Mining safety distance early warning method and system based on radio waves

Abstract

The invention discloses a mining safety distance early warning method and system based on radio waves. The method comprises the steps that a target sub-cycle is divided into a first wireless signal receiving and transmitting time unit, a second wireless signal receiving and transmitting time unit, a third wireless signal receiving and transmitting time unit and a fourth wireless signal receiving and transmitting time unit in sequence according to the time sequence; broadcasting the first data message to a plurality of second terminal devices in the first wireless signal transceiving time unit; receiving a second data message broadcasted by a third vehicle-mounted base station in a second wireless signal transceiving time unit; receiving a second data message broadcasted by the second fixed base station in a third wireless signal transceiving time unit; determining whether a safety early warning condition is satisfied based on the identification information of the first terminal device; and broadcasting the third data message to the plurality of second terminal devices in the fourth wireless signal transceiving time unit. Therefore, mine safety distance early warning with higher reliability and bidirectional performance is realized in a complex mine operation environment.

Description

Technical Field

[0001] This application relates to the technical field of radio ranging, and particularly to a mine safety distance warning method and system based on radio waves. Background Art

[0002] The process of loading trucks with forklifts is a core technological link in most mine exploitation processes. Mine forklifts and trucks usually belong to large-scale mobile equipment. In mine operation scenarios, there are numerous such equipment and frequent transportation, and their operation safety is one of the keys to mine safety management.

[0003] In the related art, generally, the operation safety of the above-mentioned mine mobile equipment is ensured by giving timely safety distance warning prompts to the drivers. The so-called safety distance warning includes both the safety distance warning between large-scale mine mobile equipment and the safety distance warning between large-scale mobile equipment and mine operation personnel.

[0004] Currently, there are mainly the following two methods for the safety distance warning of mine mobile equipment: (1) The warning method based on radar or visual sensors. Install sensors such as lidar, millimeter-wave radar, or cameras on large-scale mobile equipment such as mine forklifts and trucks to detect the positions and distances of other surrounding equipment or personnel. (2) The warning method based on high-precision positioning coordinates. Obtain the spatial coordinate data of mine mobile equipment and mine operation personnel through a precise positioning system, and calculate the distance between the two parties based on the coordinates for warning.

[0005] However, in the complex mine environment, the above methods respectively have the following problems: (1) When using the warning method based on radar or visual sensors, there are often situations of rock mass occlusion in mine production scenarios, especially at road turning points or intersections of uphill and downhill sections. If the detection signals of the sensors are easily blocked, the safety distance warning will fail. (2) When using the warning scheme based on high-precision positioning coordinates, it is difficult to achieve full-area coverage of the precise positioning signals, and the accuracy of the obtained coordinate data is not high, resulting in easy omission or false alarms. In addition, when using the warning method based on high-precision positioning coordinates, the coordinate data needs to be uploaded to the server side through the network for safety distance judgment, and then the warning result is sent down through the network, which is overly dependent on network communication. The coverage rate and stability of network communication in the mine environment are difficult to guarantee. Summary of the Invention

[0006] In view of this, the embodiments of this application provide a mine safety distance warning method and system based on radio waves, aiming to solve the problem of low accuracy of mine safety warning caused by easy occlusion of detection signals, small positioning range, and excessive dependence on network communication in complex mine scenarios.

[0007] The technical solution of the embodiments of this application is implemented as follows: In a first aspect, an embodiment of the present application provides a method for warning of safe distance in a mine based on radio waves, which is applied to a first terminal device. The first terminal device includes a first vehicle-mounted base station or a personnel identification card disposed on a mine mobile device. The method includes: During multiple sub-periods of the current detection period, determine a target sub-period occupied by the first terminal device; and sequentially divide the target sub-period into a first radio signal transceiver time unit, a second radio signal transceiver time unit, a third radio signal transceiver time unit, and a fourth radio signal transceiver time unit in chronological order; During the first radio signal transceiver time unit, broadcast a first data packet to a plurality of second terminal devices. The plurality of second terminal devices include a plurality of second vehicle-mounted base stations and a plurality of first fixed base stations; the first data packet includes identification information of the first terminal device; Receive a second data packet broadcast by a third vehicle-mounted base station during the second radio signal transceiver time unit. The third vehicle-mounted base station is a vehicle-mounted base station accessed by a competition method and / or a dedicated method among the plurality of second vehicle-mounted base stations; the second data packet broadcast by the third vehicle-mounted base station during the second radio signal transceiver time unit includes: identification information of the third vehicle-mounted base station and a first device set; the first device set includes a set of first terminal devices whose ranging distance from the third vehicle-mounted base station in the previous detection period is less than a safe warning distance threshold; Receive a second data packet broadcast by a second fixed base station during the third radio signal transceiver time unit. The second fixed base station is a fixed base station accessed by a competition method and / or a dedicated method among the plurality of first fixed base stations; the second data packet broadcast by the second fixed base station during the third radio signal transceiver time unit includes identification information of the second fixed base station and a second device set; the second device set includes a set of first terminal devices whose distance from the second fixed base station in the previous detection period is less than a safe warning distance threshold; Based on the identification information of the first terminal device, determine whether the safe warning condition is satisfied. If so, generate a first safe warning indication information; wherein, the safe warning condition is determined based on the first device set or the second device set; Within the fourth wireless signal transceiver time unit, broadcast a third data packet to the multiple second terminal devices; wherein, the third data packet includes: identification information of the first terminal device, identification information of the third vehicle-mounted base station, identification information of the second fixed base station, the time when the first terminal device broadcasts the first data packet, the time when the first terminal device receives the second data packet of the third vehicle-mounted base station, the time when the first terminal device receives the second data packet of the second fixed base station, and the time when the first terminal device broadcasts the third data packet; the third data packet is used to instruct the second terminal device to calculate the distance data between the second terminal device and the first terminal device based on the time-of-flight ranging algorithm, and determine whether to generate a second security warning indication information based on the distance data.

[0008] In some embodiments, the second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first contention transceiver time unit in sequence according to time, and the receiving of the second data packet broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit includes: If the first data packet includes a target vehicle-mounted base station, and the target vehicle-mounted base station belongs to one of the multiple second vehicle-mounted base stations, then receive the second data packet broadcast by the target vehicle-mounted base station within the first dedicated transceiver time unit; and receive the second data packet competitively broadcast by a fourth vehicle-mounted base station within the first contention transceiver time unit, the third vehicle-mounted base station includes the target vehicle-mounted base station and the fourth vehicle-mounted base station, and the fourth vehicle-mounted base station is a vehicle-mounted base station that is accessed by other vehicle-mounted base stations among the multiple second vehicle-mounted base stations in a competitive manner and received by the first terminal device; If the first data packet does not include a target vehicle-mounted base station, then receive the second data packet broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit; the third vehicle-mounted base station is a vehicle-mounted base station that is accessed by the multiple second vehicle-mounted base stations in a competitive manner and received by the first terminal device.

[0009] In some embodiments, the third wireless signal transceiver time unit includes a second dedicated transceiver time unit and a second contention transceiver time unit, and the receiving of the second data packet broadcast by the second fixed base station within the third wireless signal transceiver time unit includes: If the first data packet includes a target fixed base station, and the target fixed base station belongs to one of the multiple first fixed base stations, then receive the second data packet broadcast by the target fixed base station within the second dedicated transceiver time unit; and receiving, within the second competing transceiver time unit, a second data packet broadcast by a third fixed base station in competition, where the second fixed base station includes the target fixed base station and the third fixed base station, and the third fixed base station is a base station among the multiple first fixed base stations other than the target fixed base station, which is accessed by the first terminal device in a competitive manner and is a fixed base station received by the first terminal device; If the first data packet does not include the target fixed base station, then receiving, within the third radio signal transceiver time unit, a second data packet broadcast by the second fixed base station in competition, where the second fixed base station is a fixed base station accessed by the multiple first fixed base stations in a competitive manner and received by the first terminal device.

[0010] In some embodiments, the security warning conditions include: The first terminal device belongs to the first device set; or, If the first terminal device is a personnel identification card, and both the personnel identification card and at least one third vehicle-mounted base station belong to the second device set; or, If the first terminal device is a vehicle-mounted base station, and the vehicle-mounted base station and at least one other first terminal device other than the vehicle-mounted base station both belong to the second device set.

[0011] In some embodiments, the method further includes: If the first terminal device does not belong to the first device set, then determining that the identification information of the target vehicle-mounted base station is not included in the first data packet of the next detection period; If the first terminal device belongs to the first device set, then selecting, from the first device set, a third vehicle-mounted base station with the shortest ranging distance from the first terminal device, and determining that the target vehicle-mounted base station in the first data packet of the next detection period is the third vehicle-mounted base station with the shortest ranging distance from the first terminal device; If the first terminal device does not belong to the second device set, then determining that the identification information of the target fixed base station is not included in the first data packet of the next detection period; If the first terminal device belongs to the second device set, then selecting, from the second device set, a second fixed base station with the shortest ranging distance from the first terminal device, and determining that the target fixed base station in the first data packet of the next detection period is the second fixed base station with the shortest ranging distance from the first terminal device.

[0012] In a second aspect, an embodiment of the present application provides a method for warning of safe distance in a mine based on radio waves, which is applied to multiple second terminal devices, and the multiple second terminal devices include multiple second vehicle-mounted base stations and multiple first fixed base stations. The method includes: During the target sub - cycle occupied by the first terminal device in multiple sub - cycles of the current detection period, receive the first data packet broadcast by the first terminal device within the first wireless transceiver time unit; the first data packet includes the identification information of the first terminal device, and the target sub - cycle includes the first wireless signal transceiver time unit, the second wireless signal transceiver time unit, the third wireless signal transceiver time unit, and the fourth wireless signal transceiver time unit sequentially divided in time order; the first terminal device includes a first vehicle - mounted base station or a personnel identification card set on a mining mobile device. In response to the first data packet, the third vehicle - mounted base station broadcasts a second data packet within the second wireless transceiver time unit. The third vehicle - mounted base station is a vehicle - mounted base station accessed through a competition method and / or a dedicated method among the multiple second vehicle - mounted base stations; the second data packet broadcast by the third vehicle - mounted base station within the second wireless transceiver time unit includes the identification information of the third vehicle - mounted base station and a first device set; the first device set includes the first terminal device set whose ranging distance from the third vehicle - mounted base station was less than the safety warning distance threshold in the previous detection period. In response to the first data packet, the second fixed base station broadcasts a second data packet within the third wireless transceiver time unit. The second fixed base station is a fixed base station accessed through a competition method and / or a dedicated method among the multiple first fixed base stations; the second data packet broadcast by the second fixed base station within the third wireless transceiver time unit includes the identification information of the second fixed base station and a second device set; the second device set includes the first terminal device set whose distance from the second fixed base station was less than the safety warning distance threshold in the previous detection period. Receive the third data packet broadcast by the first terminal device within the fourth wireless transceiver time unit; the third data packet includes: the identification information of the first terminal device, the identification information of the third vehicle - mounted base station, the identification information of the second fixed base station, the time when the first terminal device broadcasts the first data packet, the time when the first terminal device receives the second data packet of the third vehicle - mounted base station, the time when the first terminal device receives the second data packet of the second fixed base station, and the time when the first terminal device broadcasts the third data packet; the first terminal device is further configured to determine whether the safety warning condition is met based on the identification information of the first terminal device. If so, generate a first safety warning indication message. The safety warning condition includes the first device set or the second device set. In response to the third data packet, measure the distance data between the second terminal device and the first terminal device based on the time - of - flight ranging algorithm, and determine whether to generate a second safety warning indication message based on the distance data.

[0013] In some embodiments, the second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first contention transceiver time unit that are sequentially performed in chronological order. In response to the first data packet, the third vehicle-mounted base station broadcasts a second data packet in the second wireless transceiver time unit, including: If the first data packet includes a target vehicle-mounted base station, and the target vehicle-mounted base station belongs to one of the multiple second vehicle-mounted base stations, then within the first dedicated transceiver time unit, the target vehicle-mounted base station broadcasts the second data packet; and within the first contention transceiver time unit, a fourth vehicle-mounted base station contends to broadcast the second data packet; wherein the third vehicle-mounted base station includes the target vehicle-mounted base station and the fourth vehicle-mounted base station, and the fourth vehicle-mounted base station is a vehicle-mounted base station that is accessed by other vehicle-mounted base stations among the second vehicle-mounted base stations in a contention manner and is received by the first terminal device; If the first data packet does not include a target vehicle-mounted base station, then within the second wireless signal transceiver time unit, the third vehicle-mounted base station broadcasts the second data packet; the third vehicle-mounted base station is a vehicle-mounted base station that is accessed by the second vehicle-mounted base stations in a contention manner and is received by the first terminal device.

[0014] In some embodiments, the third wireless signal transceiver time unit includes a second dedicated transceiver time unit and a second contention transceiver time unit that are sequentially performed in chronological order. In response to the first data packet, the second fixed base station broadcasts a second data packet within the third wireless transceiver time unit, including: If the first data packet includes a target fixed base station, and the target fixed base station belongs to one of the multiple first fixed base stations, then within the second dedicated transceiver time unit, the target fixed base station broadcasts the second data packet; and within the second contention transceiver time unit, a third fixed base station contends to broadcast the second data packet, the second fixed base station includes the target fixed base station and the third fixed base station, and the third fixed base station is a fixed base station that is accessed by other base stations among the multiple first fixed base stations in a contention manner and is received by the first terminal device; If the first data packet does not include a target fixed base station, then within the third wireless signal transceiver time unit, the second fixed base station contends to broadcast the second data packet, and the second fixed base station is a fixed base station that is accessed by the multiple first fixed base stations in a contention manner and is received by the first terminal device.

[0015] In some embodiments, calculating the distance data between the second terminal device and the first terminal device based on the time-of-flight ranging algorithm includes: Based on the time-of-flight ranging algorithm, the time when the first terminal device broadcasts the first data packet, the time when the first terminal device receives the second data packet of the third vehicle-mounted base station, the time when the first terminal device receives the second data packet of the second fixed base station, the time when the first terminal device broadcasts the third data packet, the first data packet reception time of the second terminal device, the second data packet broadcast time of the second terminal device, and the third data packet reception time of the second terminal device, calculate the distance data between the first terminal device and the second terminal device.

[0016] In a third aspect, an embodiment of the present application provides a mine safety distance warning system based on radio waves, a first terminal device, and a plurality of second terminal devices. The first terminal device is communicatively connected to the plurality of second terminal devices. The first terminal device includes a first vehicle-mounted base station or a personnel identification card disposed on a mine mobile device. The plurality of second terminal devices include a plurality of second vehicle-mounted base stations and a plurality of first fixed base stations. Among them, The first terminal device includes: a first processor and a first memory for storing a computer program that can run on the processor. Among them, when the first processor runs the computer program, it executes the steps of the method according to any one of the above first aspects; The plurality of second terminal devices include: a second processor and a second memory for storing a computer program that can run on the processor. Among them, when the second processor runs the computer program, it executes the steps of the method according to any one of the above second aspects.

[0017] An embodiment of the present application provides a method for warning of safe distance in mines based on radio waves, which is applied to a first terminal device. The first terminal device includes a first vehicle-mounted base station or a personnel identification card provided on a mine mobile device, and includes: determining a target sub-period occupied by the first terminal device within multiple sub-periods of the current detection period; and sequentially dividing the target sub-period into a first radio signal transceiver time unit, a second radio signal transceiver time unit, a third radio signal transceiver time unit, and a fourth radio signal transceiver time unit in chronological order; within the first radio signal transceiver time unit, broadcasting a first data packet to multiple second terminal devices, where the multiple second terminal devices include multiple second vehicle-mounted base stations and multiple first fixed base stations; the first data packet includes identification information of the first terminal device; receiving a second data packet broadcast by a third vehicle-mounted base station within the second radio signal transceiver time unit, where the third vehicle-mounted base station is a vehicle-mounted base station accessed by a competition method and / or a dedicated method among the multiple second vehicle-mounted base stations; the second data packet broadcast by the third vehicle-mounted base station within the second radio signal transceiver time unit includes: identification information of the third vehicle-mounted base station and a first device set; the first device set includes a set of first terminal devices whose ranging distance from the third vehicle-mounted base station was less than the safe warning distance threshold in the previous detection period; receiving a second data packet broadcast by a second fixed base station within the third radio signal transceiver time unit, where the second fixed base station is a fixed base station accessed by a competition method and / or a dedicated method among the multiple first fixed base stations; the second data packet broadcast by the second fixed base station within the third radio signal transceiver time unit includes identification information of the second fixed base station and a second device set; the second device set includes a set of first terminal devices whose distance from the second fixed base station was less than the safe warning distance threshold in the previous detection period; determining whether the safe warning condition is satisfied based on the identification information of the first terminal device, and if so, generating a first safe warning indication information; where the safe warning condition is determined based on the first device set or the second device set; within the fourth radio signal transceiver time unit, broadcasting a third data packet to multiple second terminal devices; where the third data packet includes: identification information of the first terminal device, identification information of the third vehicle-mounted base station, identification information of the second fixed base station, the time when the first terminal device broadcasts the first data packet, the time when the first terminal device receives the second data packet of the third vehicle-mounted base station, the time when the first terminal device receives the second data packet of the second fixed base station, and the time when the first terminal device broadcasts the third data packet; the third data packet is used to instruct the second terminal device to calculate the distance data between the second terminal device and the first terminal device based on the time-of-flight ranging algorithm, and determine whether to generate a second safe warning indication information based on the distance data.

[0018] Thus, in view of the complex operation environment in mines, the embodiment of the present application realizes a mine safety distance warning with higher reliability and bidirectionality through a radio wave communication warning system constructed between the first terminal device and the second terminal device. (1) By using radio waves to transmit and receive the first to third data packets between the first terminal device and the second terminal device, a safety distance warning is realized. Compared with the prior art that uses sensors such as lidar or cameras for warning, radio wave communication is not affected by line-of-sight obstruction, and can effectively avoid the problem of warning failure caused by the detection signal being blocked. (2) By dividing the target sub-period occupied by the first terminal device into multiple consecutive wireless signal transceiver units, and arranging the data packet transceiver between the first terminal device and the second terminal device in different wireless signal transceiver units, reliable communication can be supported under complex terrain conditions such as turning and uphill / downhill on mine roads, so as to realize end-to-end safety distance warning. (3) Set warning trigger conditions in the first terminal device to realize safety warning for vehicle drivers or mine workers, and a ranging algorithm can also be used in the second terminal device to realize safety warning for drivers or mine workers. Different from the prior art that only warns the driver unidirectionally, this configuration realizes bidirectional safety warning for drivers and mine workers, thus improving the overall warning effect and safety protection ability. By timely reminding all relevant personnel, the mine safety production level can be further improved. (4) Since the first terminal device makes a warning judgment based on a preset safety distance threshold, and the second terminal device conducts a safety warning based on a ranging algorithm, it does not need to rely on external precise positioning or wireless network signals, reducing the dependence on precise position information and communication networks, effectively avoiding false alarms or missed alarms caused by positioning errors or network fluctuations, and thus improving the stability and accuracy of the warning system. (5) The first terminal device may include a first vehicle-mounted base station installed on a mine operation vehicle, or a personnel identification card worn by a miner; the second terminal device includes a second vehicle-mounted base station and a fixed base station. By covering various operation entities such as vehicles, personnel, and fixed facilities, it can adapt to the complex working scenarios in mines. Description of the Drawings

[0019] Figure 1 It is a schematic flow chart of a mine safety distance warning method based on radio waves provided by an embodiment of the present application; Figure 2 It is a schematic flow chart of another mine safety distance warning method based on radio waves provided by the present application; Figure 3 It is a schematic working flow chart of a mine safety distance warning method based on radio waves provided by an application example of the present application; Figure 4 It is a schematic structural diagram of a first terminal device provided by an embodiment of the present application; Figure 5Schematic structural diagram of the second terminal device provided by the embodiment of the present application. Detailed implementation manners

[0020] The present application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0022] The embodiment of the present application provides a method for warning of safe distance in mines based on radio waves, which is applied to a first terminal device. The first terminal device includes a first vehicle-mounted base station or a personnel identification card disposed on a mine mobile device.

[0023] It can be understood that the first vehicle-mounted base station is deployed on a mine mobile device (such as a transport vehicle, an excavator), and can be equipped with an audible and visual alarm or the like for sending a warning message to prompt the driver.

[0024] It can be understood that the personnel identification card is worn by mine workers. Exemplarily, a vibration motor or a buzzer or the like can be integrated in the personnel identification card for sending a safety warning message to prompt the workers.

[0025] In this embodiment, the vehicle-mounted base station and the personnel identification card, as the first terminal device, jointly serve as the initiating end of the warning of safe distance in mines.

[0026] As Figure 1 shown, the method includes the following steps: Step 110: In multiple sub-periods of the current detection period, determine the target sub-period occupied by the first terminal device; and sequentially divide the target sub-period into a first radio signal transceiver time unit, a second radio signal transceiver time unit, a third radio signal transceiver time unit, and a fourth radio signal transceiver time unit in chronological order.

[0027] In this embodiment, let the current detection period (the detection period of the warning of safe distance in mines) be T. To reasonably allocate time resources and improve detection efficiency, this embodiment divides the detection period T into M sub-periods, so that each vehicle-mounted base station and personnel identification card can operate orderly in different time periods, avoiding signal conflicts and interference.

[0028] In this embodiment, the first vehicle-mounted base station and the personnel identification card each occupy a sub-cycle. The vehicle-mounted base station actively emits radio waves at the start time of the sub-cycle it occupies and remains in a listening state during other sub-cycles; the personnel identification card actively emits radio waves at the start time of the sub-cycle it occupies and is in a non-listening state during other sub-cycles. This not only ensures the transmission of its own information but also does not excessively occupy the resources of other time periods.

[0029] It can be understood that before performing safety warning, it is necessary to determine the target sub-cycle occupied by the first terminal device within multiple cycles of the current detection cycle. In this way, within its target sub-cycle, the first terminal device can act as the initiating end and actively emit radio waves for safety distance detection. This is the key starting point of the entire warning process. Through this method, communication and information interaction with other devices can be carried out in a timely manner, thereby realizing the judgment and warning of the safety distance.

[0030] In this embodiment, in order to cope with the complex mine environment, improve the efficiency of safety warning, and avoid conflicts between devices, each sub-cycle can be further divided into N wireless signal transceiver time units in chronological order.

[0031] It can be understood that the N wireless signal transceiver time units include: the first wireless signal transceiver time unit, the second wireless signal transceiver time unit, the third wireless signal transceiver time unit, and the fourth wireless signal transceiver time unit, which are sequentially divided in chronological order.

[0032] Exemplarily, in chronological order, 1 wireless signal transceiver time unit is used for the initiating end to broadcast the first data packet (set as the 1st wireless signal transceiver time unit), 1 wireless signal transceiver time unit is used for the vehicle-mounted base station to broadcast the second data packet (set as the 2nd wireless signal transceiver time unit), 1 wireless signal transceiver time unit is used for the fixed base station to broadcast the second data packet (set as the 3rd wireless signal transceiver time unit), and 1 wireless signal transceiver time unit is used for the initiating end to broadcast the third data packet (set as the 4th wireless signal transceiver time unit).

[0033] Step 120: Broadcast the first data packet to multiple second terminal devices within the first wireless signal transceiver time unit. The multiple second terminal devices include multiple second vehicle-mounted base stations and multiple first fixed base stations; the first data packet includes the identification information of the first terminal device.

[0034] In this embodiment, within the first wireless signal transceiver time unit, the first terminal device acts as the initiating end and actively broadcasts the first data packet to multiple second terminal devices.

[0035] In this embodiment, the second terminal device acts as the receiving end, which refers to the initiating end that does not actively transmit signals in the current sub-cycle. These devices will act as the receiving end, receive the broadcast signals from the initiating end device, and respond accordingly.

[0036] In this embodiment, in the mine operation scenario, the second terminal device includes multiple second vehicle-mounted base stations (other vehicle-mounted base stations in the mine except the first vehicle-mounted base station) and multiple first fixed base stations. During the current detection cycle, the first fixed base station is always in a listening state. In the mine environment, fixed base stations are usually installed at fixed positions, such as on the mine roadway wall, beside the mine road, etc., for covering specific areas.

[0037] It can be understood that the content of the first data packet includes the identification information of the first terminal device.

[0038] Step 130: Receive the second data packet broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit. The third vehicle-mounted base station is a vehicle-mounted base station accessed by a competition method and / or a dedicated method among the multiple second vehicle-mounted base stations; the second data packet broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit includes: the identification information of the third vehicle-mounted base station and the first device set; the first device set includes the set of first terminal devices whose ranging distance from the third vehicle-mounted base station was less than the safety warning distance threshold in the previous detection cycle.

[0039] In this embodiment, within the second wireless signal transceiver time unit, the second terminal device (such as multiple second vehicle-mounted base stations and multiple first fixed base stations) will receive the first data packet and make a response according to its content. Here, the second data packet is used to respond to the first data packet.

[0040] It should be noted that whether the second terminal device is a vehicle-mounted base station or a fixed base station, it can broadcast the second data packet by a competition method (wireless signal competition mechanism) or a dedicated method. In the competition method (wireless signal competition mechanism), usually the broadcast from the base station that is closer to the first terminal device and has a stronger signal will be received preferentially, but it may also happen that none of them are received successfully due to signal collision. Therefore, not all responses from the second terminal devices can be received by the first terminal device.

[0041] Here, the third vehicle-mounted base station is a vehicle-mounted base station accessed by a competition method and / or a dedicated method among the multiple second vehicle-mounted base stations. Exemplarily, assume that X' second vehicle-mounted base stations (belonging to the multiple second vehicle-mounted base stations) have received the first data packet. The first terminal device will then receive the second data packets broadcast by X vehicle-mounted base stations (i.e., the third vehicle-mounted base stations). The third vehicle-mounted base station is at least one of the multiple second vehicle-mounted base stations.

[0042] It can be understood that since the types of vehicle-mounted base stations and fixed base stations included in the second terminal device are different, in order to avoid conflicts and improve the accuracy and efficiency of safety warnings, in this embodiment, in chronological order, the third vehicle-mounted base station is first allowed to respond, that is, within the second radio signal transceiver time unit, the third vehicle-mounted base station sends a broadcast second data packet.

[0043] In this embodiment, the second data packet broadcast by the third vehicle-mounted base station within the second radio signal transceiver time unit includes: the identification information of the third vehicle-mounted base station and the first device set.

[0044] Exemplarily, the content of the second data packet of the third vehicle-mounted base station includes: (1) The ID of the third vehicle-mounted base station itself; (2) In the previous detection period, the set of IDs of the initiating ends (first terminal devices) whose ranging distances from the third vehicle-mounted base station are less than , and the elements in are the ID of the initiating end (first terminal device) and the corresponding distance value.

[0045] Exemplarily, if in the previous detection period, the ranging distance between the first terminal device T1 and the third vehicle-mounted base station is 40 meters, the ranging distance between the first terminal device T2 and the third vehicle-mounted base station is 55 meters, and the preset safety threshold is 50 meters, then the second data packet will contain the identification information of the first terminal device T1 and its corresponding distance value, but not the information of the first terminal device T2, so as to be used for subsequent safety warning judgment.

[0046] Here, the first device set can be expressed as . Specifically: represents the identification of the first third vehicle-mounted base station and its corresponding first terminal device set ; represents the identification of the second third vehicle-mounted base station and its corresponding first device set ; and so on until the Xth third vehicle-mounted base station, corresponding to , where represents the identification information of the Xth third vehicle-mounted base station, which is used to uniquely identify the base station. represents the first terminal device set of the Xth third vehicle-mounted base station, and this set contains the IDs and corresponding distance values of the first terminal devices whose ranging distances from the Xth third vehicle-mounted base station are less than the safety warning distance threshold in the previous detection period .

[0047] Step 140: Receive the second data packet broadcast by the second fixed base station within the third wireless signal transceiver time unit. The second fixed base station is a fixed base station among multiple first fixed base stations that accesses through a competition method and / or a dedicated method; the second data packet broadcast by the second fixed base station within the third wireless signal transceiver time unit includes the identification information of the second fixed base station and the second device set; the second device set includes, in the previous detection period, the set of first terminal devices that are less than the safety warning distance threshold from the second fixed base station.

[0048] In this embodiment, in order to communicate orderly and reduce the probability of signal conflicts, the reception time is set after the third vehicle-mounted base station. Specifically, the third vehicle-mounted base station broadcasts first within the second wireless signal transceiver time unit, while the second fixed base station broadcasts in the subsequent third wireless signal transceiver time unit. This helps to avoid signal interference between two different types of base stations and ensures that the data packet can be received more reliably.

[0049] It can be understood that whether the second terminal device is a vehicle-mounted base station or a fixed base station, it can broadcast the second data packet in a competition method (wireless signal competition mechanism) or a dedicated method. In the competition method (wireless signal competition mechanism), generally, the broadcast of the base station that is closer to the first terminal device and has a stronger signal will be received preferentially, but it may also be that neither is received successfully due to signal collisions. Therefore, not all responses from the second terminal devices can be received by the first terminal device. The second fixed base station is a fixed base station among multiple first fixed base stations that accesses through a competition method and / or a dedicated method.

[0050] Exemplarily, assume that Y' first fixed base stations receive the first data packet. The first terminal device then successfully receives the second data packet broadcast by Y fixed base stations (i.e., the second fixed base stations) within the third wireless signal transceiver unit. The second fixed base station is at least one of multiple first fixed base stations.

[0051] In this embodiment, the second data packet broadcast by the second fixed base station within the third wireless signal transceiver time unit includes the identification information of the second fixed base station and the second device set.

[0052] Exemplarily, the content of the second data packet of the second fixed base station includes: (1) The ID of the second fixed base station itself; (2) In the previous detection period, the set of originator (first terminal device) IDs whose ranging distance from this second fixed base station is less than The elements in are the originator (first terminal device) ID and the corresponding distance value. , Here, the second device set can be

[0053] ​ Specifically: represents the identifier of the first third vehicle-mounted base station and its corresponding first set of terminal devices ; represents the identifier of the second third vehicle-mounted base station and its corresponding first set of terminal devices ; By analogy, until the Yth second fixed base station, corresponding to , where represents the identification information of the Y second fixed base stations, used to uniquely identify the base station. represents the first set of terminal devices of the Y second fixed base stations, and this set contains the IDs and corresponding distance values of the first terminal devices whose ranging distance from the Yth second fixed base station is less than the safety warning distance threshold within the previous detection period T .

[0054] Step 150: Based on the identification information of the first terminal device, determine whether the safety warning condition is met. If so, generate the first safety warning indication information; where the safety warning condition is determined based on the first device set or the second device set.

[0055] In this embodiment, after the first terminal device receives the second data packet, it enters Step 150 to perform a safety warning judgment. This step determines whether to generate the first safety warning indication information by determining whether the safety warning condition is met based on the identification information of the first terminal device itself. If the safety warning condition is met, the first safety warning indication information is generated.

[0056] It can be understood that the safety warning is determined based on the above-mentioned first device set or the second device set. The first device set contains the first set of terminal devices whose ranging distance from the third vehicle-mounted base station is less than the safety warning distance threshold within the previous detection period. The second device set contains the first set of terminal devices whose ranging distance from the second fixed base station is less than the safety warning distance threshold within the previous detection period. By incorporating the first device set or the second device set into the safety warning condition, the first terminal device can obtain the information of the first terminal devices near the third vehicle-mounted base station and the second fixed base station with which it communicates, so as to more accurately determine whether it is necessary to generate the first safety warning indication information and improve the reliability of the warning judgment.

[0057] In addition, since the first terminal device only performs safety warning judgment based on the safety warning condition, it does not need to rely on external precise positioning or wireless network signals, reducing the dependence on precise position information and communication networks.

[0058] Step 160: Broadcast a third data packet to multiple second terminal devices within a fourth wireless signal transceiver time unit; wherein, the third data packet includes: identification information of the first terminal device, identification information of the third vehicle-mounted base station, identification information of the second fixed base station, the time when the first terminal device broadcasts the first data packet, the time when the first terminal device receives the second data packet of the third vehicle-mounted base station, the time when the first terminal device receives the second data packet of the second fixed base station, and the time when the first terminal device broadcasts the third data packet; the third data packet is used to instruct the second terminal device to calculate the distance data between the second terminal device and the first terminal device based on the time-of-flight ranging algorithm, and determine whether to generate a second safety warning indication information based on the distance data.

[0059] It should be noted that within a detection cycle, only the receiving end can perform ranging with the initiating end. Therefore, the receiving end can determine whether to trigger a safety warning based on the ranging result; and the receiving end broadcasts the ranging result information of the previous cycle, thereby enabling the initiating end to perform ranging warning through the above-mentioned step 150.

[0060] In this embodiment, while the first terminal device performs safety warning, it also broadcasts a third data packet to multiple second terminal devices within a fourth wireless signal transceiver time unit. The fourth wireless signal transceiver time unit comes after the first, second, and third wireless transceiver time units. Here, the third data packet is used to respond to the second data packet of the third vehicle-mounted base station and the second data packet of the second fixed base station.

[0061] Here, the third data packet is used to instruct the second terminal device to calculate the distance data between the second terminal device and the first terminal device based on the time-of-flight ranging algorithm, and determine whether to generate a second safety warning indication information based on the distance data.

[0062] In this embodiment, the third data packet includes: identification information of the first terminal device, identification information of the third vehicle-mounted base station, identification information of the second fixed base station, the time when the first terminal device broadcasts the first data packet, the time when the first terminal device receives the second data packet of the third vehicle-mounted base station, the time when the first terminal device receives the second data packet of the second fixed base station, and the time when the first terminal device broadcasts the third data packet; Exemplarily, the initiating end broadcasts a third data packet, and the content of the third data packet includes: (1) The ID of the initiating end (the first terminal device), i.e., the identification information; (2) The time when the initiating end (the first terminal device) broadcasts the first data packet; The time of the second data packet of the third vehicle-mounted base station (X vehicle-mounted base stations), the time of the second data packet of the second fixed base station (Y fixed base stations), the base station ID of the third vehicle-mounted base station, and the base station ID of the second fixed base station received by the initiating end (the first terminal device); (4)The time when the initiating end (the first terminal device) broadcasts the third data packet.

[0063] Here, the receiving end (the second terminal device) receives the third data packet, combines the distance data between the second terminal device and the first terminal device measured by the Time of Flight (TOF) ranging algorithm, and determines whether to generate the second safety warning indication information based on the distance data.

[0064] In this way, in the embodiments of the present application, for the complex mining operation environment, through the radio wave communication warning system constructed between the first terminal device and the second terminal device, the mine safety distance warning with higher reliability and bidirectionality is realized. (1) By using radio waves to transmit and receive the first to third data packets between the first terminal device and the second terminal device, the safety distance warning is realized. Compared with the prior art that uses sensors such as lidar or cameras for warning, radio wave communication is not affected by line-of-sight blockage, and can effectively avoid the problem of warning failure caused by the detection signal being blocked; (2) By dividing the target sub-period occupied by the first terminal device into multiple consecutive wireless signal transceiver units, and arranging the data packet transceiver between the first terminal device and the second terminal device in different wireless signal transceiver units, reliable communication can be supported under complex terrain conditions such as turning and uphill / downhill on the mine road, so as to realize the end-to-end safety distance warning; (3) Set the warning trigger condition in the first terminal device to realize the safety warning for vehicle drivers or mine workers, and the ranging algorithm can also be used in the second terminal device to realize the safety warning for drivers or mine workers. Different from the prior art that only warns the driver unidirectionally, this configuration realizes the bidirectional safety warning for drivers and mine workers, thus improving the overall warning effect and safety protection ability. By timely reminding all relevant personnel, the mine safety production level can be further improved; (4) Since the first terminal device makes a warning judgment based on the preset safety distance threshold, and the second terminal device conducts a safety warning based on the ranging algorithm, it does not need to rely on external precise positioning or wireless network signals, reduces the dependence on precise position information and communication networks, effectively avoids false alarms or missed alarms caused by positioning errors or network fluctuations, and thus improves the stability and accuracy of the warning system; (5) The first terminal device may include a first vehicle-mounted base station installed on a mine operation vehicle, or a personnel identification card worn by a miner; the second terminal device includes a second vehicle-mounted base station and a fixed base station. By covering various operation entities such as vehicles, personnel, and fixed facilities, it can adapt to the complex mine working scenario.

[0065] In some embodiments, the second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first contention transceiver time unit that are sequentially performed in chronological order, and receives a second data packet broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit, including: If the first data packet includes a target vehicle-mounted base station and the target vehicle-mounted base station belongs to one of multiple second vehicle-mounted base stations, then receive the second data packet broadcast by the target vehicle-mounted base station within the first dedicated transceiver time unit; and receive the second data packet broadcast by the fourth vehicle-mounted base station in contention within the first contention transceiver time unit. The third vehicle-mounted base station includes the target vehicle-mounted base station and the fourth vehicle-mounted base station. The fourth vehicle-mounted base station is a vehicle-mounted base station that is accessed by other vehicle-mounted base stations among the multiple second vehicle-mounted base stations in a contention manner and is received by the first terminal device; If the first data packet does not include a target vehicle-mounted base station, then receive the second data packet broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit; the third vehicle-mounted base station is a vehicle-mounted base station that is accessed by multiple second vehicle-mounted base stations in a contention manner and is received by the first terminal device.

[0066] In this embodiment, the second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first contention transceiver time unit that are sequentially performed in chronological order. It can be understood that the first dedicated transceiver time unit is a dedicated broadcast channel for the vehicle-mounted base station to broadcast the second data packet to ensure that the vehicle-mounted base station can clearly and accurately transmit information to the first terminal device; the first contention transceiver time unit is a contention broadcast channel provided for multiple vehicle-mounted base stations, allowing multiple vehicle-mounted base stations to broadcast the second data packet within this time period according to the contention mechanism.

[0067] It should be noted that the content of the first data packet broadcast by the first terminal device may include information about the target vehicle-mounted base station, that is, a specific vehicle-mounted base station ID. After receiving the first data packet, the second terminal device decides whether to send the second data packet within the first dedicated transceiver time unit or the first contention transceiver time unit according to the target vehicle-mounted base station ID information in the packet.

[0068] Exemplarily, the first wireless signal transceiver time unit is 1 time unit. If the first data packet includes information about the target vehicle-mounted base station, the second wireless signal transceiver time unit includes the 2nd wireless signal transceiver time unit (i.e., the first dedicated transceiver time unit) arranged in chronological order, which is a dedicated channel for the vehicle-mounted base station to broadcast the second data packet; N1 wireless signal transceiver time units (i.e., the first contention transceiver time unit), which is a general contention channel for the vehicle-mounted base station to broadcast the second data packet. Therefore, the second wireless signal transceiver time unit includes the 2nd to the (N1 + 2)th wireless signal transceiver time units.

[0069] Case 1: If the first data packet includes the target vehicle-mounted base station and the target vehicle-mounted base station belongs to one of multiple second vehicle-mounted base stations, then receive the second data packet broadcast by the target vehicle-mounted base station within the first dedicated transceiver time unit; meanwhile, within the first contention transceiver time unit, receive the second data packet competitively broadcast by the fourth vehicle-mounted base station. In this case, the third vehicle-mounted base station includes the target vehicle-mounted base station and the fourth vehicle-mounted base station, and the fourth vehicle-mounted base station refers to the vehicle-mounted base station accessed by other vehicle-mounted base stations among the multiple second vehicle-mounted base stations in a competitive manner and received by the first terminal device.

[0070] Exemplarily, if the first data packet includes the target vehicle-mounted base station and the target vehicle-mounted base station belongs to one of multiple second vehicle-mounted base stations. That is, the specific vehicle-mounted base station ID in the first data packet is not empty and matches the ID of the i-th vehicle-mounted base station (target vehicle-mounted base station) among X' vehicle-mounted base stations.

[0071] At this time, the i-th vehicle-mounted base station (target vehicle-mounted base station) broadcasts the second data packet within the first dedicated transceiver time unit; other vehicle-mounted base stations (fourth vehicle-mounted base stations) among the X' vehicle-mounted base stations except the i-th base station broadcast the second data packet in a competitive manner within the second contention transceiver time unit.

[0072] For example, taking the j-th base station as an example, this vehicle-mounted base station broadcasts the second data packet within the (2 + Rank(N1))-th wireless signal transceiver time unit. Where Rank(a) represents generating a random number between 1 and a.

[0073] Case 2: If the first data packet does not include the target vehicle-mounted base station, then receive the second data packet broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit. At this time, the third vehicle-mounted base station is the vehicle-mounted base station accessed by multiple second vehicle-mounted base stations in a competitive manner and received by the first terminal device.

[0074] Exemplarily, otherwise, that is, when the specific vehicle-mounted base station ID in the first data packet is empty or does not match the IDs of all base stations among the X' vehicle-mounted base stations, all X' vehicle-mounted base stations broadcast the second data packet in a competitive manner within the 2nd to (N1 + 2)-th wireless signal transceiver time units (i.e., within the second wireless signal transceiver time unit). For example, the i-th vehicle-mounted base station broadcasts the second data packet within the (1 + Rank(N1 + 1))-th wireless signal transceiver time unit.

[0075] In some embodiments, the third wireless signal transceiver time unit includes a second dedicated transceiver time unit and a second contention transceiver time unit, and receives a second data packet broadcast by the second fixed base station within the third wireless signal transceiver time unit, including: If the first data packet includes a target fixed base station and the target fixed base station belongs to one of the multiple first fixed base stations, then receive the second data packet broadcast by the target fixed base station within the second dedicated transceiver time unit; And receive the second data packet contended and broadcast by the third fixed base station within the second contention transceiver time unit. The second fixed base station includes the target fixed base station and the third fixed base station. The third fixed base station is other base stations among the multiple first fixed base stations except the target fixed base station, which access in a contention manner and are received by the first terminal device as fixed base stations; If the first data packet does not include the target fixed base station, then receive the second data packet contended and broadcast by the second fixed base station within the third wireless signal transceiver time unit. The second fixed base station is a fixed base station accessed by the multiple first fixed base stations in a contention manner and received by the first terminal device.

[0076] In this embodiment, the sending manner of the second data packet of the first fixed base station is similar to that of the above-mentioned second vehicle-mounted base station. The first fixed base station also uses dedicated channels and contention channels to ensure the effective broadcast of signals. By dividing the signal transmission time of the base station into dedicated transceiver and contention transceiver time slots, signal interference can be effectively avoided, and effective communication between each base station and the terminal device can be ensured.

[0077] Exemplarily, the first wireless signal transceiver time unit is 1 time unit. 1 wireless signal transceiver time unit is used for the dedicated channel (set as the 2nd wireless signal transceiver time unit) for the vehicle-mounted base station to broadcast the second data packet, and N1 wireless signal transceiver time units are used for the general contention channel (set as the 3rd to N1 + 2nd wireless signal transceiver time units) for the vehicle-mounted base station to broadcast the second data packet. The second wireless signal transceiver time unit includes the 2nd to the (N1 + 2)th wireless signal transceiver time units 1 wireless signal transceiver time unit is used for the dedicated channel (set as the N1 + 3rd wireless signal transceiver time unit, i.e., the second dedicated transceiver time unit) for the fixed base station to broadcast the second data packet, and N2 wireless signal transceiver time units are used for the general contention channel (set as the N1 + 4th to N1 + N2 + 3rd wireless signal transceiver time units, i.e., the second contention transceiver time unit) for the fixed base station to broadcast the second data packet.

[0078] Case 1: If the first data packet includes a target fixed base station and the target fixed base station belongs to one of the multiple first fixed base stations. That is, when the specific fixed base station ID in the first data packet is not empty and is the When the IDs of the base stations (target fixed base stations) are the same: The th base station (target fixed base station) broadcasts the second data packet in the second dedicated transceiver time unit. Among the Y' fixed base stations, except for the th base station, the other fixed base stations (third fixed base stations) broadcast the second data packet in a competitive manner in the second competitive transceiver time unit. The third fixed base stations are the other base stations among the multiple first fixed base stations except the target fixed base station, which access in a competitive manner and are received by the first terminal device; taking the th base station as an example, the th base station broadcasts the second data packet in the N1 + 3 + Rank(N2)th radio signal transceiver time unit.

[0079] Case 2: If the first data packet does not include the target fixed base station, that is, otherwise, all Y' fixed base stations broadcast the second data packet in a competitive manner in the third radio signal transceiver time unit. Taking the th base station as an example, the th base station broadcasts the second data packet in the N1 + 2 + Rank(N2 + 1)th radio signal transceiver time unit.

[0080] In some embodiments, the security warning conditions include: The first terminal device belongs to the first device set; or, If the first terminal device is a personnel identification card, and the personnel identification card and at least one third vehicle-mounted base station both belong to the second device set; or, If the first terminal device is a vehicle-mounted base station, and the vehicle-mounted base station and at least one other first terminal device except the vehicle-mounted base station both belong to the second device set.

[0081] In this embodiment, when one of the following security warning conditions is met, the initiating end (first terminal device) triggers a security distance warning: (1) The first terminal device belongs to the first device set.

[0082] In practical applications, based on the ID of the initiating end, it is determined that the first terminal device belongs to any one of the sets.

[0083] This condition focuses on the direct distance relationship between the first terminal device (initiating end) and the vehicle-mounted base station. If the ID of the initiating end appears in any one of the first terminal device sets in the first device set broadcast in the second data packet by the vehicle-mounted base station it indicates that in the previous detection period, the distance between the initiating end and the vehicle-mounted base station is less than the security threshold . This means that the two are in a dangerously close state, and triggering the warning can immediately remind relevant personnel or devices to take evasive measures to avoid collision accidents.

[0084] (2) If the first terminal device is a personnel identification card, and the personnel identification card and at least one third vehicle-mounted base station both belong to the second device set.

[0085] In practical applications, the initiating end is the personnel identification card, and the ID of the personnel identification card and the ID of a certain vehicle-mounted base station belong to any one of the sets at the same time.

[0086] This condition takes into account the scenario where the personnel identification card and the vehicle-mounted base station approach the fixed base station at the same time. When the IDs of the personnel identification card and a certain vehicle-mounted base station appear in the second device set of the second data packet broadcast by the fixed base station, it means that in the previous detection period, the distances between the personnel identification card and the vehicle-mounted base station and the fixed base station are both less than . This may mean that they are approaching the same fixed base station from different directions, and there is a possibility of collision or dangerous proximity. For example, when the fixed base station is at a turning point, the personnel identification card and a certain vehicle-mounted base station are not visible, and they are both approaching a position where the line of sight is blocked such as the turning point. Timely warning can prevent accidents.

[0087] (3) If the first terminal device is a vehicle-mounted base station, and the vehicle-mounted base station and at least one other first terminal device other than the vehicle-mounted base station both belong to the second device set.

[0088] In practical applications, the initiating end is the vehicle-mounted base station, and any one of the sets, and at the same time includes the ID of the vehicle-mounted base station and any other element.

[0089] This condition is for the situation where the vehicle-mounted base station and other elements (such as other vehicle-mounted base stations or personnel identification cards) approach the same fixed base station at the same time. If the ID of the vehicle-mounted base station and the ID of another element coexist in the second device set of the fixed base station, it indicates that in the previous detection period, the distances between the vehicle-mounted base station and the element and the fixed base station are both less than , suggesting that they may be in the same dangerous area, and there is a risk of mutual collision or dangerous proximity to the fixed base station. Triggering a warning can prompt relevant devices or personnel to adjust their positions or speeds in advance to avoid potential dangers.

[0090] In some embodiments, the method further includes: If the first terminal device does not belong to the first device set, it is determined that the identification information of the target vehicle-mounted base station is not included in the first data packet of the next detection period; If the first terminal device belongs to the first device set, select the third vehicle-mounted base station with the shortest ranging distance from the first device set, and determine that the target vehicle-mounted base station in the first data packet of the next detection period is the third vehicle-mounted base station with the shortest ranging distance from the first terminal device; If the first terminal device does not belong to the second device set, it is determined that the identification information of the target fixed base station is not included in the first data packet of the next detection period; If the first terminal device belongs to the second device set, the second fixed base station with the shortest ranging distance from the first terminal device is selected from the second device set, and the target fixed base station in the first data packet of the next detection period is determined to be the second fixed base station with the shortest ranging distance from the first terminal device.

[0091] Exemplarily, the first terminal device updates the content of the first data packet broadcast in the next period. Assume that the number of the third vehicle-mounted base stations received by the first terminal device is X, and the number of the second fixed base stations is Y.

[0092] (1) When X = 0, the specific vehicle-mounted base station ID of the first data packet broadcast by the initiating end (the first terminal device) in the next period is set to be empty; (2) If the first terminal device does not belong to the first device set, it is determined that the target vehicle-mounted base station is not included in the first data packet of the next detection period.

[0093] Exemplarily, when X ≠ 0 and the first device set does not include the ID of the initiating end (the first terminal device), the specific vehicle-mounted base station ID of the first data packet broadcast by the initiating end in the next period is set to be empty.

[0094] (3) If the first terminal device belongs to the first device set, the third vehicle-mounted base station with the shortest ranging distance from the first terminal device is selected from the first device set, and the target vehicle-mounted base station in the first data packet of the next detection period is determined to be the third vehicle-mounted base station with the shortest ranging distance from the first terminal device.

[0095] Exemplarily, when X ≠ 0 and the first device set includes the ID of the initiating end, assume that the third vehicle-mounted base station x with the shortest ranging distance value from the initiating end (the first terminal device) in the previous period in the first device set is the third vehicle-mounted base station x. The specific vehicle-mounted base station ID (the identification information of the target vehicle-mounted base station) of the first data packet broadcast by the initiating end (the first terminal device) in the next period is set to be the ID of the vehicle-mounted base station x; (4) When Y = 0, the specific fixed base station ID of the first data packet broadcast by the initiating end in the next period is set to be empty.

[0096] (5) If the first terminal device does not belong to the second device set, it is determined that the target fixed base station is not included in the first data packet of the next detection period.

[0097] Exemplarily, when Y ≠ 0 and the second device set When the initiating end ID (the first terminal device) is not included in all of them, the specific fixed base station ID for the initiating end (the first terminal device) to broadcast the first data packet in the next cycle is set to be empty.

[0098] (6) If the first terminal device belongs to the second device set, select the second fixed base station with the shortest ranging distance from the first terminal device in the second device set, and determine that the target fixed base station in the first data packet of the next detection cycle is the second fixed base station with the shortest ranging distance from the first terminal device.

[0099] Exemplarily, when Y≠0 and the second device set contains the ID of the initiating end (the first terminal device), set the second device set The one with the shortest ranging distance value from the initiating end in the previous cycle is the second fixed base station y, and the specific fixed base station ID for the initiating end (the first terminal device) to broadcast the first data packet in the next cycle is set to the ID of the fixed base station y.

[0100] An embodiment of the present application also provides a method for warning of a safe distance based on radio waves, which is applied to a plurality of second terminal devices. The plurality of second terminal devices include a plurality of second vehicle-mounted base stations and a plurality of first fixed base stations. As Figure 2 shown, the method includes the following steps: Step 210: In the target sub-cycle occupied by the first terminal device in multiple sub-cycles of the current detection cycle, receive the first data packet broadcast by the first terminal device in the first radio transceiver time unit; the first data packet includes the identification information of the first terminal device, and the target sub-cycle includes a first radio signal transceiver time unit, a second radio signal transceiver time unit, a third radio signal transceiver time unit, and a fourth radio signal transceiver time unit that are sequentially divided according to time; the first terminal device includes a first vehicle-mounted base station or a personnel identification card arranged on a mining mobile device.

[0101] In this embodiment, after the first terminal device actively broadcasts the first data packet in the first radio transceiver time unit, the second terminal device will receive the first data packet broadcast by the first terminal device in the first radio transceiver time unit.

[0102] In this embodiment, the first data packet includes the identification information of the first terminal device, and the target sub-cycle includes a first radio signal transceiver time unit, a second radio signal transceiver time unit, a third radio signal transceiver time unit, and a fourth radio signal transceiver time unit that are sequentially divided according to time; the first terminal device includes a first vehicle-mounted base station or a personnel identification card arranged on a mining mobile device.

[0103] Step 220: In response to the first data packet, the third vehicle-mounted base station broadcasts a second data packet in the second wireless transceiver time unit. The third vehicle-mounted base station is at least one of multiple second vehicle-mounted base stations. The second data packet broadcast by the third vehicle-mounted base station in the second wireless transceiver time unit includes the identification information of the third vehicle-mounted base station and the first device set. The first device set includes the set of first terminal devices whose ranging distance from the third vehicle-mounted base station was less than the safety warning distance threshold in the previous detection period.

[0104] In this embodiment, after the second terminal device receives the first data packet, to avoid signal conflicts, the third vehicle-mounted base station of the second terminal device broadcasts the second data packet first in the second wireless signal transceiver time unit. The third vehicle-mounted base station is a vehicle-mounted base station that accesses through a competitive method and / or a dedicated method among multiple second vehicle-mounted base stations. The second data packet it broadcasts includes its own identification information and the first device set, and this set records the first terminal devices whose ranging distance from the third vehicle-mounted base station was less than the safety threshold in the previous detection period.

[0105] Step 230: In response to the first data packet, the second fixed base station broadcasts a second data packet within the third wireless transceiver time unit. The second fixed base station is a fixed base station that accesses through a competitive method and / or a dedicated method among multiple first fixed base stations. The second data packet broadcast by the second fixed base station within the third wireless transceiver time unit includes the identification information of the second fixed base station and the second device set. The second device set includes the set of first terminal devices whose ranging distance from the second fixed base station was less than the safety warning distance threshold in the previous detection period.

[0106] In this embodiment, after receiving the first data packet, immediately following multiple second vehicle-mounted base stations, the second fixed base station broadcasts the second data packet in the third wireless signal transceiver time unit. The second fixed base station is a fixed base station that accesses through a competitive method and / or a dedicated method among multiple first fixed base stations. The second data packet it broadcasts contains its own identification information and the second device set, and this set records the first terminal devices whose ranging distance from the second fixed base station was less than the safety threshold in the previous detection period.

[0107] Step 240: Receive the third data packet broadcast by the first terminal device within the fourth wireless transceiver time unit. The third data packet includes: the identification information of the first terminal device, the identification information of the third vehicle-mounted base station, the identification information of the second fixed base station, the time when the first terminal device broadcasts the first data packet, the time when the first terminal device receives the second data packet of the third vehicle-mounted base station, the time when the first terminal device receives the second data packet of the second fixed base station, and the time when the first terminal device broadcasts the third data packet. The first terminal device is further configured to determine whether the safety warning condition is met based on the identification information of the first terminal device. If so, generate the first safety warning indication information. The safety warning condition includes the first device set or the second device set.

[0108] In this embodiment, the second terminal device receives the third data packet broadcast by the first terminal device in the fourth wireless signal transceiver time unit. The content of the third data packet includes: the identification information of the first terminal device, the identification information of the third vehicle-mounted base station, the identification information of the second fixed base station, and the time when the first terminal device broadcasts the first data packet, the time when it receives the second data packet, and the time when it broadcasts the third data packet.

[0109] In this embodiment, the first terminal device is further configured to determine whether the security warning condition is met based on the identification information of the first terminal device. If so, it generates the first security warning indication information, and the security warning condition includes the first device set or the second device set.

[0110] Step 250: In response to the third data packet, measure the distance data between the second terminal device and the first terminal device based on the time-of-flight ranging algorithm, and determine whether to generate the second security warning indication information based on the distance data.

[0111] In this embodiment, after receiving the third data packet, the second terminal device calculates the distance from the first terminal device based on the time-of-flight ranging algorithm and determines whether to generate the second security warning indication information according to the distance.

[0112] Thus, in the embodiments of the present application, for the complex operation environment of mines, a radio wave communication early warning system constructed between the first terminal device and the second terminal device realizes a mine safety distance early warning with higher reliability and bidirectionality. (1) By using radio waves to transmit and receive the first to third data packets between the first terminal device and the second terminal device, a safety distance early warning is realized. Compared with the prior art that uses sensors such as lidar or cameras for early warning, radio wave communication is not affected by line-of-sight blockage, and can effectively avoid the problem of early warning failure caused by the detection signal being blocked; (2) By dividing the target sub-period occupied by the first terminal device into multiple consecutive wireless signal transceiver units, and arranging the data packet transceiver between the first terminal device and the second terminal device in different wireless signal transceiver units, reliable communication can be supported under complex terrain conditions such as turning and going uphill and downhill on mine roads, so as to realize end-to-end safety distance early warning; (3) Set early warning trigger conditions in the first terminal device to realize safety early warning for vehicle drivers or mine workers, and a ranging algorithm can also be used in the second terminal device to realize safety early warning for drivers or mine workers. Different from the prior art that only warns the driver unidirectionally, this configuration realizes bidirectional safety early warning for the driver and mine workers, thus improving the overall early warning effect and safety protection ability. By timely reminding all relevant personnel, the mine safety production level can be further improved; (4) Since the first terminal device makes an early warning judgment based on a preset safety distance threshold, and the second terminal device conducts safety early warning based on a ranging algorithm, it does not need to rely on external precise positioning or wireless network signals, reduces the dependence on precise position information and communication networks, and effectively avoids false alarms or missed alarms caused by positioning errors or network fluctuations, thus improving the stability and accuracy of the early warning system; (5) The first terminal device may include a first vehicle-mounted base station installed on a mine operation vehicle, or a personnel identification card worn by a miner; the second terminal device includes a second vehicle-mounted base station and a fixed base station. By covering various operation entities such as vehicles, personnel, and fixed facilities, it can adapt to the complex working scenarios of mines.

[0113] In some embodiments, the second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first contention transceiver time unit that are sequentially performed in time sequence. In response to the first data packet, the third vehicle-mounted base station broadcasts a second data packet in the second wireless transceiver time unit, including: If the first data packet includes the target vehicle-mounted base station, and the target vehicle-mounted base station belongs to one of multiple second vehicle-mounted base stations, then within the first dedicated transceiver time unit, the target vehicle-mounted base station broadcasts the second data packet; and within the first contention transceiver time unit, the fourth vehicle-mounted base station contends to broadcast the second data packet; wherein, the third vehicle-mounted base station includes the target vehicle-mounted base station and the fourth vehicle-mounted base station, and the fourth vehicle-mounted base station is a vehicle-mounted base station that is accessed by other vehicle-mounted base stations among the second vehicle-mounted base stations in a contention manner and is received by the first terminal device; If the first data packet does not include the target vehicle-mounted base station, then within the second radio signal transceiver time unit, the third vehicle-mounted base station broadcasts the second data packet; the third vehicle-mounted base station is a vehicle-mounted base station that is accessed by the second vehicle-mounted base stations in a contention manner and is received by the first terminal device.

[0114] In some embodiments, the third radio signal transceiver time unit includes a second dedicated transceiver time unit and a second contention transceiver time unit that are sequentially arranged in time sequence. In response to the first data packet, the second fixed base station broadcasts the second data packet within the third radio transceiver time unit, including: If the first data packet includes the target fixed base station, and the target fixed base station belongs to one of multiple first fixed base stations, then within the second dedicated transceiver time unit, the target fixed base station broadcasts the second data packet; and within the second contention transceiver time unit, the third fixed base station contends to broadcast the second data packet. The second fixed base station includes the target fixed base station and the third fixed base station, and the third fixed base station is a fixed base station that is accessed by other base stations among the multiple first fixed base stations in a contention manner and is received by the first terminal device; If the first data packet does not include the target fixed base station, then within the third radio signal transceiver time unit, the second fixed base station contends to broadcast the second data packet. The second fixed base station is a fixed base station that is accessed by the multiple first fixed base stations in a contention manner and is received by the first terminal device.

[0115] In some embodiments, measuring the distance data between the second terminal device and the first terminal device based on the time-of-flight ranging algorithm includes: Based on the time-of-flight ranging algorithm, the time when the first terminal device broadcasts the first data packet, the time when the first terminal device receives the second data packet of the third vehicle-mounted base station, the time when the first terminal device receives the second data packet of the second fixed base station, the time when the first terminal device broadcasts the third data packet, the time when the second terminal device receives the first data packet, the time when the second terminal device broadcasts the second data packet, and the time when the second terminal device receives the third data packet, measuring the distance data between the first terminal device and the second terminal device.

[0116] The embodiment of the present application also provides a safety warning system, which includes a first terminal device and multiple second terminal devices. The first terminal device is communicatively connected to the multiple second terminal devices. The first terminal device includes a first vehicle-mounted base station or a personnel identification card disposed on a mining mobile device, and the multiple second terminal devices include multiple second vehicle-mounted base stations and multiple first fixed base stations.

[0117] In some embodiments, an audible and visual alarm is configured on the first vehicle-mounted base station for sending safety warning indication information, and the personnel identification card integrates a vibration motor or a buzzer for sending safety warning indication information.

[0118] It can be understood that the personnel identification card is worn by the operator for sending safety warning prompt information to the operator. The first vehicle-mounted base station is disposed on the mining mobile device for sending safety warning prompt information to the driver.

[0119] Next, the embodiment of the present application will be described in detail in combination with an application example.

[0120] Based on the problems of the above-mentioned prior art, this application example provides a mining safety distance warning method based on radio waves, and its technical effects include: (1) It can effectively avoid the problem that the detection signal is easily blocked and the warning fails when using sensors such as lidar, millimeter-wave radar or camera for safety distance warning; (2) It supports end-to-end safety distance warning at road turning points or intersection points with slopes; (3) When using sensors such as lidar, millimeter-wave radar or camera for safety distance warning, only the driver can be warned, and the mining operators cannot be warned, which belongs to one-way warning. The present invention can realize two-way warning for the driver and mining operators, further improving the safety warning effect; (4) The safety distance warning method proposed in this application example does not require precise positioning data and does not rely on wireless network signals, and can effectively avoid false alarms or missed alarms; (5) It is applicable to the complex mining operation environment.

[0121] Next, the composition of the mining safety distance warning system and the relevant parameters of the mining safety distance warning system in this application example will be introduced respectively.

[0122] (1) Composition of the mining safety distance warning system.

[0123] In this application example, the mine safety distance warning system includes: a vehicle-mounted base station, a fixed base station, and a personnel identification card. Among them, the vehicle-mounted base station is installed on mine mobile equipment and can be equipped with an audible and visual alarm to send warning information to prompt the driver; the fixed base station is installed in the mine production operation scenario; the personnel identification card is worn by mine workers and can integrate a vibration motor or a buzzer to send warning information to prompt the workers.

[0124] In this application example, the initiating end is the above-mentioned first terminal device, and the receiving end is the above-mentioned second terminal device.

[0125] (2)Relevant parameters of the mine safety distance warning system.

[0126] : Safety warning distance threshold Let the detection period of the mine safety distance warning be T, and the detection period T is divided into M sub-periods. Each vehicle-mounted base station and personnel identification card will occupy one sub-period respectively. The vehicle-mounted base station will actively send radio waves at the start time of the sub-period it occupies and will be in a listening state in other sub-periods; the personnel identification card will actively send radio waves at the start time of the sub-period it occupies and will be in a non-listening state in other sub-periods; the fixed base station will always be in a listening state.

[0127] The complete closed-loop radio wave transceiver for each sub-period is as follows: the initiating end (vehicle-mounted base station or personnel identification card) broadcasts the first data packet, multiple receiving ends (vehicle-mounted base station or fixed base station) receive the first data packet and broadcast the second data packet, the initiating end receives the second data packet and broadcasts the third data packet, and multiple receiving ends receive the third data packet.

[0128] Each sub-period is further divided into N radio signal transceiver time units. Among them, 1 radio signal transceiver time unit is used for the initiating end to broadcast the first data packet (set as the 1st radio signal transceiver time unit), that is, the aforementioned first radio signal transceiver time unit.

[0129] 1 radio signal transceiver time unit is used for the dedicated channel for the vehicle-mounted base station to broadcast the second data packet (set as the 2nd radio signal transceiver time unit), that is, the aforementioned first dedicated radio signal transceiver unit; N1 radio signal transceiver time units are used for the general competition channel for the vehicle-mounted base station to broadcast the second data packet (set as the 3rd to N1 + 2nd radio signal transceiver time units), that is, the aforementioned first competition radio signal transceiver unit. Here, the 2nd to N1 + 2nd radio signal transceiver time units are the aforementioned second radio signal receiving units.

[0130] 1 wireless signal transceiver time unit is used for the dedicated channel (set as the (N1 + 3)-th wireless signal transceiver time unit) for the fixed base station to broadcast the second data packet, that is, the aforementioned second dedicated wireless signal transceiver unit; N2 wireless signal transceiver time units are used for the general competition channel (set as the (N1 + 4)~(N1 + N2 + 3)-th wireless signal transceiver time units) for the fixed base station to broadcast the second data packet, that is, the aforementioned second competitive wireless signal transceiver unit. Here, the (N1 + 3)~(N1 + N2 + 3)-th wireless signals are the aforementioned third wireless signal receiving signal units.

[0131] 1 wireless signal transceiver time unit is used for the originating end to broadcast the third data packet (set as the (N1 + N2 + 4)-th wireless signal transceiver time unit), that is, the aforementioned fourth wireless signal transceiver time unit. Therefore, N = 4 + N1 + N2, N1 ≥ 1, N2 ≥ 1.

[0132] Next, Figure 3 the specific working process of this application example will be described.

[0133] Step 301: The originating end broadcasts the first data packet.

[0134] The content of the first data packet broadcast by the originating end includes: (1) The ID of the originating end itself; (2) The specific vehicle-mounted base station ID, default is empty; (3) The specific fixed base station ID, default is empty.

[0135] Step 302: The receiving end receives the first data packet and replies by broadcasting the second data packet.

[0136] Here, assume that X' vehicle-mounted base stations (multiple second vehicle-mounted base stations) and Y' fixed base stations (multiple first fixed base stations) have received the first data packet.

[0137] (1) For the X' vehicle-mounted base stations.

[0138] Case 1: When the specific vehicle-mounted base station ID in the first data packet is not empty and is the same as the ID of the -th base station (target vehicle-mounted base station) among the X' vehicle-mounted base stations: The -th base station broadcasts the second data packet in the 2nd wireless signal transceiver time unit. Among the X' vehicle-mounted base stations, except the -th base station, other vehicle-mounted base stations broadcast the second data packet in a competitive manner in the 3~(N1 + 2)-th wireless signal transceiver time units. Taking the -th base station as an example, the A base station broadcasts a second data packet in the (2 + Rank(N1))-th wireless signal transceiver time unit.

[0139] Among them, Rank(a) represents generating a random number between 1 and a.

[0140] Case 2: Otherwise, all X' vehicle-mounted base stations broadcast the second data packet in a competitive manner in the 2nd to (N1 + 2)-th wireless signal transceiver time units. Taking the th base station as an example, the th base station broadcasts the second data packet in the (1 + Rank(N1 + 1))-th wireless signal transceiver time unit.

[0141] (2) Y' fixed base stations.

[0142] Case 1: When the specific fixed base station ID in the first data packet is not empty and is the same as the ID of the th base station among the Y' fixed base stations: The th base station broadcasts the second data packet in the (N1 + 3)-th wireless signal transceiver time unit. Among the Y' fixed base stations, except for the th base station, the other fixed base stations broadcast the second data packet in a competitive manner in the (N1 + 4)-th to (N1 + N2 + 3)-th wireless signal transceiver time units. Taking the th base station as an example, the th base station broadcasts the second data packet in the (N1 + 3 + Rank(N2))-th wireless signal transceiver time unit.

[0143] Case 2: Otherwise, all Y' fixed base stations broadcast the second data packet in a competitive manner in the (N1 + 3)-th to (N1 + N2 + 3)-th wireless signal transceiver time units. Taking the th base station as an example, the th base station broadcasts the second data packet in the (N1 + 2 + Rank(N2 + 1))-th wireless signal transceiver time unit.

[0144] Here, the content of the second data packet includes: (1) The ID of the receiving end itself; (2) In the previous detection period, the set of initiator IDs with a ranging distance less than from this base station , and the elements in it are the initiator ID and the corresponding distance value.

[0145] Step 303: The initiator receives the second data packet and replies by broadcasting a third data packet.

[0146] Here, the initiating end receives the second data packets broadcast by X vehicle-mounted base stations (the third vehicle-mounted base stations) and Y fixed base stations (the second fixed base stations) (Note: X' vehicle-mounted base stations and Y' fixed base stations broadcast the second data packets in a competitive manner, so not all of them can be received by the initiating end. Generally, the ones with closer distance and stronger signal will be received as a result of the competition, but there is also a possibility that both signals conflict and neither can be received successfully). Let the packets be and 。

[0147] When one of the following conditions is met, the initiating end triggers a safety distance warning: (1) The ID of the initiating end belongs to any set in (the first device set); (2) The initiating end is a personnel identification card, and the ID of this personnel identification card and the ID of a certain vehicle-mounted base station both belong to any one set in ; (3) The initiating end is a vehicle-mounted base station, and any one set in (the second device set) contains both the ID of this vehicle-mounted base station and any other element.

[0148] It should be noted that in one detection cycle, only the receiving end can perform ranging with the initiating end (the ranging principle is a TOF ranging algorithm similar to UWB, and in practical applications, it is generally implemented through UWB). Therefore, the receiving end can judge whether to trigger a safety warning based on the ranging result. See step 304 below for details; the receiving end broadcasts the ranging result information of the previous cycle in step 302 above, so as to realize the ranging warning of the initiating end (1) In the previous detection cycle, the distance between the initiating end and a certain vehicle-mounted base station is less than , so a safety warning is triggered; (2) The initiating end is a personnel identification card, and in the previous detection cycle, the distances between this personnel identification card and a certain vehicle-mounted base station and the same fixed base station are both less than , so a safety warning is triggered. For example, when the fixed base station is at a turning point, this personnel identification card and a certain vehicle-mounted base station are not visible, and both are about to reach the turning point; (3) The initiating end is a vehicle-mounted base station, and in the previous detection cycle, the distances between this vehicle-mounted base station and any other element and the same fixed base station are both less than , so a safety warning is triggered.

[0149] In addition, the initiating end updates the content of the first data packet broadcast in the next cycle: (1) When X = 0, the specific vehicle-mounted base station ID broadcast by the initiating end in the next cycle is set to be empty; (2) When X ≠ 0 and When the initiating end ID is not included in any of them, the specific vehicle-mounted base station ID for the initiating end to broadcast the first data packet in the next cycle is set to empty; (3) When X≠0 and the initiating end ID is included in, set the vehicle-mounted base station with the shortest ranging distance value from the initiating end in the previous cycle in is the vehicle-mounted base station x, and the specific vehicle-mounted base station ID for the initiating end to broadcast the first data packet in the next cycle is set to the ID of the vehicle-mounted base station x; (4) When Y = 0, the specific fixed base station ID for the initiating end to broadcast the first data packet in the next cycle is set to empty; (5) When Y≠0 and the initiating end ID is not included in any of them, the specific fixed base station ID for the initiating end to broadcast the first data packet in the next cycle is set to empty; (6) When Y≠0 and the initiating end ID is included in, set the fixed base station with the shortest ranging distance value from the initiating end in the previous cycle in is the fixed base station y, and the specific fixed base station ID for the initiating end to broadcast the first data packet in the next cycle is set to the ID of the fixed base station y; Here, the initiating end broadcasts a third data packet, and the content of the third data packet includes: (1) The ID of the initiating end itself; (2) The time when the initiating end broadcasts the first data packet; (3) The second data packet time and the corresponding base station IDs of the X vehicle-mounted base stations and Y fixed base stations received by the initiating end; (4) The time when the initiating end broadcasts the third data packet.

[0150] Step 304: The receiving end receives the third data packet and determines whether to trigger a safety distance warning through ranging.

[0151] Here, the receiving end receives the third data packet, and combines the first data packet reception time, the second data packet broadcast time, and the third data packet reception time stored by itself, and calculates the distance between the initiating end and this receiving end through the TOF algorithm.

[0152] In practical applications, when the receiving end is a vehicle-mounted base station and the distance between the initiating end and this receiving end is less than , then a safety warning is triggered.

[0153] Based on the hardware implementation of the above program module, and in order to implement the method of the embodiment of the present application, the embodiment of the present application also provides a first terminal device. Figure 4Only an exemplary structure of the first terminal device is shown rather than all structures. Depending on needs, some or all of the structures shown in FIG. 4 may be implemented. As shown in FIG. 4, the first terminal device 400 provided by an embodiment of the present application includes: at least one processor 401, a memory 402, a user interface 403, and at least one network interface 404. Each component in the first terminal device 400 is coupled together through a bus system 405. It can be understood that the bus system 405 is used to implement connection communication between these components. In addition to a data bus, the bus system 405 further includes a power bus, a control bus, and a status signal bus. However, for the sake of clear illustration, various buses are labeled as the bus system 405 in FIG. 4.

[0154] Among them, the user interface 403 may include a display, a keyboard, a mouse, a trackball, a click wheel, a button, a button, a touchpad, or a touch screen, etc.

[0155] The memory 402 in the embodiment of the present application is used to store various types of data to support the operation of the first terminal device. Examples of these data include: any computer program for operating on the first terminal device.

[0156] The method for warning of the mining safety distance based on radio waves of the first terminal device disclosed in the embodiment of the present application can be applied to or implemented by the processor 401. The processor 401 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the method for warning of the mining safety distance based on radio waves of the first terminal device can be completed by the integrated logic circuit in the hardware of the processor 401 or instructions in software form. The above-mentioned processor 401 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 401 can implement or execute various methods, steps, and logic block diagrams disclosed in the embodiment of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. Combining the steps of the method disclosed in the embodiment of the present application, it can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, and this storage medium is located in the memory 402. The processor 401 reads the information in the memory 402 and combines its hardware to complete the steps of the method for warning of the mining safety distance based on radio waves of the first terminal device provided by the embodiment of the present application.

[0157] In an exemplary embodiment, the first terminal device may be implemented by one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), general purpose processors, controllers, microcontroller units (MCUs), microprocessors, or other electronic components, and is used to execute the foregoing method.

[0158] It can be understood that the memory 402 can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read-Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory), an electrically erasable programmable read-only memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), a ferromagnetic random access memory (FRAM, ferromagnetic random access memory), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory); the magnetic surface memory can be a disk memory or... The volatile memory can be a random access memory (RAM, Random Access Memory), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as a static random access memory (SRAM, Static Random Access Memory), a synchronous static random access memory (SSRAM, Synchronous Static Random Access Memory), a dynamic random access memory (DRAM, Dynamic Random Access Memory), a synchronous dynamic random access memory (SDRAM, Synchronous Dynamic Random Access Memory), a double data rate synchronous dynamic random access memory (DDR SDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), an enhanced synchronous dynamic random access memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), a sync link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), a direct rambus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory described in the embodiments of the present application is intended to include, but not limited to, these and any other suitable types of memory.

[0159] Based on the hardware implementation of the above program modules and for the purpose of implementing the method of the embodiments of the present application, the embodiments of the present application further provide a second terminal device. Figure 5 Only the exemplary structure of the second terminal device is shown, rather than all structures. According to needs, part or all of the structures shown in FIG. 5 can be implemented. As shown in FIG. 5, the second terminal device 500 provided by the embodiments of the present application includes: at least one processor 501, a memory 502, a user interface 503, and at least one network interface 504. Each component in the second terminal device 500 is coupled together through a bus system 505. It can be understood that the bus system 505 is used to realize the connection and communication between these components. In addition to including a data bus, the bus system 505 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, all kinds of buses are labeled as the bus system 505 in FIG. 5.

[0160] Among them, the user interface 503 may include a display, a keyboard, a mouse, a trackball, a click wheel, a button, a touchpad, or a touch screen, etc.

[0161] The memory 502 in the embodiments of the present application is used to store various types of data to support the operation of the second terminal device. Examples of these data include: any computer program for operating on the second terminal device.

[0162] The method for warning of safe distance for mine use based on radio waves of the second terminal device disclosed in the embodiments of the present application can be applied to or implemented by the processor 501. The processor 501 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the method for warning of safe distance for mine use based on radio waves of the second terminal device can be completed by the integrated logic circuit of the hardware in the processor 501 or the instructions in the form of software. The above-mentioned processor 501 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 501 can implement or execute each method, step and logic block diagram disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. Combining the steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by the combination of the hardware and software modules in the decoding processor. The software module may be located in the storage medium, and this storage medium is located in the memory 502. The processor 501 reads the information in the memory 502 and combines its hardware to complete the steps of the method for warning of safe distance for mine use based on radio waves of the second terminal device provided in the embodiments of the present application.

[0163] In an exemplary embodiment, the second terminal device may be implemented by one or more application specific integrated circuits (ASICs, Application Specific Integrated Circuits), DSPs, programmable logic devices (PLDs, Programmable Logic Devices), complex programmable logic devices (CPLDs, Complex Programmable Logic Devices), field programmable gate arrays (FPGAs, Field Programmable Gate Arrays), general-purpose processors, controllers, microcontroller units (MCUs, Micro Controller Units), microprocessors (Microprocessors), or other electronic components, and is used to execute the foregoing method.

[0164] It can be understood that the memory 502 can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read-Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read-Only Memory), an electrically erasable programmable read-only memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), a ferromagnetic random access memory (FRAM, ferromagnetic random access memory), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory); the magnetic surface memory can be a disk memory or... The volatile memory can be a random access memory (RAM, Random Access Memory), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as a static random access memory (SRAM, Static Random Access Memory), a synchronous static random access memory (SSRAM, Synchronous Static Random Access Memory), a dynamic random access memory (DRAM, Dynamic Random Access Memory), a synchronous dynamic random access memory (SDRAM, Synchronous Dynamic Random Access Memory), a double data rate synchronous dynamic random access memory (DDR SDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), an enhanced synchronous dynamic random access memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), a sync link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), a direct rambus random access memory (DRRAM, Direct Rambus Random Access Memory).The memories described in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0165] In an exemplary embodiment, the embodiments of the present application also provide a computer storage medium, specifically a computer-readable storage medium, with a computer program stored thereon. The above computer program can be executed by a processor to complete the steps of the method in the embodiments of the present application. The computer-readable storage medium can be a memory such as ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0166] In an exemplary embodiment, the embodiments of the present application also provide a computer program product, including a computer program. The above computer program can be executed by the processor 401 of the first terminal device or the processor 501 of the second terminal device to complete the steps of the method in the embodiments of the present application.

[0167] It should be noted that: "first", "second", etc. are used to distinguish similar objects and do not necessarily describe a specific order or sequence.

[0168] In addition, the technical solutions described in the embodiments of the present application can be arbitrarily combined without conflict.

[0169] The above are only the specific implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application.

Claims

1. A method for warning of safe distance in mines based on radio waves, characterized in that, Applied to a first terminal device, the first terminal device includes a first vehicle-mounted base station or a personnel identification card disposed on a mining mobile device, and the method includes: During multiple sub-periods of the current detection period, determine a target sub-period occupied by the first terminal device; and sequentially divide the target sub-period into a first radio signal transceiver time unit, a second radio signal transceiver time unit, a third radio signal transceiver time unit, and a fourth radio signal transceiver time unit in chronological order; During the first radio signal transceiver time unit, broadcast a first data packet to multiple second terminal devices, the multiple second terminal devices including multiple second vehicle-mounted base stations and multiple first fixed base stations; the first data packet includes identification information of the first terminal device; Receive a second data packet broadcast by a third vehicle-mounted base station during the second radio signal transceiver time unit, the third vehicle-mounted base station being a vehicle-mounted base station accessed by a competition method and / or a dedicated method among the multiple second vehicle-mounted base stations; the second data packet broadcast by the third vehicle-mounted base station during the second radio signal transceiver time unit includes: identification information of the third vehicle-mounted base station and a first device set; the first device set includes a set of first terminal devices whose ranging distance from the third vehicle-mounted base station was less than a safety warning distance threshold in the previous detection period; Receive a second data packet broadcast by a second fixed base station during the third radio signal transceiver time unit, the second fixed base station being a fixed base station accessed by a competition method and / or a dedicated method among the multiple first fixed base stations; the second data packet broadcast by the second fixed base station during the third radio signal transceiver time unit includes identification information of the second fixed base station and a second device set; the second device set includes a set of first terminal devices whose distance from the second fixed base station was less than a safety warning distance threshold in the previous detection period; Based on the identification information of the first terminal device, determine whether a safety warning condition is satisfied. If so, generate first safety warning indication information; wherein, the safety warning condition is determined based on the first device set or the second device set; During the fourth radio signal transceiver time unit, broadcast a third data packet to the multiple second terminal devices; wherein, the third data packet includes: identification information of the first terminal device, identification information of the third vehicle-mounted base station, identification information of the second fixed base station, the time when the first terminal device broadcasts the first data packet, the time when the first terminal device receives the second data packet of the third vehicle-mounted base station, the time when the first terminal device receives the second data packet of the second fixed base station, and the time when the first terminal device broadcasts the third data packet; the third data packet is used to instruct the second terminal device to calculate distance data between the second terminal device and the first terminal device based on the time-of-flight ranging algorithm, and based on the distance data, determine whether to generate second safety warning indication information.

2. The method according to claim 1, wherein The second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first contention transceiver time unit in sequence according to time. Receiving the second data packet broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit includes: If the first data packet includes a target vehicle-mounted base station, and the target vehicle-mounted base station belongs to one of the multiple second vehicle-mounted base stations, then receiving the second data packet broadcast by the target vehicle-mounted base station within the first dedicated transceiver time unit; and receiving the second data packet contended and broadcast by a fourth vehicle-mounted base station within the first contention transceiver time unit. The third vehicle-mounted base station includes the target vehicle-mounted base station and the fourth vehicle-mounted base station, and the fourth vehicle-mounted base station is a vehicle-mounted base station accessed by other vehicle-mounted base stations among the multiple second vehicle-mounted base stations in a contention manner and received by the first terminal device; If the first data packet does not include a target vehicle-mounted base station, then receiving the second data packet broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit; the third vehicle-mounted base station is a vehicle-mounted base station accessed by the multiple second vehicle-mounted base stations in a contention manner and received by the first terminal device.

3. The method according to claim 1, wherein The third wireless signal transceiver time unit includes a second dedicated transceiver time unit and a second contention transceiver time unit. Receiving the second data packet broadcast by the second fixed base station within the third wireless signal transceiver time unit includes: If the first data packet includes a target fixed base station, and the target fixed base station belongs to one of the multiple first fixed base stations, then receiving the second data packet broadcast by the target fixed base station within the second dedicated transceiver time unit; And receiving the second data packet contended and broadcast by a third fixed base station within the second contention transceiver time unit. The second fixed base station includes the target fixed base station and the third fixed base station, and the third fixed base station is a fixed base station accessed by other base stations among the multiple first fixed base stations in a contention manner and received by the first terminal device; If the first data packet does not include a target fixed base station, then receiving the second data packet contended and broadcast by the second fixed base station within the third wireless signal transceiver time unit. The second fixed base station is a fixed base station accessed by the multiple first fixed base stations in a contention manner and received by the first terminal device.

4. The method according to claim 1, wherein The security warning conditions include: The first terminal device belongs to the first device set; or, If the first terminal device is a personnel identification card, and the personnel identification card and at least one third vehicle-mounted base station both belong to the second device set; or, If the first terminal device is a vehicle-mounted base station, and the vehicle-mounted base station and at least one other first terminal device except the vehicle-mounted base station both belong to the second device set.

5. The method according to claim 1, wherein The method further includes: If the first terminal device does not belong to the first device set, then determining that the identification information of the target vehicle-mounted base station is not included in the first data packet of the next detection period; If the first terminal device belongs to the first device set, select a third vehicle-mounted base station with the shortest ranging distance from the first terminal device from the first device set, and determine that the target vehicle-mounted base station in the first data packet of the next detection period is the third vehicle-mounted base station with the shortest ranging distance from the first terminal device; If the first terminal device does not belong to the second device set, determine that the identification information of the target fixed base station is not included in the first data packet of the next detection period; If the first terminal device belongs to the second device set, select a second fixed base station with the shortest ranging distance from the first terminal device from the second device set, and determine that the target fixed base station in the first data packet of the next detection period is the second fixed base station with the shortest ranging distance from the first terminal device.

6. A method for warning of safe distance in mines based on radio waves, characterized in that, Applied to multiple second terminal devices, the multiple second terminal devices include multiple second vehicle-mounted base stations and multiple first fixed base stations, and the method includes: In the target sub-period occupied by the first terminal device in multiple sub-periods of the current detection period, receive a first data packet broadcast by the first terminal device within a first wireless transceiver time unit; the first data packet includes the identification information of the first terminal device, and the target sub-period includes the first wireless signal transceiver time unit, the second wireless signal transceiver time unit, the third wireless signal transceiver time unit, and the fourth wireless signal transceiver time unit divided in chronological order; the first terminal device includes a first vehicle-mounted base station or a personnel identification card set on a mining mobile device; In response to the first data packet, the third vehicle-mounted base station broadcasts a second data packet in the second wireless transceiver time unit, and the third vehicle-mounted base station is a vehicle-mounted base station accessed by a competition method and / or a dedicated method among the multiple second vehicle-mounted base stations; the second data packet broadcast by the third vehicle-mounted base station in the second wireless transceiver time unit includes the identification information of the third vehicle-mounted base station and a first device set; the first device set includes a set of first terminal devices with a ranging distance less than a safety warning distance threshold from the third vehicle-mounted base station in the previous detection period; In response to the first data packet, the second fixed base station broadcasts a second data packet within the third wireless transceiver time unit, and the second fixed base station is a fixed base station accessed by a competition method and / or a dedicated method among the multiple first fixed base stations; the second data packet broadcast by the second fixed base station within the third wireless transceiver time unit includes the identification information of the second fixed base station and a second device set; the second device set includes a set of first terminal devices with a distance less than a safety warning distance threshold from the second fixed base station in the previous detection period; Receive the third data packet broadcast by the first terminal device within the fourth wireless transceiver time unit; the third data packet includes: the identification information of the first terminal device, the identification information of the third vehicle-mounted base station, the identification information of the second fixed base station, the time when the first terminal device broadcasts the first data packet, the time when the first terminal device receives the second data packet of the third vehicle-mounted base station, the time when the first terminal device receives the second data packet of the second fixed base station, and the time when the first terminal device broadcasts the third data packet; the first terminal device is further configured to determine whether the security warning condition is satisfied based on the identification information of the first terminal device, and if so, generate the first security warning indication information, where the security warning condition includes the first device set or the second device set; In response to the third data packet, measure the distance data between the second terminal device and the first terminal device based on the time-of-flight ranging algorithm, and determine whether to generate the second security warning indication information based on the distance data.

7. The method according to claim 6, characterized in that, The second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first contention transceiver time unit in sequence according to time. In response to the first data packet, the third vehicle-mounted base station broadcasts a second data packet within the second wireless transceiver time unit, including: If the first data packet includes a target vehicle-mounted base station and the target vehicle-mounted base station belongs to one of the multiple second vehicle-mounted base stations, then within the first dedicated transceiver time unit, the target vehicle-mounted base station broadcasts the second data packet; and within the first contention transceiver time unit, the fourth vehicle-mounted base station contends to broadcast the second data packet; where the third vehicle-mounted base station includes the target vehicle-mounted base station and the fourth vehicle-mounted base station, and the fourth vehicle-mounted base station is a vehicle-mounted base station that is accessed by other vehicle-mounted base stations in the second vehicle-mounted base stations in a competitive manner and received by the first terminal device; If the first data packet does not include a target vehicle-mounted base station, then within the second wireless signal transceiver time unit, the third vehicle-mounted base station broadcasts the second data packet; the third vehicle-mounted base station is a vehicle-mounted base station that is accessed by the second vehicle-mounted base stations in a competitive manner and received by the first terminal device.

8. The method according to claim 6, wherein The third wireless signal transceiver time unit includes a second dedicated transceiver time unit and a second contention transceiver time unit in sequence according to time. In response to the first data packet, the second fixed base station broadcasts a second data packet within the third wireless transceiver time unit, including: If the first data packet includes a target fixed base station and the target fixed base station belongs to one of the multiple first fixed base stations, then within the second dedicated transceiver time unit, the target fixed base station broadcasts the second data packet; And within the second competing transceiver time unit, a third fixed base station competes to broadcast a second data message. The second fixed base stations include the target fixed base station and the third fixed base station. The third fixed base station is a fixed base station among the multiple first fixed base stations other than the target fixed base station, which is accessed in a competitive manner and received by the first terminal device. If the first data message does not include the target fixed base station, then within the third wireless signal transceiver time unit, the second fixed base station competes to broadcast a second data message. The second fixed base station is a fixed base station among the multiple first fixed base stations, which is accessed in a competitive manner and received by the first terminal device.

9. The method according to claim 6, characterized in that, The calculating of the distance data between the second terminal device and the first terminal device based on the time-of-flight ranging algorithm includes: Based on the time-of-flight ranging algorithm, the time when the first terminal device broadcasts the first data message, the time when the first terminal device receives the second data message of the third vehicle-mounted base station, the time when the first terminal device receives the second data message of the second fixed base station, the time when the first terminal device broadcasts the third data message, the first data message reception time of the second terminal device, the second data message broadcast time of the second terminal device, and the third data message reception time of the second terminal device, calculate the distance data between the first terminal device and the second terminal device.

10. A mine safety distance warning system based on radio waves, characterized in that, Comprising: A first terminal device and multiple second terminal devices. The first terminal device is communicatively connected to the multiple second terminal devices. The first terminal device includes a first vehicle-mounted base station or a personnel identification card disposed on a mine mobile device. The multiple second terminal devices include multiple second vehicle-mounted base stations and multiple first fixed base stations. Among them, The first terminal device includes: a first processor and a first memory for storing a computer program that can run on the processor. Among them, when the first processor runs the computer program, it executes the steps of the method according to any one of claims 1 to 5. The multiple second terminal devices include: a second processor and a second memory for storing a computer program that can run on the processor. Among them, when the second processor runs the computer program, it executes the steps of the method according to any one of claims 6 to 9.

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