyroscope chip of the positioning card to the nearest card reader; A current distance calculation module, configured to calculate the current distance d between the underground worker and the nearest card reader by the nearest card reader according to the transmission timestamp T1, the reception timestamp T2, the transmission timestamp T3, and the reception timestamp T4; A current distance validity judgment module, configured to judge the validity of the current distance d by the nearest card reader according to the distance d' calculated in the previous round and the acceleration value a; after the judgment is completed, invalid data is cleared; A communication re - establishment module, configured to disconnect the communication between the positioning card and the nearest card reader when the valid current distance d exceeds a set distance; the positioning card sends a broadcast signal again to find the nearest card reader to the positioning card and establish communication; In the current distance validity judgment module, during the process of judging the validity of the current distance d by the nearest card reader according to the distance d' calculated in the previous round and the acceleration value a, an acceleration threshold is set as a1; the difference between the current distance d and the distance d' calculated in the previous round is △d; a moving distance threshold is set as L1; In an environment without interference signals, the transmitted a and d values are all valid data. Therefore, when the underground worker moves, a > a1, △d > L1; when the underground worker does not move, a < a1, △d < L1; In an environment with interference signals in a coal mine: Case 1: If △d > L1, and at this time a > a1, it indicates that the underground worker is moving, and it is determined that the current distance d is valid; conversely, if a < a1 at this time, it indicates that the underground worker is not moving, and it is determined that the current distance d is invalid; Case 2: If △d < L1, and at this time a < a1, it indicates that the underground worker is in a non - moving state, and it is determined that the current distance d is valid; Case 3: If △d < L1, and at this time a > a1, it indicates that the underground worker may have fallen. Subsequently, if the underground worker is continuously measured in the non - moving state in Case 2 for n times, it is considered that the underground worker is in a real fallen state, and it is determined that the current distance d is valid; if the underground worker is not continuously measured in the non - moving state in Case 2 for n times, it is determined that the current distance d is invalid.

6. The coal mine underground personnel positioning device based on UWB and gyroscope according to claim 5, characterized in that: In the signal transmission and timestamp recording module, the positioning card is provided with a UWB positioning tag and a gyroscope chip; the UWB positioning tag is used to record the timestamp generated during the communication between the positioning card and the card reader; the gyroscope chip is used to obtain the acceleration value of the underground personnel.

7. The coal mine personnel positioning device based on UWB and gyroscope according to claim 6, characterized in that: In the communication re-establishment module, the plurality of card readers in the underground tunnel are evenly distributed according to a set distance L; when the effective current distance d exceeds L / 2, the communication between the positioning card and the nearest card reader is disconnected.

8. The coal mine underground personnel positioning device based on UWB and gyroscope according to claim 7, characterized in that: In the current distance calculation module, the calculation formula of the current distance d is: d=c×T / 2 T=(T2-T1)+(T4-T3) Where d is the current distance; T is the total data transmission time; and c is the speed of light.

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