Mine safety distance warning method and system based on radio waves

Abstract

This application A disclosed A radio wave-based mine safety distance warning method and system includes: dividing a target sub-cycle into a first wireless signal transceiver time unit, a second wireless signal transceiver time unit, a third wireless signal transceiver time unit, and a fourth wireless signal transceiver time unit in chronological order; broadcasting a first data message to multiple second terminal devices within the first wireless signal transceiver time unit; receiving a second data message broadcast by a third vehicle-mounted base station within the second wireless signal transceiver time unit; receiving a second data message broadcast by a second fixed base station within the third wireless signal transceiver time unit; determining whether safety warning conditions are met based on identification information of the first terminal device; and broadcasting a third data message to multiple second terminal devices within the fourth wireless signal transceiver time unit. This achieves a more reliable and bidirectional mine safety distance warning system in complex mine operating environments.

Description

Technical Field

[0001] The present application relates to the field of radio ranging technology, and in particular to a mine safety distance warning method and system based on radio waves. Background Art

[0002] Forklift loading and truck transportation are core processes in most mining operations. Mining forklifts and trucks are typically large, mobile equipment. In mining operations, these devices are numerous and frequently transported, making their operational safety a key component of mine safety management.

[0003] In related technologies, the safety of mobile mining equipment is generally ensured by providing drivers with timely safety distance warnings. This includes both safety distance warnings between large mobile mining equipment and safety distance warnings between large mobile mining equipment and mine workers.

[0004] Currently, there are two main methods for early warning of safe distances for mobile mining equipment: (1) Warning methods based on radar or visual sensors. Sensors such as lidar, millimeter-wave radar, or cameras are installed on large mobile equipment such as mining shovels and trucks to detect the position and distance of other equipment or personnel in the vicinity. (2) Warning methods based on high-precision positioning coordinates. The spatial coordinate data of mobile mining equipment and mining personnel are obtained through a precise positioning system, and the distance between the two parties is calculated based on the coordinates to issue early warnings.

[0005] However, in the complex environment of mines, the above methods have the following problems: (1) When using radar or visual sensor-based early warning methods, rock obstructions often occur in mine production scenarios, especially at road bends or intersections with uphill and downhill slopes. If the sensor's detection signal is easily blocked, the safety distance warning will fail. (2) When using early warning solutions based on high-precision positioning coordinates, it is difficult to achieve full coverage of the area with precise positioning signals, and the obtained coordinate data is not accurate, which is prone to omissions or false alarms. In addition, when using early warning methods based on high-precision positioning coordinates, the coordinate data needs to be uploaded to the server through the network for safety distance judgment, and then the warning results are sent down through the network, which is overly dependent on network communication. However, the coverage and stability of network communication in a mine environment are difficult to guarantee. Summary of the Invention

[0006] In view of this, the embodiments of the present application provide a mine safety distance warning method and system based on radio waves, which aims to solve the problem of low accuracy of mine safety warning caused by the detection signal being easily blocked, the positioning range being small, and the safety warning being overly dependent on network communication in complex mining scenes.

[0007] The technical solution of the embodiment of the present application is implemented as follows:

[0008] In a first aspect, an embodiment of the present application provides a radio wave-based mine safety distance warning method, which is applied to a first terminal device, wherein the first terminal device includes a first vehicle-mounted base station or a personnel identification card provided on a mobile mining device, and the method includes:

[0009] Determine, within multiple sub-periods of the current detection period, a target sub-period occupied by the first terminal device; and divide the target sub-period 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 chronological order;

[0010] Broadcasting a first data message to a plurality of second terminal devices within the first wireless signal transceiver time unit, the plurality of second terminal devices including a plurality of second vehicle-mounted base stations and a plurality of first fixed base stations; the first data message including identification information of the first terminal device;

[0011] receiving a second data message broadcast by a third vehicle-mounted base station within the second wireless signal transceiver time unit, where the third vehicle-mounted base station is a vehicle-mounted base station accessed through a contention mode and / or a dedicated mode among the multiple second vehicle-mounted base stations; the second data message broadcast by the third vehicle-mounted base station within the second wireless 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 first terminal device set whose ranging from the third vehicle-mounted base station in the previous detection cycle is less than a safety warning distance threshold;

[0012] receiving a second data message broadcast by a second fixed base station within the third wireless signal transceiver time unit, where the second fixed base station is a fixed base station accessed through a contention-based and / or dedicated manner among the multiple first fixed base stations; the second data message broadcast by the second fixed base station within the third wireless 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 is less than a safety warning distance threshold in a previous detection period;

[0013] Determining whether a security warning condition is met based on the identification information of the first terminal device, and if so, generating first security warning indication information; wherein the security warning condition is determined based on the first device set or the second device set;

[0014] Within the fourth wireless signal transceiver time unit, a third data message is broadcast to the multiple second terminal devices; wherein the third data message 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 message, the time when the first terminal device receives the second data message from the third vehicle-mounted base station, the time when the first terminal device receives the second data message from the second fixed base station, and the time when the first terminal device broadcasts the third data message; the third data message 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.

[0015] In some embodiments, the second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first competitive transceiver time unit that are performed in chronological order, and the receiving of the second data message broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit includes:

[0016] If the first data message 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 message broadcast by the target vehicle-mounted base station within the first dedicated transceiver time unit; and receiving the second data message competitively broadcast by a fourth vehicle-mounted base station within the first competitive 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 among the multiple second vehicle-mounted base stations, except the target vehicle-mounted base station, that is accessed in a competitive manner by other vehicle-mounted base stations and received by the first terminal device;

[0017] If the first data message does not include the target vehicle-mounted base station, then the second data message broadcast by the third vehicle-mounted base station within the second wireless signal receiving and transmitting time unit is received; the third vehicle-mounted base station is the 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.

[0018] In some embodiments, the third wireless signal transceiver time unit includes a second dedicated transceiver time unit and a second competitive transceiver time unit, and receiving the second data message broadcast by the second fixed base station within the third wireless signal transceiver time unit includes:

[0019] If the first data message includes a target fixed base station, and the target fixed base station is one of the plurality of first fixed base stations, receiving a second data message broadcast by the target fixed base station within the second dedicated transceiver time unit;

[0020] and receiving a second data message competitively broadcast by a third fixed base station within the second competitive transceiver time unit, where the second fixed base station includes the target fixed base station and a third fixed base station, and the third fixed base station is a fixed base station that is accessed in a competitive manner by other base stations among the multiple first fixed base stations except the target fixed base station and is received by the first terminal device;

[0021] If the first data message does not include the target fixed base station, then the second data message broadcast by the second fixed base station in a competitive manner is received within the third wireless signal receiving and transmitting time unit, and the second fixed base station is a fixed base station that is accessed by the multiple first fixed base stations in a competitive manner and received by the first terminal device.

[0022] In some embodiments, the safety warning conditions include:

[0023] The first terminal device belongs to the first device set; or,

[0024] If the first terminal device is a personal identification card, and the personal identification card and at least one third vehicle-mounted base station both belong to the second device set; or,

[0025] 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 all belong to the second device set.

[0026] In some embodiments, the method further comprises:

[0027] If the first terminal device does not belong to the first device set, determining that the first data message of the next detection cycle does not include identification information of the target vehicle-mounted base station;

[0028] If the first terminal device belongs to the first device set, selecting a third vehicle-mounted base station with the shortest ranging distance to the first terminal device from the first device set, and determining that the target vehicle-mounted base station in the first data message of the next detection cycle is the third vehicle-mounted base station with the shortest ranging distance to the first terminal device;

[0029] If the first terminal device does not belong to the second device set, determining that the first data message of the next detection period does not include identification information of the target fixed base station;

[0030] If the first terminal device belongs to the second device set, a second fixed base station with the shortest ranging distance to the first terminal device is selected from the second device set, and the target fixed base station in the first data message of the next detection cycle is determined to be the second fixed base station with the shortest ranging distance to the first terminal device.

[0031] In a second aspect, an embodiment of the present application provides a radio wave-based mine safety distance warning method, which is applied to multiple second terminal devices, wherein the multiple second terminal devices include multiple second vehicle-mounted base stations and multiple first fixed base stations. The method includes:

[0032] receiving, within a target sub-period occupied by a first terminal device in a plurality of sub-periods of a current detection cycle, a first data message broadcast by the first terminal device in a first wireless transceiver time unit; the first data message includes identification information of the first terminal device, 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, which are sequentially divided in chronological order; the first terminal device includes a first vehicle-mounted base station or a personnel identification card provided on a mining mobile device;

[0033] In response to the first data message, a third vehicle-mounted base station broadcasts a second data message in the second wireless transceiver time unit, where the third vehicle-mounted base station is a vehicle-mounted base station accessed through a contention mode and / or a dedicated mode among the multiple second vehicle-mounted base stations; the second data message broadcast by the third vehicle-mounted base station in the second wireless 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 from the third vehicle-mounted base station is less than a safety warning distance threshold in a previous detection cycle;

[0034] In response to the first data message, a second fixed base station broadcasts a second data message within the third wireless transceiver time unit, where the second fixed base station is a fixed base station accessed through a contention-based and / or dedicated manner among the multiple first fixed base stations; the second data message broadcast by the second fixed base station within the third wireless 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 is less than a safety warning threshold in the previous detection period;

[0035] Receive a third data message broadcast by the first terminal device within the fourth wireless transceiver time unit; the third data message 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 broadcast the first data message, the time when the first terminal device received the second data message from the third vehicle-mounted base station, the time when the first terminal device received the second data message from the second fixed base station, and the time when the first terminal device broadcast the third data message; the first terminal device is further used to determine whether a security warning condition is met based on the identification information of the first terminal device, and if so, generate first security warning indication information, the security warning condition including the first device set or the second device set;

[0036] In response to the third data message, the distance data between the second terminal device and the first terminal device is calculated based on a time-of-flight ranging algorithm, and based on the distance data, it is determined whether to generate second safety warning indication information.

[0037] In some embodiments, the second wireless signal transceiving time unit includes a first dedicated transceiving time unit and a first competitive transceiving time unit that are performed in chronological order, and the third vehicle-mounted base station broadcasting the second data message in the second wireless transceiving time unit in response to the first data message includes:

[0038] If the first data message includes a target vehicle-mounted base station, and the target vehicle-mounted base station is 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 message; and within the first competitive transceiver time unit, the fourth vehicle-mounted base station competes to broadcast the second data message; 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 among the second vehicle-mounted base stations, excluding the target vehicle-mounted base station, that is accessed in a competitive manner by other vehicle-mounted base stations and received by the first terminal device;

[0039] If the first data message does not include the target vehicle-mounted base station, then within the second wireless signal transceiver time unit, the third vehicle-mounted base station broadcasts the second data message; the third vehicle-mounted base station is the vehicle-mounted base station that the second vehicle-mounted base station accesses in a competitive manner and is received by the first terminal device.

[0040] In some embodiments, the third wireless signal transceiver time unit includes a second dedicated transceiver time unit and a second competitive transceiver time unit that are performed sequentially in time sequence, and in response to the first data packet, the second fixed base station broadcasts the second data packet within the third wireless transceiver time unit, including:

[0041] If the first data message includes a target fixed base station, and the target fixed base station is one of the plurality of first fixed base stations, then within the second dedicated transceiver time unit, the target fixed base station broadcasts a second data message;

[0042] and within the second contention transceiver time unit, a third fixed base station competes to broadcast a second data message, the second fixed base station including the target fixed base station and the third fixed base station, the third fixed base station being a fixed base station among the multiple first fixed base stations, excluding the target fixed base station, that is accessed in a contention manner and received by the first terminal device;

[0043] If the first data message does not include the target fixed base station, then within the third wireless signal transmission and reception time unit, the second fixed base station competes to broadcast the second data message, and the second fixed base station is a fixed base station that is accessed by the multiple first fixed base stations in a competitive manner and received by the first terminal device.

[0044] In some embodiments, the calculating the distance data between the second terminal device and the first terminal device based on a time-of-flight ranging algorithm includes:

[0045] 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 from the third vehicle-mounted base station, the time when the first terminal device receives the second data message from the second fixed base station, the time when the first terminal device broadcasts the third data message, the time when the second terminal device receives the first data message, the time when the second terminal device broadcasts the second data message, and the time when the second terminal device receives the third data message, the distance data between the first terminal device and the second terminal device is calculated.

[0046] In a third aspect, an embodiment of the present application provides a radio wave-based mine safety distance warning system, a first terminal device and multiple second terminal devices, wherein the first terminal device is communicatively connected with the multiple second terminal devices, the first terminal device includes a first vehicle-mounted base station or a personnel identification card provided on a mobile mining device, and the multiple second terminal devices include multiple second vehicle-mounted base stations and multiple first fixed base stations, wherein:

[0047] The first terminal device includes: a first processor and a first memory for storing a computer program that can be run on the processor, wherein the first processor is configured to execute the steps of any one of the methods described in the first aspect when running the computer program;

[0048] The multiple second terminal devices include: a second processor and a second memory for storing a computer program that can be run on the processor, wherein the second processor, when running the computer program, executes the steps of the method described in any one of the above-mentioned second aspects.

[0049] The embodiment of the present application provides a mine safety distance warning method based on radio waves, which is applied to a first terminal device, wherein the first terminal device includes a first vehicle-mounted base station or a personnel identification card set on a mine mobile device, including: determining a target sub-period occupied by the first terminal device within multiple sub-periods of the current detection period; and dividing the target sub-period 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 chronological order; broadcasting a first data message to multiple second terminal devices within the first wireless signal receiving and transmitting time unit, and the multiple second terminal devices include multiple second vehicle-mounted base stations or personnel identification cards. and a plurality of first fixed base stations; the first data message includes identification information of the first terminal device; receiving a second data message broadcast by the third vehicle-mounted base station within the second wireless signal transceiving time unit, the third vehicle-mounted base station being a vehicle-mounted base station accessed through a competitive manner and / or a dedicated manner among the plurality of second vehicle-mounted base stations; the second data message broadcast by the third vehicle-mounted base station within the second wireless signal transceiving time unit includes: identification information of the third vehicle-mounted base station and a first device set; the first device set includes a first terminal device set whose ranging with the third vehicle-mounted base station in the previous detection cycle is less than a safety warning distance threshold; receiving a second data message broadcast by the second fixed base station within the third wireless signal transceiving time unit data message, the second fixed base station is a fixed base station accessed through a competitive manner and / or a dedicated manner among multiple first fixed base stations; the second data message broadcast by the second fixed base station in the third wireless signal receiving and transmitting time unit includes the identification information of the second fixed base station and the second device set; the second device set includes the first terminal device set whose distance from the second fixed base station is less than the safety warning distance threshold in the previous detection cycle; based on the identification information of the first terminal device, it is determined whether the safety warning condition is met, and if so, the first safety warning indication information is generated; wherein the safety warning condition is determined based on the first device set or the second device set; within the fourth wireless signal receiving and transmitting time unit, the first Three data messages are sent to multiple second terminal devices; wherein the third data message 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 message, the time when the first terminal device receives the second data message from the third vehicle-mounted base station, the time when the first terminal device receives the second data message from the second fixed base station, and the time when the first terminal device broadcasts the third data message; the third data message 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.

[0050] Thus, the embodiment of the present application aims at the complex working environment of the mine, and realizes a mine safety distance warning with higher reliability and bidirectionality by constructing a radio wave communication warning system between the first terminal device and the second terminal device. (1) By using radio waves to send and receive the first to third data messages 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 laser radar 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 continuous wireless signal transceiver units, and arranging the data message transmission and reception between the first terminal device and the second terminal device in different wireless signal transceiver units, it is possible to support reliable communication under complex terrain conditions such as turns, ups and downs in the mine road, thereby realizing end-to-end safety distance warning; (3) By setting the warning trigger condition on the first terminal device, a safety warning for the vehicle driver or mine worker is realized, and a distance measurement algorithm is used on the second terminal device to realize a safety warning for the driver or mine worker. Unlike the existing technology that only provides one-way warnings to drivers, this configuration realizes two-way safety warnings for drivers and mine workers, thereby improving the overall warning effect and safety protection capabilities. By timely reminding all relevant personnel, the safety level of mine production can be further improved; (4) Since the first terminal device makes warning judgments based on the preset safety distance threshold, and the second terminal device makes safety warnings based on the distance measurement algorithm, there is no need to rely on external precise positioning or wireless network signals, which reduces the dependence on precise location information and communication networks, effectively avoids missed reports or false reports 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 types of operating entities such as vehicles, personnel and fixed facilities, it can adapt to complex working scenarios in mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A flowchart of a radio wave-based mine safety distance warning method provided in an embodiment of the present application;

[0052] Figure 2 A flowchart of another radio wave-based mine safety distance warning method provided in this application;

[0053] Figure 3 A schematic diagram of the workflow of a radio wave-based mine safety distance warning method provided as an application example of this application;

[0054] Figure 4 A schematic diagram of the structure of a first terminal device provided in an embodiment of the present application;

[0055] Figure 5 A schematic diagram of the structure of the second terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The present application will be described in further detail below with reference to the accompanying drawings and embodiments.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0058] An embodiment of the present application provides a radio wave-based mine safety distance warning method, which is applied to a first terminal device. The first terminal device includes a first vehicle-mounted base station or a personnel identification card set on a mobile mining device.

[0059] It is understandable that the first vehicle-mounted base station is deployed on a mobile mining equipment (such as a transport truck, an excavator), and can be equipped with an audible and visual alarm to issue early warning information to the driver.

[0060] It is understandable that the personnel identification card is worn by the mine workers. For example, the personnel identification card can be integrated with a vibration motor or buzzer to issue a safety warning message to the workers.

[0061] In this embodiment, the vehicle-mounted base station and the personnel identification card serve as the first terminal device and together serve as the initiator of the mine safety distance warning.

[0062] like Figure 1 As shown, the method includes the following steps:

[0063] Step 110: Determine the target sub-period occupied by the first terminal device within multiple sub-periods of the current detection period; and divide the target sub-period 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 chronological order.

[0064] In this embodiment, the current detection period (the detection period for the mine safety distance warning) is set to T. To rationally allocate time resources and improve detection efficiency, this embodiment divides the detection period T into M sub-periods. This allows each vehicle-mounted base station and personnel identification card to operate in an orderly manner in different time periods, avoiding signal conflicts and interference.

[0065] In this embodiment, the first vehicle-mounted base station and the personal identification card each occupy a sub-cycle. The vehicle-mounted base station actively transmits radio waves at the start of its sub-cycle and remains in a listening state during the remaining sub-cycles. The personal identification card actively transmits radio waves at the start of its sub-cycle and remains in a non-listening state during the remaining sub-cycles. This ensures the transmission of its own information without excessively occupying resources in other time periods.

[0066] It's understandable that before issuing a safety warning, it's necessary to determine the target sub-cycle occupied by the first terminal device within multiple cycles of the current detection cycle. This allows the first terminal device to act as the initiator, actively emitting radio waves for safety distance detection within its target sub-cycle. This is the key starting point for the entire warning process, enabling timely communication and information exchange with other devices, thereby enabling safe distance determination and warning.

[0067] In this embodiment, in order to cope with complex mining environments, improve the efficiency of safety warnings, and avoid conflicts between devices, each sub-cycle can be further divided into N wireless signal receiving and transmitting time units in chronological order.

[0068] It can be understood that the N wireless signal transmission and reception time units include: divided into a first wireless signal transmission and reception time unit, a second wireless signal transmission and reception time unit, a third wireless signal transmission and reception time unit and a fourth wireless signal transmission and reception time unit in chronological order.

[0069] Exemplarily, in chronological order, one wireless signal transceiver time unit is used for the initiator to broadcast the first data message (set as the first wireless signal transceiver time unit), one wireless signal transceiver time unit is used for the vehicle-mounted base station to broadcast the second data message (set as the second wireless signal transceiver time unit), one wireless signal transceiver time unit is used for the fixed base station to broadcast the second data message (set as the third wireless signal transceiver time unit), and one wireless signal transceiver time unit is used for the initiator to broadcast the third data message (set as the fourth wireless signal transceiver time unit).

[0070] Step 120: within the first wireless signal receiving and transmitting time unit, broadcast a first data message 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 message includes identification information of the first terminal device.

[0071] In this embodiment, within the first wireless signal receiving and transmitting time unit, the first terminal device acts as an initiator and actively broadcasts a first data message to multiple second terminal devices.

[0072] In this embodiment, the second terminal device serves as a receiving end, which refers to an initiator that does not actively transmit a signal in the current sub-period. These devices will serve as receiving ends, receive the broadcast signal of the initiator device, and respond.

[0073] In this embodiment, in a mining operation scenario, the second terminal device includes multiple second vehicle-mounted base stations (other vehicle-mounted base stations in the mine than the first vehicle-mounted base station) and multiple first fixed base stations. During the current detection cycle, the first fixed base stations remain in a listening state. In a mining environment, fixed base stations are typically installed in fixed locations, such as mine tunnel walls or along mine roads, to provide coverage for a specific area.

[0074] It can be understood that the content of the first data message includes identification information of the first terminal device.

[0075] Step 130: Receive the second data message broadcast by the third vehicle-mounted base station within the second wireless signal receiving and transmitting time unit, where the third vehicle-mounted base station is a vehicle-mounted base station accessed through a competitive manner and / or a dedicated manner among multiple second vehicle-mounted base stations; the second data message broadcast by the third vehicle-mounted base station within the second wireless signal receiving and transmitting time unit includes: the identification information of the third vehicle-mounted base station and the first device set; the first device set includes the first terminal device set whose ranging with the third vehicle-mounted base station in the previous detection cycle is less than the safety warning distance threshold.

[0076] In this embodiment, during the second wireless signal transmission and reception time unit, the second terminal device (such as multiple second vehicle-mounted base stations and multiple first fixed base stations) receives the first data message and responds according to its content. Here, the second data message is used to respond to the first data message.

[0077] It should be noted that the second terminal device, whether it is a vehicle-mounted base station or a fixed base station, can broadcast the second data message using either a competitive mode (radio signal competition mechanism) or a dedicated mode. Under the competitive mode (radio signal competition mechanism), broadcasts from base stations closer to the first terminal device and with stronger signals are generally received first. However, signal collisions may result in unsuccessful reception. Therefore, not all responses from the second terminal device can be received by the first terminal device.

[0078] Here, the third vehicle-mounted base station is a vehicle-mounted base station among the multiple second vehicle-mounted base stations that is accessed through a contention-based and / or dedicated mode. For example, assume that X' second vehicle-mounted base stations (among the multiple second vehicle-mounted base stations) receive a first data message. The first terminal device will subsequently receive a second data message broadcast from X vehicle-mounted base stations (i.e., the third vehicle-mounted base station). The third vehicle-mounted base station is at least one of the multiple second vehicle-mounted base stations.

[0079] It can be understood that since the second terminal device includes a vehicle-mounted base station and a fixed base station of different types, in order to avoid conflicts and improve the accuracy and efficiency of safety warnings, this embodiment allows the third vehicle-mounted base station to respond first in chronological order, that is, within the second wireless signal receiving and transmitting time unit, the third vehicle-mounted base station sends the second broadcast data message.

[0080] In this embodiment, the second data message broadcast by the third vehicle-mounted base station in the second wireless signal receiving and transmitting time unit includes: identification information of the third vehicle-mounted base station and the first device set.

[0081] Exemplarily, the content of the second data message of the third vehicle-mounted base station includes:

[0082] (1) The ID of the third vehicle-mounted base station itself;

[0083] (2) In the last detection cycle, the distance to the third vehicle-mounted base station is less than The initiator (first terminal device) ID set , The elements in are the initiator (first terminal device) ID and the corresponding distance value.

[0084] For example, if in the previous detection cycle, 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 message will include the identification information of the first terminal device T1 and its corresponding distance value, but will not include the information of the first terminal device T2, so as to be used for subsequent safety warning judgment.

[0085] Here, the first device set can be expressed as Specifically:

[0086] Indicates the first third vehicle-mounted base station identifier and its corresponding first terminal device set ; Indicates the second and third vehicle-mounted base stations and its corresponding first device set ;

[0087] And so on, until the Xth third vehicle-mounted base station, corresponding to ,in, Indicates the identification information of the Xth third vehicle-mounted base station, used to uniquely identify the base station. Represents the first terminal device set of the Xth three-vehicle base station, which contains the ID and corresponding distance value of the first terminal device whose distance to the Xth three-vehicle base station is less than the safety warning distance threshold in the previous detection cycle .

[0088] Step 140: Receive a second data message broadcast by the second fixed base station within the third wireless signal receiving and transmitting time unit, where the second fixed base station is a fixed base station accessed through a competitive manner and / or a dedicated manner among multiple first fixed base stations; the second data message broadcast by the second fixed base station within the third wireless signal receiving and transmitting time unit includes the identification information of the second fixed base station and a second device set; the second device set includes a first terminal device set whose distance from the second fixed base station is less than a safety warning distance threshold in the previous detection cycle.

[0089] In this embodiment, to ensure orderly communication and reduce the probability of signal collisions, the reception time is set after that of 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 later within the third wireless signal transceiver time unit. This helps prevent interference between the signals of the two different base stations and ensures more reliable data message reception.

[0090] It is understandable that the second terminal device, whether it is a vehicle-mounted base station or a fixed base station, can broadcast the second data message using a competitive method (wireless signal competition mechanism) or a dedicated method. Under the competitive method (wireless signal competition mechanism), the broadcast of the base station that is closer to the first terminal device and has a stronger signal will generally be received first, but it is also possible that no reception is successful due to signal collision. Therefore, not all responses from the second terminal device 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 is accessed through a competitive method and / or a dedicated method.

[0091] For example, assume that Y' first fixed base stations receive a first data packet. The first terminal device subsequently successfully receives a second data packet broadcasted within a third wireless signal transceiver unit from Y fixed base stations (i.e., second fixed base stations). The second fixed base station is at least one of the plurality of first fixed base stations.

[0092] In this embodiment, the second data message broadcast by the second fixed base station in the third wireless signal receiving and transmitting time unit includes identification information of the second fixed base station and the second device set.

[0093] Exemplarily, the content of the second data message of the second fixed base station includes:

[0094] (1) The ID of the second fixed base station itself;

[0095] (2) In the last detection cycle, the distance to the second fixed base station is less than The initiator (first terminal device) ID set , The elements in are the initiator (first terminal device) ID and the corresponding distance value.

[0096] Here, the second device set can be Specifically:

[0097] Indicates the first third vehicle-mounted base station identifier and its corresponding first terminal device set ; Indicates the second and third vehicle-mounted base stations and its corresponding first terminal device set ;

[0098] And so on, until the Yth second fixed base station, corresponding to ,in, The identification information of Y second fixed base stations is used to uniquely identify the base station. Represents a set of first terminal devices of Y second fixed base stations, which includes the IDs and corresponding distance values of the first terminal devices whose distance to the Y second fixed base station is less than the safety warning distance threshold within the previous detection period T .

[0099] Step 150: Based on the identification information of the first terminal device, determine whether the security warning condition is met, and if so, generate first security warning indication information; wherein the security warning condition is determined based on the first device set or the second device set.

[0100] In this embodiment, after the first terminal device receives the second data message, the process proceeds to step 150 to perform a security warning determination. This step determines whether a security warning condition is met based on the identification information of the first terminal device itself, thereby determining whether to generate a first security warning indication message. If the security warning condition is met, the first security warning indication message is generated.

[0101] It is understandable that the safety warning is determined based on the above-mentioned first device set or the above-mentioned second device set. The first device set includes a set of first terminal devices whose distance to the third vehicle-mounted base station is less than the safety warning distance threshold during the previous detection cycle. The second device set includes a set of first terminal devices whose distance to the second fixed base station is less than the safety warning distance threshold during the previous detection cycle. By incorporating the first device set or the second device set into the safety warning conditions, the first terminal device can obtain information about the first terminal devices near the third vehicle-mounted base station and the second fixed base station with which it communicates, thereby more accurately judging whether it is necessary to generate the first safety warning indication information and improving the reliability of the warning judgment.

[0102] In addition, since the first terminal device only makes security warning judgments based on security warning conditions, it does not need to rely on external precise positioning or wireless network signals, reducing dependence on precise location information and communication networks.

[0103] Step 160: Broadcast a third data message to multiple second terminal devices within the fourth wireless signal transmission and reception time unit; wherein the third data message 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 message, the time when the first terminal device receives the second data message from the third vehicle-mounted base station, the time when the first terminal device receives the second data message from the second fixed base station, and the time when the first terminal device broadcasts the third data message; the third data message 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.

[0104] It should be noted that in a detection cycle, only the receiving end can perform distance measurement with the initiating end, so 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 realizing the ranging warning of the initiating end through the above step 150.

[0105] In this embodiment, while issuing a safety warning, the first terminal device also broadcasts a third data message to multiple second terminal devices within a fourth wireless signal transceiver time unit. The fourth wireless signal transceiver time unit occurs after the first, second, and third wireless signal transceiver time units. Here, the third data message is used to respond to the second data message from the third vehicle-mounted base station and the second data message from the second fixed base station.

[0106] Here, the third data message 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 second safety warning indication information based on the distance data.

[0107] In this embodiment, the third data message 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 message, the time when the first terminal device receives the second data message from the third vehicle-mounted base station, the time when the first terminal device receives the second data message from the second fixed base station, and the time when the first terminal device broadcasts the third data message;

[0108] Exemplarily, the initiator broadcasts a third data message, where the content of the third data message includes:

[0109] (1) The ID or identification information of the initiating end (first terminal device);

[0110] (2) The time when the initiator (first terminal device) broadcasts the first data message;

[0111] (3) The time when the second data message of the third vehicle-mounted base station (X vehicle-mounted base stations), the time when the second data message of the second fixed base station (Y fixed base stations) is received by the initiator (the first terminal device), the base station ID of the third vehicle-mounted base station, and the base station ID of the second fixed base station;

[0112] (4) The time when the initiator (the first terminal device) broadcasts the third data message.

[0113] Here, the receiving end (second terminal device) receives the third data message, and calculates the distance data between the second terminal device and the first terminal device through the time of flight (TOF) ranging algorithm, and determines whether to generate the second safety warning indication information based on the distance data.

[0114] Thus, the embodiment of the present application aims at the complex working environment of the mine, and realizes a mine safety distance warning with higher reliability and bidirectionality by constructing a radio wave communication warning system between the first terminal device and the second terminal device. (1) By using radio waves to send and receive the first to third data messages 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 laser radar 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 continuous wireless signal transceiver units, and arranging the data message transmission and reception between the first terminal device and the second terminal device in different wireless signal transceiver units, it is possible to support reliable communication under complex terrain conditions such as turns, ups and downs in the mine road, thereby realizing end-to-end safety distance warning; (3) By setting the warning trigger condition on the first terminal device, a safety warning for the vehicle driver or mine worker is realized, and a distance measurement algorithm is used on the second terminal device to realize a safety warning for the driver or mine worker. Unlike the existing technology that only provides one-way warnings to drivers, this configuration realizes two-way safety warnings for drivers and mine workers, thereby improving the overall warning effect and safety protection capabilities. By timely reminding all relevant personnel, the safety level of mine production can be further improved; (4) Since the first terminal device makes warning judgments based on the preset safety distance threshold, and the second terminal device makes safety warnings based on the distance measurement algorithm, there is no need to rely on external precise positioning or wireless network signals, which reduces the dependence on precise location information and communication networks, effectively avoids missed reports or false reports 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 types of operating entities such as vehicles, personnel and fixed facilities, it can adapt to complex working scenarios in mines.

[0115] In some embodiments, the second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first competitive transceiver time unit that are performed in chronological order, and receiving a second data message broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit includes:

[0116] If the first data message includes the target vehicle-mounted base station, and the target vehicle-mounted base station is one of the multiple second vehicle-mounted base stations, then the second data message broadcast by the target vehicle-mounted base station in the first dedicated transceiver time unit is received; and the second data message competitively broadcast by the fourth vehicle-mounted base station in the first competitive transceiver time unit is received, 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 in the multiple second vehicle-mounted base stations except the target vehicle-mounted base station that is accessed in a competitive manner and received by the first terminal device;

[0117] If the first data message does not include the target vehicle-mounted base station, then the second data message broadcast by the third vehicle-mounted base station within the second wireless signal receiving and transmitting time unit is received; the third vehicle-mounted base station is a vehicle-mounted base station that is accessed by multiple second vehicle-mounted base stations in a competitive manner and received by the first terminal device.

[0118] In this embodiment, the second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first competitive transceiver time unit, which are performed in chronological order. It is understood that the first dedicated transceiver time unit is a broadcast channel dedicated to the vehicle-mounted base station, used to broadcast the second data message to ensure that the vehicle-mounted base station can clearly and accurately transmit the information to the first terminal device; the first competitive transceiver time unit is a competitive broadcast channel provided for multiple vehicle-mounted base stations, allowing multiple vehicle-mounted base stations to broadcast the second data message within this time period according to a competitive mechanism.

[0119] It should be noted that the content of the first data message 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 message, the second terminal device decides whether to send the second data message within the first dedicated transceiver time unit or the first competitive transceiver time unit based on the target vehicle-mounted base station ID information in the message.

[0120] Exemplarily, the first wireless signal transceiver time unit is one time unit. If the first data message includes information about the target vehicular base station, the second wireless signal transceiver time unit includes, in chronological order, the second wireless signal transceiver time unit (i.e., the first dedicated transceiver time unit), which is used for the vehicular base station to broadcast the second data message on a dedicated channel; and N1 wireless signal transceiver time units (i.e., the first contention transceiver time unit), which are used for the vehicular base station to broadcast the second data message on a universal contention channel. Therefore, the second wireless signal transceiver time unit includes the second through (N1+2)th wireless signal transceiver time units.

[0121] Case 1: If the first data message includes the target vehicle-mounted base station, and the target vehicle-mounted base station is one of multiple second vehicle-mounted base stations, then the second data message broadcast by the target vehicle-mounted base station is received within the first dedicated transceiver time unit. Simultaneously, within the first competitive transceiver time unit, the second data message competitively broadcast by the fourth vehicle-mounted base station is received. In this case, 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 refers to the vehicle-mounted base station among the multiple second vehicle-mounted base stations, excluding the target vehicle-mounted base station, that is accessed in a competitive manner and received by the first terminal device.

[0122] For example, if the first data message includes a target vehicle-mounted base station, and the target vehicle-mounted base station is one of the multiple second vehicle-mounted base stations, that is, the specific vehicle-mounted base station ID in the first data message is not empty and matches the ID of the i-th vehicle-mounted base station (the target vehicle-mounted base station) among the X′ vehicle-mounted base stations.

[0123] At this time, the i-th vehicle-mounted base station (the target vehicle-mounted base station) broadcasts the second data message in the first dedicated transceiver time unit; the other vehicle-mounted base stations (the fourth vehicle-mounted base station) among the X' vehicle-mounted base stations except the i-th base station broadcast the second data message in a competitive manner in the second competitive transceiver time unit.

[0124] For example, taking the jth base station as an example, the vehicle-mounted base station broadcasts the second data message in the (2+Rank(N1))th wireless signal transmission and reception time unit. Rank(a) represents a random number generated between 1 and a.

[0125] Case 2: If the first data message does not include the target vehicle-mounted base station, then the second data message broadcast by the third vehicle-mounted base station is received within the second wireless signal transceiver time unit. In this case, the third vehicle-mounted base station is a vehicle-mounted base station that is accessed by multiple second vehicle-mounted base stations in a competitive manner and is received by the first terminal device.

[0126] Illustratively, otherwise, that is, when the specific vehicle-mounted base station ID in the first data message is empty or does not match the IDs of all base stations in the X' vehicle-mounted base stations, the X' vehicle-mounted base stations all broadcast the second data message in a competitive manner within the 2nd to (N1+2)th wireless signal transmission and reception time units (i.e., within the second wireless signal transmission and reception time units). For example, the i-th vehicle-mounted base station broadcasts the second data message in the (1+Rank(N1+1))th wireless signal transmission and reception time unit.

[0127] In some embodiments, the third wireless signal transceiver time unit includes a second dedicated transceiver time unit and a second competitive transceiver time unit, and receiving a second data message broadcast by the second fixed base station within the third wireless signal transceiver time unit includes:

[0128] If the first data message includes a target fixed base station, and the target fixed base station is one of the plurality of first fixed base stations, receiving a second data message broadcast by the target fixed base station within a second dedicated transceiver time unit;

[0129] and receiving a second data message competitively broadcast by a third fixed base station within a second contention transceiver time unit, where the second fixed base station includes a target fixed base station and a third fixed base station, and the third fixed base station is a fixed base station that is accessed in a contention manner by other base stations among the plurality of first fixed base stations except the target fixed base station and is received by the first terminal device;

[0130] If the first data message does not include the target fixed base station, then the second data message broadcast by the second fixed base station in a competitive manner is received within the third wireless signal receiving and transmitting time unit. The second fixed base station is a fixed base station that is accessed by multiple first fixed base stations in a competitive manner and received by the first terminal device.

[0131] In this embodiment, the first fixed base station transmits the second data message in a manner similar to that of the second vehicle-mounted base station described above. The first fixed base station also uses dedicated channels and contention channels to ensure effective signal broadcast. By dividing the base station's signal transmission time into dedicated and contention-based transmission and reception time slots, signal interference can be effectively avoided and effective communication between each base station and the terminal device can be ensured.

[0132] Exemplarily, the first wireless signal transceiver time unit is 1 time unit. One wireless signal transceiver time unit is used as a dedicated channel for the vehicle-mounted base station to broadcast the second data message (set as the 2nd wireless signal transceiver time unit), and N1 wireless signal transceiver time units are used as a universal contention channel for the vehicle-mounted base station to broadcast the second data message (set as the 3rd to N1+2nd wireless signal transceiver time units). The second wireless signal transceiver time unit includes the 2nd to (N1+2nd)th wireless signal transceiver time units.

[0133] One wireless signal transceiver time unit is used to fix a dedicated channel for broadcasting the second data message by the base station (set to the N1+3th wireless signal transceiver time unit, i.e., the second dedicated transceiver time unit), and N2 wireless signal transceiver time units are used to fix a universal contention channel for broadcasting the second data message by the base station (set to the N1+4th to N1+N2+3th wireless signal transceiver time units, i.e., the second contention transceiver time unit).

[0134] Case 1: If the first data message includes the target fixed base station, and the target fixed base station is one of the multiple first fixed base stations. That is, when the specific fixed base station ID in the first data message is not empty and is the same as the first fixed base station among the Y' fixed base stations. When the base station IDs (target fixed base stations) are the same:

[0135] No. The base station (target fixed base station) broadcasts the second data message in the second dedicated transceiver time unit. The other fixed base stations (third fixed base stations) other than the first base station broadcast the second data message in a competitive manner in the second competitive transceiver time unit, and the third fixed base station is a fixed base station that is accessed in a competitive manner by other base stations except the target fixed base station among the multiple first fixed base stations and is received by the first terminal device; For example, the base station The base station broadcasts the second data message in the N1+3+Rank(N2)th wireless signal receiving and transmitting time unit.

[0136] Case 2: If the first data message does not include the target fixed base station, that is, otherwise, the Y' fixed base stations all broadcast the second data message in a competitive manner in the third wireless signal receiving and transmitting time unit, with the first For example, the base station The base station broadcasts the second data message in the N1+2+Rank(N2+1)th wireless signal receiving and transmitting time unit.

[0137] In some embodiments, the safety warning conditions include:

[0138] The first terminal device belongs to the first device set; or,

[0139] If the first terminal device is a personal identification card, and the personal identification card and at least one third vehicle-mounted base station both belong to the second device set; or,

[0140] 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 all belong to the second device set.

[0141] In this embodiment, the initiating end (first terminal device) triggers a safety distance warning when one of the following safety warning conditions is met:

[0142] (1) The first terminal device belongs to the first device set.

[0143] In actual application, the first terminal device is determined to belong to the initiator based on the ID of the initiator. Any set in .

[0144] This condition focuses on the direct distance relationship between the first terminal device (initiator) and the vehicle-mounted base station. If the initiator's ID appears in the first device set in the second data message broadcast by the vehicle-mounted base station Any first terminal device set in the group indicates that in the last detection cycle, the distance between the initiator and the vehicle-mounted base station is less than the safety threshold This means that the two are in a dangerously close state, and triggering an early warning can immediately remind relevant personnel or equipment to take evasive measures to avoid a collision.

[0145] (2) If the first terminal device is a personal identification card, and the personal identification card and at least one third vehicle-mounted base station both belong to the second device set.

[0146] In actual application, the initiator is a personnel identification card, and the personnel identification card ID and a vehicle-mounted base station ID both belong to Any set in .

[0147] This condition takes into account the scenario where the personnel identification card and the vehicle-mounted base station are close to the fixed base station at the same time. When the personnel identification card and the ID of a vehicle-mounted base station appear together in the second device set in the second data message broadcast by the fixed base station, it means that in the previous detection cycle, the distance between the personnel identification card and the vehicle-mounted base station and the fixed base station is less than This may mean that the two vehicles are approaching the same fixed base station from different directions, and there is a possibility of collision or dangerous proximity. For example, if the fixed base station is at a bend, the personnel identification card and a vehicle-mounted base station are not visible, and both are about to reach a bend or other position where vision is obstructed, timely warning can prevent accidents.

[0148] (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 all belong to the second device set.

[0149] In practical applications, the initiator is a vehicle-mounted base station, and Any set in contains the vehicle-mounted base station ID and any other elements.

[0150] This condition applies to the case where a vehicle-mounted base station and other elements (such as other vehicle-mounted base stations or personnel identification cards) are close to the same fixed base station at the same time. If the ID of the vehicle-mounted base station and the ID of another element are both in the second device set of the fixed base station, it means that in the last detection cycle, the distance between the vehicle-mounted base station and the element and the fixed base station is less than , suggesting that they may be in the same danger zone, posing a risk of collision or dangerous proximity to fixed base stations. Triggering an early warning can prompt relevant equipment or personnel to adjust their position or speed in advance to avoid potential danger.

[0151] In some embodiments, the method further comprises:

[0152] If the first terminal device does not belong to the first device set, determining that the first data message of the next detection cycle does not include identification information of the target vehicle-mounted base station;

[0153] If the first terminal device belongs to the first device set, select a third vehicle-mounted base station with the shortest ranging distance to the first terminal device from the first device set, and determine that the target vehicle-mounted base station in the first data message of the next detection cycle is the third vehicle-mounted base station with the shortest ranging distance to the first terminal device;

[0154] If the first terminal device does not belong to the second device set, determining that the first data message of the next detection cycle does not include identification information of the target fixed base station;

[0155] If the first terminal device belongs to the second device set, a second fixed base station with the shortest ranging distance to the first terminal device is selected from the second device set, and the target fixed base station in the first data message of the next detection cycle is determined to be the second fixed base station with the shortest ranging distance to the first terminal device.

[0156] Exemplarily, the first terminal device updates the content of the first data message broadcast in the next period. It is assumed that the number of third vehicle-mounted base stations received by the first terminal device is X and the number of second fixed base stations is Y.

[0157] (1) When X=0, the ID of the specific vehicle-mounted base station for the initiator (first terminal device) to broadcast the first data message in the next cycle is set to null;

[0158] (2) If the first terminal device does not belong to the first device set, it is determined that the first data message of the next detection cycle does not include the target vehicle-mounted base station.

[0159] For example, when X≠0 and the first device set When the initiator (first terminal device) ID is not included in the data packets, the specific vehicle-mounted base station ID of the initiator for broadcasting the first data message in the next period is set to empty.

[0160] (3) If the first terminal device belongs to the first device set, a third vehicle-mounted base station with the shortest ranging distance to the first terminal device is selected from the first device set, and the target vehicle-mounted base station in the first data message of the next detection cycle is determined to be the third vehicle-mounted base station with the shortest ranging distance to the first terminal device.

[0161] For example, when X≠0 and the first device set When the initiator ID is included in The third vehicle-mounted base station x has the shortest ranging distance with the initiator (first terminal device) in the previous cycle. The specific vehicle-mounted base station ID (identification information of the target vehicle-mounted base station) for broadcasting the first data message in the next cycle by the initiator (first terminal device) is set to the ID of the vehicle-mounted base station x.

[0162] (4) When Y=0, the ID of the specific fixed base station to which the initiator broadcasts the first data message in the next period is set to null.

[0163] (5) If the first terminal device does not belong to the second device set, it is determined that the first data message of the next detection cycle does not include the target fixed base station.

[0164] For example, when Y≠0 and the second device set When the initiator ID (first terminal device) is not included in the datagram, the specific fixed base station ID of the initiator (first terminal device) for broadcasting the first data message in the next period is set to empty.

[0165] (6) If the first terminal device belongs to the second device set, a second fixed base station with the shortest ranging distance to the first terminal device is selected from the second device set, and the target fixed base station in the first data message of the next detection cycle is determined to be the second fixed base station with the shortest ranging distance to the first terminal device.

[0166] For example, when Y≠0 and the second device set When the initiator (first terminal device) ID is included in the second device set The second fixed base station y has the shortest ranging distance with the initiator in the previous cycle, and the ID of the specific fixed base station for the initiator (first terminal device) to broadcast the first data message in the next cycle is set to the ID of the fixed base station y.

[0167] The embodiment of the present application also provides a radio wave-based safety distance warning method, which is applied to multiple second terminal devices, including multiple second vehicle-mounted base stations and multiple first fixed base stations, such as Figure 2 As shown, the method includes the following steps:

[0168] Step 210: In a target sub-period occupied by the first terminal device in multiple sub-periods of the current detection cycle, receive a first data message broadcast by the first terminal device in a first wireless transceiver time unit; the first data message includes identification information of the first terminal device, and the target sub-period includes a first wireless signal transceiver time unit, a second wireless signal transceiver time unit, a third wireless signal transceiver time unit, and a 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.

[0169] In this embodiment, after the first terminal device actively broadcasts the first data message within the first wireless transceiver time unit, the second terminal device will receive the first data message broadcast by the first terminal device within the first wireless transceiver time unit.

[0170] In this embodiment, the first data message includes identification information of the first terminal device, and the target sub-period includes a first wireless signal transceiver time unit, a second wireless signal transceiver time unit, a third wireless signal transceiver time unit, and a 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.

[0171] Step 220: In response to the first data message, the third vehicle-mounted base station broadcasts the second data message in the second wireless transceiver time unit, and the third vehicle-mounted base station is at least one of the multiple second vehicle-mounted base stations; the second data message 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 first terminal device set whose ranging with the third vehicle-mounted base station in the previous detection cycle is less than the safety warning distance threshold.

[0172] In this embodiment, after the second terminal device receives the first data message, in order to avoid signal conflict, the third vehicle-mounted base station of the second terminal device first broadcasts the second data message in the second wireless signal receiving and transmitting time unit. The third vehicle-mounted base station is a vehicle-mounted base station among multiple second vehicle-mounted base stations that is accessed through a competitive manner and / or a dedicated manner. The second data message broadcast by it includes its own identification information and a first device set, which records the first terminal device whose distance to the third vehicle-mounted base station is less than a safety threshold in the previous detection cycle.

[0173] Step 230: In response to the first data message, the second fixed base station broadcasts the second data message within the third wireless transceiver time unit, and the second fixed base station is a fixed base station among multiple first fixed base stations that is accessed through a competitive manner and / or a dedicated manner; the second data message 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 first terminal device set whose distance from the second fixed base station is less than the safety warning distance threshold in the previous detection cycle.

[0174] In this embodiment, after receiving the first data message, the second fixed base station, immediately following the plurality of second vehicle-mounted base stations, broadcasts the second data message in the third wireless signal transceiver time unit. The second fixed base station is a fixed base station among the plurality of first fixed base stations that is accessed through a contention-based and / or dedicated mode. The second data message broadcast by the second fixed base station includes its own identification information and a set of second devices, which records the first terminal devices whose range with the second fixed base station is less than a safety threshold during the previous detection period.

[0175] Step 240: Receive the third data message broadcast by the first terminal device within the fourth wireless transceiver time unit; the third data message 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 message, the time when the first terminal device receives the second data message from the third vehicle-mounted base station, the time when the first terminal device receives the second data message from the second fixed base station, and the time when the first terminal device broadcasts the third data message; the first terminal device is also used to determine whether the safety warning condition is met based on the identification information of the first terminal device, and if so, generate first safety warning indication information, and the safety warning condition includes the first device set or the second device set.

[0176] In this embodiment, the second terminal device receives a third data message broadcast by the first terminal device in the fourth wireless signal transceiver time unit. The third data message 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, and the time when the first terminal device broadcast the first data message, received the second data message, and broadcast the third data message.

[0177] In this embodiment, the first terminal device is also used to determine whether the security warning condition is met based on the identification information of the first terminal device. If so, first security warning indication information is generated. The security warning condition includes the first device set or the second device set.

[0178] Step 250: In response to the third data message, 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 second safety warning indication information based on the distance data.

[0179] In this embodiment, after receiving the third data message, the second terminal device calculates the distance to the first terminal device based on a time-of-flight ranging algorithm, and determines whether to generate second safety warning indication information according to the distance.

[0180] Thus, the embodiment of the present application aims at the complex working environment of the mine, and realizes a mine safety distance warning with higher reliability and bidirectionality by constructing a radio wave communication warning system between the first terminal device and the second terminal device. (1) By using radio waves to send and receive the first to third data messages 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 laser radar 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 continuous wireless signal transceiver units, and arranging the data message transmission and reception between the first terminal device and the second terminal device in different wireless signal transceiver units, it is possible to support reliable communication under complex terrain conditions such as turns, ups and downs in the mine road, thereby realizing end-to-end safety distance warning; (3) By setting the warning trigger condition on the first terminal device, a safety warning for the vehicle driver or mine worker is realized, and a distance measurement algorithm is used on the second terminal device to realize a safety warning for the driver or mine worker. Unlike the existing technology that only provides one-way warnings to drivers, this configuration realizes two-way safety warnings for drivers and mine workers, thereby improving the overall warning effect and safety protection capabilities. By timely reminding all relevant personnel, the safety level of mine production can be further improved; (4) Since the first terminal device makes warning judgments based on the preset safety distance threshold, and the second terminal device makes safety warnings based on the distance measurement algorithm, there is no need to rely on external precise positioning or wireless network signals, which reduces the dependence on precise location information and communication networks, effectively avoids missed reports or false reports 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 types of operating entities such as vehicles, personnel and fixed facilities, it can adapt to complex working scenarios in mines.

[0181] In some embodiments, the second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first competitive transceiver time unit that are performed in chronological order. In response to the first data message, the third vehicle-mounted base station broadcasts the second data message in the second wireless transceiver time unit, including:

[0182] If the first data message includes a target vehicle-mounted base station, and the target vehicle-mounted base station is 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 message; and within the first competitive transceiver time unit, the fourth vehicle-mounted base station competes to broadcast the second data message; 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 in the second vehicle-mounted base stations except the target vehicle-mounted base station in a competitive manner and is received by the first terminal device;

[0183] If the first data message does not include the target vehicle-mounted base station, the third vehicle-mounted base station broadcasts the second data message within the second wireless signal transceiver time unit; the third vehicle-mounted base station is the vehicle-mounted base station that the second vehicle-mounted base station accesses in a competitive manner and is received by the first terminal device.

[0184] In some embodiments, the third wireless signal transceiving time unit includes a second dedicated transceiving time unit and a second competitive transceiving time unit that are performed sequentially in time sequence. In response to the first data packet, the second fixed base station broadcasts the second data packet within the third wireless signal transceiving time unit, including:

[0185] If the first data message includes a target fixed base station, and the target fixed base station is one of the plurality of first fixed base stations, then within the second dedicated transceiver time unit, the target fixed base station broadcasts the second data message;

[0186] and within a second contention transceiver time unit, a third fixed base station competes to broadcast a second data message, the second fixed base station including a target fixed base station and a third fixed base station, the third fixed base station being a fixed base station among the plurality of first fixed base stations, other than the target fixed base station, accessed in a contention manner and received by the first terminal device;

[0187] If the first data message does not include the target fixed base station, then within the third wireless signal transmission and reception time unit, the second fixed base station competes to broadcast the second data message, and the second fixed base station is a fixed base station that is accessed by multiple first fixed base stations in a competitive manner and received by the first terminal device.

[0188] In some embodiments, calculating the distance data between the second terminal device and the first terminal device based on a time-of-flight ranging algorithm includes:

[0189] 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 from the third vehicle-mounted base station, the time when the first terminal device receives the second data message from the second fixed base station, the time when the first terminal device broadcasts the third data message, the time when the second terminal device receives the first data message, the time when the second terminal device broadcasts the second data message, and the time when the second terminal device receives the third data message, the distance data between the first terminal device and the second terminal device is calculated.

[0190] The present application also provides a safety warning system, comprising 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, wherein the first terminal device comprises a first vehicle-mounted base station or a personnel identification card provided on a mobile mining device, and the plurality of second terminal devices comprises a plurality of second vehicle-mounted base stations and a plurality of first fixed base stations.

[0191] In some embodiments, the first vehicle-mounted base station is equipped with an audible and visual alarm for sending safety warning indication information, and the personnel identification card is integrated with a vibration motor or buzzer for sending safety warning indication information.

[0192] It is understandable that the personnel identification card is worn by the operator and is used to send safety warning prompt information to the operator. The first vehicle-mounted base station is set on the mining mobile equipment and is used to send safety warning prompt information to the driver.

[0193] Below, the embodiment of the present application is described in detail with reference to an application example.

[0194] Based on the above problems of the existing technology, this application example provides a mine safety distance warning method based on radio waves, and its technical effects include:

[0195] (1) It can effectively avoid the problem of warning failure caused by the detection signal being easily blocked when using sensors such as laser radar, millimeter wave radar or camera for safety distance warning;

[0196] (2) Support end-to-end safety distance warning at road bends or intersections with uphill and downhill slopes;

[0197] (3) When using sensors such as laser radar, millimeter wave radar or camera to provide safety distance warning, it can only provide warning to the driver, but not to the mine workers. This is a one-way warning. The present invention can achieve two-way warning for the driver and the mine workers, further improving the safety warning effect;

[0198] (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, which can effectively avoid missed or false alarms;

[0199] (5) Suitable for complex operating environments in mines.

[0200] The following introduces the composition of the mine safety distance warning system and the relevant parameters of the mine safety distance warning system in this application example.

[0201] (1) Composition of mine safety distance warning system.

[0202] 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. The vehicle-mounted base station is installed on mobile mining equipment and can be equipped with an audible and visual alarm to issue warning messages to drivers. The fixed base station is installed in the mine production environment. The personnel identification card is worn by mine workers and can be equipped with a vibration motor or buzzer to issue warning messages to workers.

[0203] In this application example, the initiating end is the first terminal device mentioned above, and the receiving end is the second terminal device mentioned above.

[0204] (2) Parameters related to the mine safety distance warning system.

[0205] : Safety warning distance threshold

[0206] Assume that the detection period for mine safety distance warning is T, which is divided into M sub-periods. Each vehicle-mounted base station and personnel identification card occupies one sub-period each. The vehicle-mounted base station actively emits radio waves at the start of its occupied sub-period and remains in a listening state during the remaining sub-periods. The personnel identification card actively emits radio waves at the start of its occupied sub-period and remains in a non-listening state during the remaining sub-periods. The fixed base station remains in a listening state.

[0207] The complete closed loop of radio wave transmission and reception in each sub-cycle is as follows: the initiator (vehicle-mounted base station or personnel identification card) broadcasts the first data message, multiple receiving ends (vehicle-mounted base stations or fixed base stations) receive the first data message and broadcast the second data message, the initiator receives the second data message and broadcasts the third data message, and multiple receiving ends receive the third data message.

[0208] Each sub-cycle is further divided into N wireless signal receiving and transmitting time units, wherein one wireless signal receiving and transmitting time unit is used for the initiator to broadcast the first data message (set as the first wireless signal receiving and transmitting time unit), namely the aforementioned first wireless signal receiving and transmitting time unit.

[0209] One wireless signal transceiver time unit is used as a dedicated channel for the vehicular base station to broadcast the second data message (set as the second wireless signal transceiver time unit), namely the aforementioned first dedicated wireless signal transceiver unit. N1 wireless signal transceiver time units are used as a universal contention channel for the vehicular base station to broadcast the second data message (set as the third to N1+2 wireless signal transceiver time units), namely the aforementioned first contention wireless signal transceiver unit. Here, the second to N1+2 wireless signal transceiver time units are the aforementioned second wireless signal receiving units.

[0210] One wireless signal transceiver time unit is used to fix the base station's dedicated channel for broadcasting the second data message (set as the N1+3th wireless signal transceiver time unit), which is the aforementioned second dedicated wireless signal transceiver unit. N2 wireless signal transceiver time units are used to fix the base station's universal contention channel for broadcasting the second data message (set as the N1+4th to N1+N2+3th wireless signal transceiver time units), which is the aforementioned second contention wireless signal transceiver unit. Here, the N1+3th to N1+N2+3th wireless signal transceiver time units are the aforementioned third wireless signal reception signal units.

[0211] One wireless signal transmission and reception time unit is used by the initiator to broadcast the third data message (set as the N1+N2+4th wireless signal transmission and reception time unit), that is, the aforementioned fourth wireless signal transmission and reception time unit. Therefore, N=4+N1+N2, N1≥1, N2≥1.

[0212] Next, combine Figure 3 The specific workflow of this application example is described below.

[0213] Step 301: The initiator broadcasts a first data message.

[0214] The content of the first data message broadcast by the initiator includes:

[0215] (1) The ID of the initiator itself;

[0216] (2) Specific vehicle base station ID, which is empty by default;

[0217] (3) Specific fixed base station ID, empty by default.

[0218] Step 302: The receiving end receives the first data message and broadcasts the second data message in response.

[0219] Here, it is assumed that X' vehicle-mounted base stations (a plurality of second vehicle-mounted base stations) and Y' fixed base stations (a plurality of first fixed base stations) have received the first data message.

[0220] (1) For X' vehicle-mounted base stations.

[0221] Case 1: When the specific vehicle-mounted base station ID in the first data message is not empty and is the same as the first vehicle-mounted base station among the X' vehicle-mounted base stations When the base station IDs (target vehicle-mounted base stations) are the same:

[0222] No. The base station broadcasts the second data message in the second wireless signal receiving and transmitting time unit. Other vehicle-mounted base stations other than the base station broadcast the second data message in a competitive manner in the 3rd to N1+2 wireless signal receiving and sending time units. For example, the first base station The base station broadcasts the second data message in the 2+Rank(N1)th wireless signal receiving and transmitting time unit.

[0223] Among them, Rank(a) means generating a random number between 1 and a.

[0224] Case 2: Otherwise, the X' vehicle-mounted base stations all broadcast the second data message in a competitive manner in the 2nd to N1+2th wireless signal receiving and transmitting time units, with the For example, the base station The base station broadcasts the second data message in the 1+Rank(N1+1)th wireless signal receiving and transmitting time unit.

[0225] (2) Y' fixed base stations.

[0226] Case 1: When the specific fixed base station ID in the first data message is not empty and is the same as the first fixed base station among the Y' fixed base stations When the base station IDs are the same:

[0227] No. The base station broadcasts the second data message in the N1+3th wireless signal receiving and transmitting time unit. Other fixed base stations other than the base station broadcast the second data message in a competitive manner in the N1+4th to N1+N2+3th wireless signal receiving and sending time units. For example, the first base station The base station broadcasts the second data message in the N1+3+Rank(N2)th wireless signal receiving and transmitting time unit.

[0228] Case 2: Otherwise, the Y' fixed base stations all broadcast the second data message in a competitive manner in the N1+3th to N1+N2+3th wireless signal receiving and transmitting time units, with the For example, the first base station The base station broadcasts the second data message in the N1+2+Rank(N2+1)th wireless signal receiving and transmitting time unit.

[0229] Here, the content of the second data message includes:

[0230] (1) The receiver's own ID;

[0231] (2) In the last detection cycle, the distance to the base station is less than The initiator ID set , The elements in are the initiator ID and the corresponding distance value.

[0232] Step 303: The initiating end receives the second data message and responds by broadcasting a third data message.

[0233] Here, the initiator receives the second data message broadcast by X vehicle-mounted base stations (the third vehicle-mounted base station) and Y fixed base stations (the second fixed base station) (Note: X' vehicle-mounted base stations and Y' fixed base stations broadcast the second data message in a competitive manner, so not all of them can be received by the initiator. The result of the competition is generally that the one with a closer distance and stronger signal will be received, but there is also the possibility that the signal conflict cannot be received successfully). Suppose the message is and .

[0234] The initiator triggers a safety distance warning when one of the following conditions is met:

[0235] (1) The ID of the initiator belongs to Any set in (first device set);

[0236] (2) The initiator is a personnel identification card, and the personnel identification card ID and a vehicle-mounted base station ID belong to the same Any set in ;

[0237] (3) The initiator is a vehicle-mounted base station, and Any set in (the second device set) includes the vehicle-mounted base station ID and any other elements.

[0238] It should be noted that in a detection cycle, only the receiving end can perform distance measurement with the initiating end (the ranging principle is similar to the TOF ranging algorithm of UWB, which is generally implemented by UWB in actual applications). Therefore, the receiving end can determine whether to trigger a safety warning based on the ranging result, as detailed in step 304 below; the receiving end broadcasts the ranging result information of the previous cycle in the above step 302, thereby realizing the ranging warning of the initiating end.

[0239] (1) The distance between the initiator and a vehicle-mounted base station is less than , so it triggers a safety warning;

[0240] (2) The initiator is a personnel identification card, and in the previous detection cycle, the distance between the personnel identification card and a certain vehicle-mounted base station and the same fixed base station is less than , so a safety warning is triggered, such as when a fixed base station is at a bend, the person's identification card and a vehicle-mounted base station are not visible, and both are about to reach the bend;

[0241] (3) The initiator is a vehicle-mounted base station, and in the previous detection cycle, the distance between the vehicle-mounted base station and any other elements and the same fixed base station is less than , so a safety warning is triggered.

[0242] In addition, the initiator updates the content of the first data message broadcast in the next cycle:

[0243] (1) When X=0, the ID of the specific vehicle-mounted base station for the initiator to broadcast the first data message in the next cycle is set to empty;

[0244] (2) When X≠0 and When the initiator ID is not included in the , the specific vehicle-mounted base station ID of the initiator broadcasting the first data message in the next cycle is set to empty;

[0245] (3) When X≠0 and When the initiator ID is included in The vehicle-mounted base station with the shortest distance value from the initiator in the previous cycle is the vehicle-mounted base station x, and the specific vehicle-mounted base station ID of the initiator broadcasting the first data message in the next cycle is set to the ID of the vehicle-mounted base station x;

[0246] (4) When Y = 0, the ID of the specific fixed base station for the initiator to broadcast the first data message in the next cycle is set to null;

[0247] (5) When Y≠0 and When the initiator ID is not included in the , the specific fixed base station ID of the initiator broadcasting the first data message in the next period is set to empty;

[0248] (6) When Y≠0 and When the initiator ID is included in The fixed base station with the shortest ranging distance to the initiator in the previous cycle is the fixed base station y, and the specific fixed base station ID of the first data message broadcast by the initiator in the next cycle is set to the ID of the fixed base station y;

[0249] Here, the initiator broadcasts a third data message, and the content of the third data message includes:

[0250] (1) The ID of the initiator itself;

[0251] (2) The time when the initiator broadcasts the first data message;

[0252] (3) The time of the second data message of X vehicle-mounted base stations and Y fixed base stations received by the initiator and the corresponding base station ID;

[0253] (4) The time when the initiator broadcasts the third data message.

[0254] Step 304: The receiving end receives the third data message and determines whether a safety distance warning is triggered through distance measurement.

[0255] Here, the receiving end receives the third data message, and calculates the distance between the initiating end and the receiving end through the TOF algorithm in combination with the first data message receiving time, the second data message broadcast time and the third data message receiving time stored in the receiving end.

[0256] In practical applications, when the receiving end is a vehicle-mounted base station, the distance between the initiator and the receiving end is less than , a safety warning is triggered.

[0257] Based on the hardware implementation of the above program modules, 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 4 Only an exemplary structure of the first terminal device is shown, not the entire structure. Part or all of the structure shown in FIG4 may be implemented as needed. As shown in FIG4 , the first terminal device 400 provided in this embodiment of the application includes: at least one processor 401, memory 402, user interface 403, and at least one network interface 404. The various components in the first terminal device 400 are coupled together via a bus system 405. It will be understood that bus system 405 is used to enable connection and communication between these components. In addition to including a data bus, bus system 405 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in FIG4 , all of the various buses are labeled as bus system 405.

[0258] The user interface 403 may include a display, a keyboard, a mouse, a trackball, a click wheel, keys, buttons, a touch pad or a touch screen.

[0259] 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 such data include: any computer program used to operate on the first terminal device.

[0260] The radio wave-based mine safety distance warning method for the first terminal device disclosed in the embodiments of this application can be applied to or implemented by processor 401. Processor 401 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the radio wave-based mine safety distance warning method for the first terminal device can be completed by hardware integrated logic circuits or software instructions within processor 401. The processor 401 can be a general-purpose processor, a digital signal processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. Processor 401 can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly executed by a hardware decoding processor or by a combination of hardware and software modules within the decoding processor. The software module may be located in a storage medium located in the memory 402. The processor 401 reads the information in the memory 402 and, in combination with its hardware, completes the steps of the radio wave-based mining safety distance warning method of the first terminal device provided in the embodiment of the present application.

[0261] In an exemplary embodiment, the first terminal device can 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, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0262] It is understood that memory 402 can be volatile memory or non-volatile memory, or can include both volatile and non-volatile memory. Non-volatile memory can include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disk, or compact disc read-only memory (CD-ROM); magnetic surface memory can include magnetic disk storage or. Volatile memory can include random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0263] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiment of the present application, the embodiment of the present application also provides a second terminal device. Figure 5 The structure of the second terminal device is shown as an example, not the entire structure. Part or all of the structure shown in FIG5 may be implemented as needed. As shown in FIG5 , the second terminal device 500 provided in this embodiment of the application includes: at least one processor 501, memory 502, a user interface 503, and at least one network interface 504. The various components of the second terminal device 500 are coupled together via a bus system 505. It will be understood that the bus system 505 is used to enable connectivity and communication between these components. In addition to a data bus, the bus system 505 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in FIG5 , all of the various buses are labeled as the bus system 505.

[0264] The user interface 503 may include a display, a keyboard, a mouse, a trackball, a click wheel, keys, buttons, a touch pad or a touch screen.

[0265] The memory 502 in the embodiment of the present application is used to store various types of data to support the operation of the second terminal device. Examples of such data include: any computer program used to operate on the second terminal device.

[0266] The radio wave-based mine safety distance warning method for a second terminal device disclosed in the embodiments of this application can be applied to or implemented by processor 501. Processor 501 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the radio wave-based mine safety distance warning method for the second terminal device can be completed by hardware integrated logic circuits or software instructions within processor 501. The processor 501 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. Processor 501 can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly executed by a hardware decoding processor or by a combination of hardware and software modules within the decoding processor. The software module may be located in a storage medium located in the memory 502. The processor 501 reads the information in the memory 502 and, in combination with its hardware, completes the steps of the radio wave-based mining safety distance warning method of the second terminal device provided in the embodiment of the present application.

[0267] In an exemplary embodiment, the second terminal device can 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, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0268] It is understood that memory 502 can be volatile memory or non-volatile memory, or can include both volatile and non-volatile memory. Non-volatile memory can include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disk, or compact disc read-only memory (CD-ROM); magnetic surface memory can include magnetic disk storage or. Volatile memory can include random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0269] In an exemplary embodiment, the present application also provides a computer storage medium, specifically a computer-readable storage medium, storing a computer program. The computer program can be executed by a processor to perform the steps of the method of the present application. The computer-readable storage medium can be a memory device such as a ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface mount storage, optical disk, or CD-ROM.

[0270] In an exemplary embodiment, the embodiment of the present application further provides a computer program product, including a computer program, which 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 of the embodiment of the present application.

[0271] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0272] In addition, the technical solutions described in the embodiments of the present application can be arbitrarily combined without conflict.

[0273] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A mine safety distance warning method 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 provided on a mining mobile device, the method includes: Determine, within multiple sub-periods of the current detection period, a target sub-period occupied by the first terminal device; and divide the target sub-period 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 chronological order; Broadcasting a first data message to a plurality of second terminal devices within the first wireless signal transceiver time unit, the plurality of second terminal devices including a plurality of second vehicle-mounted base stations and a plurality of first fixed base stations; the first data message including identification information of the first terminal device; receiving a second data message broadcast by a third vehicle-mounted base station within the second wireless signal transceiver time unit, where the third vehicle-mounted base station is a vehicle-mounted base station accessed through a contention mode and / or a dedicated mode among the multiple second vehicle-mounted base stations; the second data message broadcast by the third vehicle-mounted base station within the second wireless 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 first terminal device set whose ranging from the third vehicle-mounted base station in the previous detection cycle is less than a safety warning distance threshold; receiving a second data message broadcast by a second fixed base station within the third wireless signal transceiver time unit, where the second fixed base station is a fixed base station accessed through a contention-based and / or dedicated manner among the multiple first fixed base stations; the second data message broadcast by the second fixed base station within the third wireless 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 is less than a safety warning distance threshold in a previous detection period; Determining whether a security warning condition is met based on the identification information of the first terminal device, and if so, generating first security warning indication information; wherein the security warning condition is determined based on the first device set or the second device set; Within the fourth wireless signal transceiver time unit, a third data message is broadcast to the multiple second terminal devices; wherein the third data message 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 message, the time when the first terminal device receives the second data message from the third vehicle-mounted base station, the time when the first terminal device receives the second data message from the second fixed base station, and the time when the first terminal device broadcasts the third data message; the third data message 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.

2. The method according to claim 1, characterized in that The second wireless signal transceiver time unit includes a first dedicated transceiver time unit and a first competitive transceiver time unit that are performed in chronological order, and the receiving of the second data message broadcast by the third vehicle-mounted base station within the second wireless signal transceiver time unit includes: If the first data message 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 message broadcast by the target vehicle-mounted base station within the first dedicated transceiver time unit; and receiving the second data message competitively broadcast by a fourth vehicle-mounted base station within the first competitive 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 among the multiple second vehicle-mounted base stations, except the target vehicle-mounted base station, that is accessed in a competitive manner by other vehicle-mounted base stations and received by the first terminal device; If the first data message does not include the target vehicle-mounted base station, then the second data message broadcast by the third vehicle-mounted base station within the second wireless signal receiving and transmitting time unit is received; the third vehicle-mounted base station is the 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.

3. The method according to claim 1, characterized in that The third wireless signal transceiver time unit includes a second dedicated transceiver time unit and a second competitive transceiver time unit, and the receiving of the second data message broadcast by the second fixed base station in the third wireless signal transceiver time unit includes: If the first data message includes a target fixed base station, and the target fixed base station is one of the plurality of first fixed base stations, receiving a second data message broadcast by the target fixed base station within the second dedicated transceiver time unit; and receiving a second data message competitively broadcast by a third fixed base station within the second competitive transceiver time unit, where the second fixed base station includes the target fixed base station and a third fixed base station, and the third fixed base station is a fixed base station that is accessed in a competitive manner by other base stations among the multiple first fixed base stations except the target fixed base station and is received by the first terminal device; If the first data message does not include the target fixed base station, then the second data message broadcast by the second fixed base station in a competitive manner is received within the third wireless signal receiving and transmitting time unit, and the second fixed base station is a fixed base station that is accessed by the multiple first fixed base stations in a competitive manner and received by the first terminal device.

4. The method according to claim 1, wherein The safety warning conditions include: The first terminal device belongs to the first device set; or, If the first terminal device is a personal identification card, and the personal 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 all belong to the second device set.

5. The method according to claim 1, wherein The method further comprises: If the first terminal device does not belong to the first device set, determining that the first data message of the next detection cycle does not include identification information of the target vehicle-mounted base station; If the first terminal device belongs to the first device set, selecting a third vehicle-mounted base station with the shortest ranging distance to the first terminal device from the first device set, and determining that the target vehicle-mounted base station in the first data message of the next detection cycle is the third vehicle-mounted base station with the shortest ranging distance to the first terminal device; If the first terminal device does not belong to the second device set, determining that the first data message of the next detection period does not include identification information of the target fixed base station; If the first terminal device belongs to the second device set, a second fixed base station with the shortest ranging distance to the first terminal device is selected from the second device set, and the target fixed base station in the first data message of the next detection cycle is determined to be the second fixed base station with the shortest ranging distance to the first terminal device.

6. A mine safety distance warning method 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, the method includes: receiving, within a target sub-period occupied by a first terminal device in multiple sub-periods of a current detection cycle, a first data message broadcast by the first terminal device in a first wireless signal receiving and transmitting time unit; the first data message includes identification information of the first terminal device, the target sub-period includes the first wireless signal receiving and transmitting time unit, the second wireless signal receiving and transmitting time unit, the third wireless signal receiving and transmitting time unit, and the fourth wireless signal receiving and transmitting time unit, which are sequentially divided in chronological order; the first terminal device includes a first vehicle-mounted base station or a personnel identification card provided on a mining mobile device; In response to the first data message, the third vehicle-mounted base station broadcasts a second data message in the second wireless signal transceiver time unit, the third vehicle-mounted base station being a vehicle-mounted base station accessed through a contention mode and / or a dedicated mode among the multiple second vehicle-mounted base stations; the second data message broadcast by the third vehicle-mounted base station in the second wireless 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 first terminal device set whose ranging from the third vehicle-mounted base station in the previous detection cycle is less than a safety warning distance threshold; In response to the first data message, the second fixed base station broadcasts a second data message within the third wireless signal transceiver time unit, where the second fixed base station is a fixed base station accessed through a contention mode and / or a dedicated mode among the multiple first fixed base stations; the second data message broadcast by the second fixed base station within the third wireless 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 is less than a safety warning distance threshold in the previous detection period; Receive a third data message broadcast by the first terminal device within the fourth wireless signal transceiver time unit; the third data message 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 message, the time when the first terminal device receives the second data message from the third vehicle-mounted base station, the time when the first terminal device receives the second data message from the second fixed base station, and the time when the first terminal device broadcasts the third data message; the first terminal device is further used to determine whether a security warning condition is met based on the identification information of the first terminal device, and if so, generate first security warning indication information, wherein the security warning condition includes the first device set or the second device set; In response to the third data message, the distance data between the second terminal device and the first terminal device is calculated based on a time-of-flight ranging algorithm, and based on the distance data, it is determined whether to generate second safety warning indication information.

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 competitive transceiver time unit that are performed in chronological order. In response to the first data message, the third vehicle-mounted base station broadcasts the second data message in the second wireless signal transceiver time unit, including: If the first data message includes a target vehicle-mounted base station, and the target vehicle-mounted base station is 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 message; and within the first competitive transceiver time unit, the fourth vehicle-mounted base station competes to broadcast the second data message; 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 among the second vehicle-mounted base stations, excluding the target vehicle-mounted base station, that is accessed in a competitive manner by other vehicle-mounted base stations and received by the first terminal device; If the first data message does not include the target vehicle-mounted base station, then within the second wireless signal transceiver time unit, the third vehicle-mounted base station broadcasts the second data message; the third vehicle-mounted base station is the vehicle-mounted base station that the second vehicle-mounted base station accesses in a competitive manner and is received by the first terminal device.

8. The method according to claim 6, characterized in that The third wireless signal transceiver time unit includes a second dedicated transceiver time unit and a second competitive transceiver time unit that are performed in chronological order, and the second fixed base station broadcasting a second data packet within the third wireless signal transceiver time unit in response to the first data packet includes: If the first data message includes a target fixed base station, and the target fixed base station is one of the plurality of first fixed base stations, then within the second dedicated transceiver time unit, the target fixed base station broadcasts a second data message; and within the second contention transceiver time unit, a third fixed base station competes to broadcast a second data message, the second fixed base station including the target fixed base station and the third fixed base station, the third fixed base station being a fixed base station among the multiple first fixed base stations, excluding the target fixed base station, that is accessed in a contention 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 transmission and reception time unit, the second fixed base station competes to broadcast the second data message, and the second fixed base station is a fixed base station that is accessed by the multiple first fixed base stations in a competitive manner and received by the first terminal device.

9. The method according to claim 6, characterized in that The 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 message, the time when the first terminal device receives the second data message from the third vehicle-mounted base station, the time when the first terminal device receives the second data message from the second fixed base station, the time when the first terminal device broadcasts the third data message, the time when the second terminal device receives the first data message, the time when the second terminal device broadcasts the second data message, and the time when the second terminal device receives the third data message, the distance data between the first terminal device and the second terminal device is calculated.

10. A mine safety distance warning system based on radio waves, characterized in that: include: A first terminal device and multiple second terminal devices, wherein 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 provided on a mining mobile device, and the multiple second terminal devices include multiple second vehicle-mounted base stations and multiple first fixed base stations, wherein: The first terminal device comprises: a first processor and a first memory for storing a computer program that can be run on the processor, wherein the first processor is configured to execute the steps of the method according to any one of claims 1 to 5 when running the computer program; The multiple second terminal devices include: a second processor and a second memory for storing a computer program that can be run on the processor, wherein the second processor is used to execute the steps of the method according to any one of claims 6 to 9 when running the computer program.

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