Answer signal anti-collision method for underground ultra-wideband positioning base station and electronic equipment

Abstract

The invention discloses an underground ultra-wideband positioning base station response signal anti-collision method and electronic equipment, and the method comprises the steps: responding to a distance measurement request sent by an underground positioning tag, and determining a plurality of target base stations in an ultra-wideband signal coverage range of the underground positioning tag; aiming at each target base station in the plurality of target base stations, solving a response anti-collision model of the target base station, and determining an effective target response polling code of the target base station; the response anti-collision model is constructed based on an underground roadway topological structure and an inter-base-station ultra-wideband signal overlapping relation generated based on effective distance measurement of each underground base station; determining target response time of each target base station based on each effective target response polling coding value, preset single response time of each target base station and a set time calculation rule; and controlling each target base station to generate a response message of the ranging request in each target response time based on the response sequence of each target response polling coding value from small to large.

Description

Technical Field

[0001] The present application relates to the technical field of underground coal mine positioning, and in particular to an underground ultra-wideband positioning base station response signal anti-collision method and electronic equipment. Background Art

[0002] In the process of underground mining, due to the danger and complexity of the working environment, it is very important to accurately locate the underground personnel, vehicles and equipment. Although the existing UWB (Ultra-Wideband) positioning technology can provide high-precision positioning services, there are still some problems in practical applications.

[0003] At present, the UWB positioning system calculates the position by deploying multiple positioning base stations underground and using the signal transmission time difference between the positioning tag and the base station. However, when multiple positioning tags send ranging requests at the same time, the response signals of the base station may conflict, resulting in ranging failure or reduced positioning accuracy.

[0004] In response to the above problems, there are currently two ways to manage the anti-collision of base station UWB response signals: (1) Do not intervene in any way and let the base station UWB response signals compete freely. The tag will generally receive the base station signal with high signal strength and faster response time, and ignore the response signals of other base stations. However, when the signal strength or response time between base stations is similar, this method will cause the tag to fail to measure the distance; even if the distance measurement is successful, the tag cannot effectively use the data of other base stations to improve the positioning accuracy. (2) Manually set the adjacent base stations of each base station one by one. However, this method is time-consuming and labor-intensive, and heavily relies on the experience of technicians. When the underground network topology is complex, it is difficult to avoid incomplete consideration or errors. In addition, considering the common blasting disturbances and changes in the work site in underground mining operations, base stations need to be frequently migrated. After the base station position is changed, it is difficult to ensure the timeliness and effectiveness of the anti-collision management of UWB response signals by manual methods. Summary of the invention

[0005] In view of this, an embodiment of the present application provides an underground ultra-wideband positioning base station response signal anti-collision method and electronic device, which aims to solve the problems of low positioning accuracy caused by response signal conflicts and low ranging efficiency caused by reliance on manual settings when the signal strength or response time between base stations is similar.

[0006] The technical solution of the embodiment of the present application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for preventing collision of response signals of an underground ultra-wideband positioning base station, comprising:

[0008] In response to a ranging request sent by an underground positioning tag, determine multiple target base stations within the ultra-wideband signal coverage range of the underground positioning tag;

[0009] For each target base station among the multiple target base stations, solve the response anti-collision model of the target base station to determine the effective target response polling code of the target base station; the response anti-collision model is constructed based on the underground roadway topology and the ultra-wideband signal overlap relationship between base stations generated based on the effective ranging of each underground base station;

[0010] Based on the values of each effective target response polling code, the single-response response time of each preset target base station, and the set time calculation rule, determine the target response time of each target base station, so that each target base station among the target base stations independently responds at the target response time of the target base station;

[0011] Control each of the target base stations to generate a response message for the ranging request within each target response time based on the ascending response order of the target response polling code values.

[0012] In some embodiments, the method further includes:

[0013] Based on the topology of the centerline of the underground roadway, construct an undirected graph of the underground roadway;

[0014] Based on the bounded constrained breadth-first search algorithm rule of the undirected graph, search for the clustering set of the target base station, and the clustering set of the target base station includes: a first clustering set and a second clustering set; the first clustering set is composed of base stations that have signal response conflicts with the target base station along the first extension direction of the underground roadway, and the second clustering set is composed of other base stations that have signal response conflicts with the target base station along the second extension direction of the underground roadway;

[0015] Based on the overlap evaluation matrix and the effective ranging of each underground base station, determine the overlapping base station set that overlaps with the ultra-wideband signal of the target base station, and the overlapping base station set represents the ultra-wideband signal overlap relationship between the target base stations;

[0016] Based on the objective function, the first constraint condition, the second constraint condition, and the third constraint condition, generate the response anti-collision model of the target base station; wherein, the first constraint condition is that only one of the response polling codes of the target base station takes effect, the second constraint condition is that the response polling codes of the target base station and the overlapping base stations that overlap with the ultra-wideband signal of the target base station cannot take effect simultaneously, and the third constraint condition is that within the clustering set of the target base station, the values of the response polling codes of each base station are different.

[0017] In some embodiments, the method further includes:

[0018] Construct an objective function based on a decision variable indicating whether the response polling code of the target base station is effective, the clustering association degree of the target base station, and the number of response polling codes of the target base station; the number of response polling codes of the target base station is the maximum value of the number of base stations in the first clustering set and the second clustering set in the clustering set of the target base station; the clustering association degree of the target base station is the total number of occurrences of the target base station in the clustering sets of each base station in the underground roadway.

[0019] In some embodiments, the first extension direction is the extension direction of the target base station forward along the roadway center line; the second extension direction is the extension direction of the target base station backward along the roadway center line.

[0020] In some embodiments, the rules of the bounded constrained breadth-first search algorithm include: the breadth-first search algorithm and the bounded constraint conditions based on the effective ranging range. Searching for the first clustering set and the second clustering set based on the undirected graph and the rules of the bounded constrained breadth-first search algorithm includes:

[0021] Based on the undirected graph, respectively along the first extension direction of the target base station in the underground roadway and along the second extension direction in the underground roadway, construct a polyline to search for base stations conflicting with the target base station based on the breadth-first search algorithm;

[0022] If it is determined that the polyline meets the bounded constraint conditions, it is determined that the search is successful, and the first clustering set and the second clustering set are generated;

[0023] Generate the clustering set of the target base station based on the first clustering set and the second clustering set;

[0024] The bounded constraint conditions based on the effective ranging range include:

[0025] The polyline is one or two segments;

[0026] When the polyline is one segment, the length of the polyline is less than twice the effective ranging range of the base station; when the polyline is two segments, the length of each segment is less than the effective ranging range of the base station;

[0027] The polyline does not intersect the side line of the underground roadway.

[0028] In some embodiments, the ultra-wideband signal overlap evaluation matrix includes multiple matrix elements indicating whether base stations overlap. Determining the set of overlapping base stations whose ultra-wideband signals overlap with the target base station based on the overlap evaluation matrix and the effective ranging of each base station in the underground includes:

[0029] Based on the effective ranging range of each base station underground, determine the ultra-wideband signal coverage range of each base station. The ultra-wideband signal coverage range is the range where the distance between any position on the center line of the roadway and the base station is less than the effective ranging range of the base station, and the connection line does not intersect with the roadway side line;

[0030] If the ultra-wideband signal coverage ranges of other base stations except the target base station among all base stations overlap with the ultra-wideband signal coverage range of the target base station, then determine that the matrix element of the other base station and the target base station in the overlap evaluation matrix is 1 and mark the other base station as an overlapping base station whose ultra-wideband signal overlaps with that of the target base station;

[0031] Based on the overlapping base stations, determine the set of overlapping base stations whose base station signals overlap with that of the target base station.

[0032] In some embodiments, the objective function is:

[0033]

[0034] where x i,j is the decision variable of base station i, j is the number of the response polling code value, i is the base station number, e i is the clustering association degree of base station i, the value range of i is [1, n], the value range of j is [1, m], n is the number of base stations, and m is the maximum value of the number of base stations in the first clustering set and the second clustering set in the clustering set of base station i;

[0035] The expectation of the objective function is that the response polling code value of the target base station is as small as possible, and the response polling code value of the target base station with a high clustering association degree is even smaller.

[0036] In some embodiments, the first constraint condition is: where x i,j is the decision variable of base station i, i is the base station number, and j is the number of the response polling code value;

[0037] The second constraint condition is: where x i,j is the decision variable of the base station, i is the base station number, j is the number of the response polling code value, x i′,j is the decision variable of the overlapping base station whose ultra-wideband signal overlaps with that of base station i, b i,i′ is the matrix element of base station i and base station i;

[0038] The third constraint condition is: where x i,j is the decision variable, i is the base station number, j is the number of the response polling code value, is the first clustering set of base station i, It is the second clustering set of base station i.

[0039] In some embodiments, the time calculation rule is:

[0040] t×(j - 1)

[0041] Where t is the single - response response time of the preset base station i, i is the base station number, and j is the number of the response polling code value.

[0042] In a second aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory for storing a computer program that can run on the processor, wherein when the processor is used to run the computer program, it executes the steps of the method described in the first aspect of the embodiment of the present application.

[0043] The technical solution provided by the embodiment of the present application, a method for preventing collision of response signals of an underground ultra - wideband positioning base station, includes: in response to a ranging request sent by an underground positioning tag, determining a plurality of target base stations within the ultra - wideband signal coverage range of the underground positioning tag; for each target base station among the plurality of target base stations, solving the response anti - collision model of the target base station to determine the effective target response polling code of the target base station; the response anti - collision model is constructed based on the underground roadway topology structure and the ultra - wideband signal overlap relationship between base stations generated based on effective ranging of each underground base station; based on each effective target response polling code value, the preset single - response response time of each target base station, and the set time calculation rule, determining the target response time of each target base station, so that each target base station among each target base station independently responds at the target response time of the target base station; controlling each target base station to generate a response message to the ranging request within each target response time based on the response sequence of each target response polling code value from small to large.

[0044] In this way, by implementing a response anti-collision model for base station response signals that combines the distribution of underground roadways and the effective ranging range of base stations, the present application realizes efficient and reliable anti-collision management of base station response signals. Specifically, it can achieve the following: (1) No manual intervention is required. Through an automated response anti-collision model (based on the underground roadway topology and the signal overlap relationship between base stations), the present application can automatically generate the target response polling codes for each base station, thus eliminating the need for manual intervention and effectively avoiding problems such as incomplete or incorrect consideration in the anti-collision management of base station response signals; (2) Through the automated management of anti-collision of base station response signals by combining parameters such as the distribution of underground roadways and the effective ranging range of base stations, the efficiency is high and the timeliness is guaranteed; (3) By assigning a unique target response time to each target base station and responding in the order of the ascending response polling code values, it is ensured that all base stations can send response messages in sequence without interference, and the base station response signals are managed in an orderly manner, thereby ensuring that the tag can effectively range with each base station within its signal coverage area. While avoiding ranging failures, multiple ranging information can be combined to improve the accuracy of tag positioning; (4) The response anti-collision model of the present application is dynamically generated based on the topology of the underground roadway distribution. Therefore, when the position of the base station changes, it can quickly sense and recalculate the new response polling code and target response time. After the base station migrates, the anti-collision management strategy of the base station response signal can be automatically updated again, thereby ensuring the usability and maintainability of the system in underground mines. Description of the Drawings

[0045] Figure 1 It is a schematic flowchart of the method for preventing collision of response signals of underground ultra-wideband positioning base stations provided by an embodiment of the present application;

[0046] Figure 2 It is a schematic flowchart of the method for preventing collision of response signals of underground ultra-wideband positioning base stations provided by an application example of the present application;

[0047] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed Embodiments

[0048] The present application will be further described in detail below with reference to the drawings and embodiments.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0050] An embodiment of the present application provides a method for preventing collision of response signals of underground ultra-wideband positioning base stations, as Figure 1 shown, which specifically includes the following steps:

[0051] Step 110: In response to a ranging request sent by an underground positioning tag, determine multiple target base stations within the ultra-wideband signal coverage range of the underground positioning tag.

[0052] In this embodiment, the underground positioning tag is a portable electronic device based on ultra-wideband (UWB) technology, carried by underground workers, vehicles, or equipment, used to obtain its precise position information in real time, and interact with base stations through wireless communication to achieve positioning, tracking, and management of underground targets.

[0053] In this embodiment, during underground operation, the underground positioning tag actively or periodically sends a ranging request, which is a wireless signal used to request ranging interaction with surrounding base stations. Exemplarily, when the positioning tag sends a ranging request data packet, multiple target base stations within the ultra-wideband signal coverage range of the positioning tag will receive the ranging request. These base stations need to respond to the received ranging request.

[0054] Exemplarily, for any base station i, the effective ranging range of the base station UWB signal is d, and the UWB signal coverage range of base station i is the range where the distance from any position on the center line of the roadway to base station i is less than d, and the connection line does not intersect with the roadway side line.

[0055] Step 120: For each target base station among the multiple target base stations, solve the response anti-collision model of the target base station to determine the effective target response polling code of the target base station; the response anti-collision model is constructed based on the underground roadway topology structure and the ultra-wideband signal overlap relationship between base stations generated based on the effective ranging of each base station underground.

[0056] In this embodiment, the target base station is one of the multiple base stations located within the coverage range of the positioning tag in response to a ranging request sent by the underground positioning tag.

[0057] In this embodiment, the response anti-collision model is a mathematical model constructed based on the underground roadway topology structure and the signal overlap relationship between base stations (determined by the effective ranging range). Its purpose is to avoid signal conflicts that occur when multiple base stations respond to the same ranging request simultaneously. The underground roadway topology structure refers to the layout and shape of the underground roadway, including the branches and lengths of the roadway, etc., which will affect signal propagation and the mutual influence between base stations.

[0058] In this embodiment, the effective ranging of a base station refers to the maximum distance at which the base station can communicate reliably under specific environmental conditions (such as underground roadways). This distance is affected by various factors, including but not limited to physical obstacles, electromagnetic interference, and base station hardware performance. In practical applications, in an underground positioning system, each base station has a preset effective ranging range d. Within this range, the base station can perform effective data exchange with tags or other devices, thereby realizing functions such as precise positioning. Beyond this range, the signal strength may not be sufficient to ensure reliable communication or positioning accuracy. The ultra-wideband signal overlap relationship between base stations is generated based on effective ranging.

[0059] The ultra-wideband signal overlap between base stations refers to the situation where the signal coverage ranges of two or more base stations intersect. Specifically, if the signals of two base stations can be received simultaneously in a certain area, then there is signal overlap between these two base stations.

[0060] In this embodiment, based on the effective ranging range d of each underground base station, the ultra-wideband signal overlap relationship between base stations can be determined.

[0061] In this embodiment, each target base station is assigned one or more possible response polling codes. These response polling codes are used to determine when each target base station responds after receiving a ranging request, thereby avoiding conflicts between the response signals of different target base stations. After solving the response anti-collision model, an effective response polling code for the target base station can be generated, which can ensure that there will be no response conflicts between target base stations.

[0062] In this embodiment, for each target base station, by analyzing the signal coverage situation between it and surrounding base stations and their potential conflicts (based on the physical layout of the roadway and the effective ranging range of the base station) through the response anti-collision model, an effective response polling code for the target base station is calculated. This code ensures that no other neighboring base stations will use the same code to respond within the same time window, thereby effectively preventing conflicts between response signals. In this way, the positioning tag can accurately receive the response signals from different base stations and calculate its own position based on this.

[0063] In this way, by constructing an anti-collision model that combines parameters such as the distribution of underground roadways and the signal overlap relationship between base stations, automatic management of base station response signal anti-collision can be achieved, with high efficiency and guaranteed timeliness; without manual intervention, it can effectively avoid problems such as incomplete or incorrect consideration in the management of base station response signal anti-collision.

[0064] Step 130: Based on each valid target response polling code value, the single-response response time of each preset target base station, and the set time calculation rule, determine the target response time of each target base station, so that each target base station among the target base stations independently responds at the target response time of the target base station.

[0065] It can be understood that in Step 120, a "valid target response polling code" has been determined for each target base station. This code value determines the response order of the base station (i.e., its priority among all base stations). For example, the smaller the code value, the higher the priority and the earlier the response time.

[0066] It can be understood that the time required for each base station to complete one response is called the "single-response response time". This is a fixed value, usually determined by hardware and communication protocols.

[0067] It can be understood that in order to avoid signal conflicts caused by multiple base stations responding simultaneously, non-overlapping time periods are allocated for each base station according to the single-response response time and the set time calculation rule. The set time calculation rule is a rule used to calculate the specific response time based on parameters such as the response polling code value and the single-response response time. It can be preset by the user. The target response time is the specific response time of each target base station, that is, how long the target base station needs to wait after receiving the ranging request before starting to send the response signal, thereby allocating a clear target response time for each target base station to ensure that they can complete the response at different time points and avoid signal conflicts.

[0068] In this way, by combining the valid target response polling code value, the single-response response time, and the time calculation rule, a clear and non-conflicting response time is allocated for each target base station, thereby ensuring that all base stations can respond to the ranging request in an orderly manner, avoiding signal interference, and ultimately improving the stability and accuracy of the positioning system.

[0069] In this embodiment, the above mathematical model is solved. When the positioning tag sends out a ranging request data packet, all base stations within the UWB signal coverage range of the positioning tag will receive the ranging request, and different response polling code values are allocated by the base stations within the signal coverage range. Each base station responds one by one from small to large according to the size of the response polling code value. According to the preset single-response response time t, that is, when the serial number of the polling code value of base station i is j, after base station i receives the ranging request, it sends a response packet after a time period of t×(j - 1), which can effectively implement the anti-collision management of the response signals of UWB positioning base stations.

[0070] Step 140: Control each target base station to generate a response packet for the ranging request within each target response time based on the response order of each target response polling code value from small to large.

[0071] In this embodiment, in step 130, a clear target response time has been assigned to each target base station. This time is calculated based on the response polling code value, the single-response response time, and the time calculation rule to ensure that the response times of all base stations do not overlap.

[0072] In this embodiment, after the positioning tag sends out a ranging request, the target base station needs to respond in a preset order (i.e., the order from the smallest to the largest target response polling code value), and generate a response message within its target response time, and send its own relevant information (such as location information, timestamp, etc.) to the positioning tag for subsequent positioning calculation. Thus, it controls each target base station to generate a response message to the ranging request within its allocated target response time according to the order of the target response polling code value. In this way, it can ensure that the response behaviors of all base stations are carried out in an orderly manner, avoid signal conflicts, and finally achieve high-precision and reliable positioning services.

[0073] In this way, through the implementation of the present application, a response anti-collision model for base station response signals is constructed by combining the underground roadway distribution and the effective ranging range of the base station, realizing efficient and reliable anti-collision management of base station response signals. Specifically, it can achieve: (1) No manual intervention is required. Through the automated response anti-collision model (based on the underground roadway topology structure and the signal overlap relationship between base stations), the present application can automatically generate the target response polling codes of each base station, thus eliminating the need for manual intervention and effectively avoiding problems such as incomplete or incorrect consideration in the anti-collision management of base station response signals; (2) Through the automated management of anti-collision of base station response signals by combining parameters such as underground roadway distribution and the effective ranging range of the base station, the efficiency is high and the timeliness is guaranteed; (3) By assigning a unique target response time to each target base station and responding in the order of the increasing response polling code value, it ensures that all base stations can send response messages in sequence without interference, manages the base station response signals in an orderly manner, thereby ensuring that the tag can effectively range with each base station within its signal coverage area, avoiding ranging failures, and at the same time, improving the accuracy of tag positioning by combining multiple ranging information; (4) The response anti-collision model of the present application is dynamically generated based on the topological structure of the underground roadway distribution. Therefore, when the position of the base station changes, it can quickly sense and recalculate the new response polling code and target response time. After the base station migrates, it can automatically update the anti-collision management strategy of the base station response signal, thereby ensuring the usability and maintainability of the system in the mine underground.

[0074] In some embodiments, the method further includes:

[0075] Construct an undirected graph of the underground roadway based on the topological structure of the center line of the underground roadway;

[0076] Based on the rules of the undirected graph and the bounded constrained breadth-first search algorithm, search for the clustering sets of the target base station. The clustering sets of the target base station include: the first clustering set and the second clustering set; the first clustering set consists of base stations that have signal response conflicts with the target base station along the first extension direction of the underground roadway, and the second clustering set consists of other base stations that have signal response conflicts with the target base station along the second extension direction of the underground roadway;

[0077] Based on the constructed ultra-wideband signal overlap evaluation matrix between base stations and the effective ranging of the target base station, determine the overlapping base station set with which the base station signal of the target base station overlaps; the overlapping base station set represents the signal overlap relationship between target base stations;

[0078] Based on the objective function, the first constraint condition, the second constraint condition, and the third constraint condition, generate an anti-collision model for the response of the target base station; among them, the first constraint condition is that only one of the response polling codes of the target base station takes effect, the second constraint condition is that the response polling codes of the target base station and the overlapping base stations with which the ultra-wideband signal of the target base station overlaps cannot take effect simultaneously, and the third constraint condition is that within the clustering set of the target base station, the response polling code values of each base station are different.

[0079] In this embodiment, in order to accurately represent the spatial layout and mutual relationship of the underground roadway, first, an undirected graph needs to be constructed based on the topological structure of the roadway centerline. In this undirected graph, nodes represent the positions of base stations, and edges represent the connections or distances between base stations. This representation method can intuitively reflect the relative positions of base stations and the potential signal coverage range. Thus, it provides the basic data structure for the subsequent breadth-first search algorithm, which helps to identify the relative position relationship between base stations and the possible signal overlap areas.

[0080] In this embodiment, the bounded constrained breadth-first search means that while using the breadth-first search algorithm to improve the search efficiency, it also takes into account that the searched base stations are bounded and constrained. Based on the rules of the undirected graph and the bounded constrained breadth-first search algorithm, search for the clustering sets of the target base station. The first clustering set contains all base stations that have signal response conflicts with the target base station along the first extension direction of the underground roadway. The second clustering set contains all base stations that have signal response conflicts with the target base station along the second extension direction of the underground roadway. By defining these clustering sets, it can be clear which base stations may have signal conflicts with the target base station in a specific direction.

[0081] Exemplarily, construct an undirected graph D of the underground roadway centerline. For any base station i, perform bounded constrained breadth-first search along the two directions of the roadway where the base station is located, obtain other base stations that may have signal response conflicts with the base station i, and cluster the base station i and other base stations that may have signal response conflicts to form the first clustering set and the second clustering set They respectively represent the base station clustering sets obtained by searching in two directions along the roadway. Based on these two sets, a clustering set of target base stations is generated.

[0082] In this embodiment, the signal overlap evaluation matrix is a matrix, where the elements represent whether there is signal overlap between two base stations. If there is overlap, the corresponding matrix element value is 1; otherwise, it is 0.

[0083] In this embodiment, effective ranging refers to the maximum distance at which a base station can reliably perform ranging. Based on the above matrix and effective ranging, a set of all base stations with signal overlap with the target base station is found. By identifying the set of base stations with signal overlap, which base stations may interfere with the target base station is further refined, thereby optimizing the allocation of response polling codes.

[0084] In this embodiment, based on the objective function, the first constraint condition, the second constraint condition, and the third constraint condition, a response anti-collision model for the target base station is generated. The first constraint condition is that there is exactly one valid response polling code for the target base station, ensuring that each target base station has only one valid response polling code. The second constraint condition is that the response polling codes of the target base station and the overlapping base stations with overlapping ultra-wideband signals of the target base station cannot be valid at the same time, so as to prevent the target base station and its overlapping base stations with overlapping signals from using the same response polling code at the same time to avoid collisions. The third constraint condition is that within the clustering set of the target base station, the response polling code values of each base station are different, so as to ensure that within the clustering set of the target base station, the response polling code values of each base station are different, further reducing the possibility of collisions.

[0085] In this way, by setting these constraint conditions and optimizing the objective function, an effective response anti-collision model can be generated, enabling each base station to orderly respond to the ranging request within a specified time period, thereby avoiding signal collisions and improving the overall performance and reliability of the system.

[0086] In some embodiments, the method further includes:

[0087] Based on the decision variable representing whether the response polling code of the target base station is valid, the clustering correlation degree of the target base station, and the number of response polling codes of the target base station, an objective function is constructed; the number of response polling codes of the target base station is the maximum value of the number of base stations in the first clustering set and the second clustering set in the clustering set of the target base station; the clustering correlation degree of the target base station is the total number of occurrences of the target base station in the clustering sets of each base station in the underground roadway.

[0088] In this embodiment, the objective function can be constructed by decision variables, clustering correlation degrees, and the number of response polling codes. The decision variable is used to determine whether the response polling code takes effect. The clustering correlation degree reflects the frequency of occurrence of the base station in different clustering sets. The number of response polling codes is determined according to the maximum value of the number of base stations in the first clustering set and the second clustering set where the base station is located.

[0089] In this embodiment, let the maximum value of the number of elements in the sets and corresponding to all base stations be m, and m is the upper limit of the number of base stations that can respond simultaneously. The number of response polling codes of the target base station is the maximum value of the number of base stations in the first clustering set and the second clustering set in the clustering set of the target base station;

[0090] In this embodiment, the parameter e i is defined, representing the clustering correlation degree of base station i.

[0091] The sum of the number of times base station i appears in the sets and corresponding to all base stations is the clustering correlation degree e i of base station i. The clustering correlation degree of the target base station is the total number of times the target base station appears in the clustering sets of each base station in the underground roadway.

[0092] In some embodiments, the first extension direction is the extension direction of the target base station forward along the center line of the roadway; the second extension direction is the extension direction of the target base station backward along the center line of the roadway.

[0093] In some embodiments, the rules of the bounded constrained breadth-first search algorithm include: the breadth-first search algorithm and the bounded constraint conditions based on the effective ranging range. Based on the rules of the bounded constrained breadth-first search algorithm for an undirected graph, searching for the first clustering set and the second clustering set includes:

[0094] Based on the undirected graph, respectively along the first extension direction of the target base station in the underground roadway and along the second extension direction in the underground roadway, construct a polyline to search for base stations conflicting with the target base station based on the breadth-first search algorithm;

[0095] If it is determined that the polyline meets the bounded constraint conditions, it is determined that the search is successful, and the first clustering set and the second clustering set are generated;

[0096] Based on the first clustering set and the second clustering set, generate the clustering set of the target base station;

[0097] The bounded constraint conditions based on the effective ranging range include:

[0098] The polyline is one or two segments;

[0099] When the polyline is in one segment, the length of the polyline is less than twice the effective ranging range of the base station; when the polyline is in two segments, the length of each segment is less than the effective ranging range of the base station.

[0100] The polyline does not intersect the side line of the underground roadway.

[0101] In this embodiment, the rules of the bounded constrained breadth - first search algorithm include: the breadth - first search algorithm and the bounded constraint conditions based on the effective ranging range. Bounded Constrained Breadth - First Search (BC - BFS) is an improved graph traversal algorithm that introduces bounded constraint conditions based on physical limitations on the basis of the traditional breadth - first search (BFS). By combining the efficient search ability of BFS and the constraint conditions based on the effective ranging range, it can quickly and accurately identify other base stations in the underground roadway that have signal overlap with the target base station.

[0102] Here, the breadth - first search is a traversal algorithm for graph data structures. Starting from the root node (selecting an arbitrary node as the starting point, which is the target base station in the underground positioning scenario), it first visits all neighbor nodes and then expands layer by layer outward. In the underground positioning scenario, in an undirected graph, the target base station is regarded as the starting point of BFS. The search direction is divided into two parts: the first extension direction (such as the direction extending forward along the roadway centerline towards the roadway end point) and the second extension direction (such as the reverse direction). By using BFS to construct a polyline, it searches for base stations that may have signal conflicts with the target base station. If it is determined that the polyline meets the bounded constraint conditions, it is determined that the search is successful, and the first clustering set and the second clustering set are generated.

[0103] In this embodiment, in order to ensure that the search results conform to the actual physical limitations and avoid invalid results caused by unreasonable path lengths or geometric layouts, the rules of the bounded constrained breadth - first search algorithm include the bounded constraint conditions based on the effective ranging range. The bounded constraint condition is a way to evaluate whether base station i can search for base station j based on the bounded constrained breadth - first search. The bounded constraint conditions based on the effective ranging range include: the polyline is in one or two segments; when the polyline is in one segment, the length of the polyline is less than twice the effective ranging range of the base station; when the polyline is in two segments, the length of each segment is less than the effective ranging range of the base station; the polyline does not intersect the side line of the underground roadway.

[0104] Exemplarily, the way to evaluate whether base station i can search for base station j based on the bounded constrained breadth - first search is:

[0105] If base station i and base station j can be connected by a polyline, and this polyline simultaneously meets the following conditions, then base station i can search for base station j based on the bounded constrained breadth - first search, otherwise, it cannot.

[0106] (1) The polyline is one or two segments;

[0107] (2) When the polyline is one segment, the length of the polyline is less than 2d; when the polyline is two segments, the length of each segment is less than d;

[0108] (3) The polyline does not intersect the roadway side line.

[0109] Through this design, the BC - BFS algorithm not only retains the high efficiency of the traditional BFS, but also ensures that the search results meet the requirements of the actual physical environment by introducing constraint conditions based on the effective ranging range. Thus, it can achieve (1) strictly abide by the effective ranging range and roadway geometric constraints, reducing the possibility of misjudgment. (2) Be applicable to complex roadway layouts and can flexibly handle underground environments of different shapes and scales. (3) Utilize the layer - by - layer expansion characteristic of BFS to quickly find all potential conflicting base stations.

[0110] In some embodiments, the ultra - wideband signal overlap evaluation matrix includes multiple matrix elements representing whether the base stations overlap. Based on the overlap evaluation matrix and the effective ranging of each base station underground, an overlap base station set that overlaps with the ultra - wideband signal of the target base station is determined. Determining the overlap base station set that overlaps with the base station signal of the target base station includes:

[0111] Based on the effective ranging range of each base station underground, determine the ultra - wideband signal coverage range of each base station. The ultra - wideband signal coverage range is the range where the distance between any position on the roadway center line and the base station is less than the effective ranging range of the base station, and the connection line does not intersect the roadway side line;

[0112] If the ultra - wideband signal coverage range of other base stations except the target base station among all base stations overlaps with the ultra - wideband signal coverage range of the target base station, then determine that the matrix element of the other base station and the target base station in the overlap evaluation matrix is 1 and mark the other base station as an overlap base station that overlaps with the ultra - wideband signal of the target base station;

[0113] Based on the overlap base stations, determine the overlap base station set that overlaps with the base station signal of the target base station.

[0114] In this embodiment, the ultra - wideband signal overlap evaluation matrix is an n×n matrix (assuming there are n base stations in total) and is used to represent whether the signal coverage ranges between any two base stations overlap. Exemplarily, let the number of base stations be n, and construct the UWB signal overlap evaluation matrix B between base stations i,i′ , B i,i′ is an n×n matrix. B i,i′ includes multiple matrix elements b i,i′ , b i,i′ represents whether the signal coverage ranges of base station i and base station i' overlap.

[0115] In this embodiment, based on the effective ranging range of each downhole base station, the ultra-wideband signal coverage range of each base station is determined. The ultra-wideband signal coverage range is the range where the distance between any position on the roadway center line and the base station is less than the effective ranging range of the base station, and the connection line does not intersect the roadway side line. The ultra-wideband signal coverage range is the range where the distance between any position on the roadway center line and the base station is less than the effective ranging range of the base station, and the connection line does not intersect the roadway side line.

[0116] In this embodiment, after determining the ultra-wideband signal coverage range of each base station, for other base stations except the target base station, if the ultra-wideband signal coverage range of other base stations except the target base station among the base stations overlaps with the ultra-wideband signal coverage range of the target base station, it is determined that the matrix element of the other base station and the target base station in the overlap evaluation matrix is 1, and the other base station is marked as an overlapping base station whose ultra-wideband signal overlaps with the target base station; based on the overlapping base stations, an overlapping base station set whose base station signals overlap with the target base station is determined.

[0117] Exemplarily, for any base station i, the UWB signal coverage range of base station i is determined, that is, the range where the distance between any position on the roadway center line and base station i is less than d, and the connection line does not intersect the roadway side line. When the UWB signal coverage ranges of base station i and base station i' overlap, the corresponding matrix element b i,i′ in the signal overlap evaluation matrix B i,i′ takes a value of 1, otherwise it takes a value of 0.

[0118] In some embodiments, the objective function is:

[0119]

[0120] where x i,j is the decision variable of base station i, j is the number of the response polling code value, i is the base station number, e i is the clustering association degree of base station i, the value range of i is [1, n], the value range of j is [1, m], n is the number of base stations, and m is the maximum value of the number of base stations in the first clustering set and the second clustering set in the clustering set of base station i;

[0121] The expectation of the objective function is that the response polling code value of the target base station is as small as possible, and the response polling code value of the target base station with a high clustering association degree is smaller.

[0122] Exemplarily, decision variable:

[0123] where the value range of i is [1, n], and the value range of j is [1, m].

[0124] Objective function:

[0125] The expectation of the objective function is that the polling coding values of each base station are as small as possible, and the polling coding values of base stations with high clustering correlation should be even smaller, so as to ensure that the efficiency of the base station answering the tag ranging request is as high as possible;

[0126] Among them, x i,j is the decision variable of base station i, j is the number of the answering polling coding value, i is the base station number, and e i is the clustering correlation of base station i. The value range of i is [1, n], the value range of j is [1, m], n is the number of base stations, and m is the maximum value of the number of base stations in the first clustering set and the second clustering set in the clustering set of base station i.

[0127] In some embodiments, the first constraint condition is: Among them, x i,j is the decision variable of base station i, i is the base station number, and j is the number of the answering polling coding value;

[0128] The second constraint condition is: Among them, x i,j is the decision variable of the base station, i is the base station number, j is the number of the answering polling coding value, and x i′,j is the decision variable of the overlapping base station whose ultra-wideband signal overlaps with that of base station i, and b i,i′ is the matrix element between base station i and base station i;

[0129] The third constraint condition is: Among them, x i,j is the decision variable, i is the base station number, j is the number of the answering polling coding value, is the first clustering set of base station i, and A i - is the second clustering set of base station i.

[0130] In some embodiments, the time calculation rule is:

[0131] t×(j - 1)

[0132] Among them, t is the preset single-response time of base station i, i is the base station number, and j is the number of the answering polling coding value.

[0133] Exemplarily, when solving the above mathematical model, when the x i,j value is 1, that is, the j-th answering polling coding of base station i takes effect, indicating that the answering polling coding value of base station i is the j-th answering polling coding value.

[0134] After the positioning tag sends out the ranging request data packet, all the base stations within the coverage range of the UWB signal of the positioning tag will receive the ranging request, and different response polling coding values are assigned to the base stations within the signal coverage range. Each base station responds one by one from small to large according to the size of the response polling coding value and the preset single-response response time t. That is, when the polling coding value of base station i is the jth response polling coding value, after base station i receives the ranging request, it sends out a response packet after a time period of t×(j - 1), which can effectively implement the anti-collision management of the response signals of UWB positioning base stations.

[0135] Next, the present application will be described in detail with a specific application example.

[0136] Underground mining in mines is somewhat dangerous. A large number of equipment, vehicles, and personnel need to be arranged underground during mining. Disasters and accidents caused by various natural or human factors pose a great threat to the personal safety of underground workers. Effectively organizing and managing underground personnel and vehicles, as well as rescuing in case of accidents and disasters, require accurate position data of underground personnel, vehicles, and equipment. Remote control and intelligent control of underground equipment are even more inseparable from the real-time accurate position data of underground equipment. Precise positioning technology has become an important technical support for mine safety production. Currently, the most commonly used underground precise positioning adopts UWB positioning technology. UWB positioning base stations are arranged at certain intervals underground, and personnel, vehicles, or equipment carry UWB positioning tags. The distance between the UWB positioning tag and the UWB positioning base station is accurately calculated by measuring the flight time of the pulse signal. The coordinates of the UWB positioning base station are known. According to the accurate distances between the UWB positioning tag and multiple UWB positioning base stations, the coordinates of the UWB positioning tag can be accurately calculated.

[0137] Underground mine operations have a wide range of working spaces, and the spatial distribution relationship of roadways is complex. A large number of UWB positioning base stations need to be arranged to achieve a high coverage rate of precise positioning underground. When a positioning tag sends out a ranging request data packet, all the base stations within the UWB signal coverage range of the positioning tag will receive the ranging request. If the response order of these base stations is not well managed, there will be a situation of UWB response signal conflicts between base stations, thus affecting the effective ranging and positioning of the tag. Currently, there are two ways to manage the anti-collision of base station UWB response signals: (1) Without any intervention, let the base station UWB response signals compete freely. Generally, the tag will receive the signals of the base stations with high signal strength and faster response time and ignore the response signals of other base stations. The result of this method is that when the signal strength or response time between base stations is the same, the tag ranging will fail. Even if the tag ranging is successful, the tag fails to effectively utilize the ranging of other base stations to improve the positioning accuracy; (2) Manually set the adjacent base stations of each base station one by one. This method is time-consuming and laborious and highly dependent on the experience of technicians. When the underground network topology is complex, it is difficult to avoid problems such as incomplete consideration or errors. In addition, due to blasting disturbances and changes in working places during underground mining operations, the base stations need to be frequently relocated. After the base station location is changed manually, it is difficult to ensure the timeliness of the anti-collision management of the base station UWB response signals.

[0138] Therefore, this application example provides an anti-collision method for the response signals of underground UWB positioning base stations, which realizes the anti-collision management of the response signals of base stations by combining the underground roadway distribution and the effective ranging range of base stations, and can achieve the following technical effects:

[0139] 1. Without manual intervention, it can effectively avoid the problems of incomplete consideration or errors in the anti-collision management of base station response signals;

[0140] 2. Realize the automatic management of the anti-collision of base station response signals by combining parameters such as the underground roadway distribution and the effective ranging range of base stations, with high efficiency and guaranteed timeliness;

[0141] 3. Manage the response signals of base stations in an orderly manner, so as to ensure that the tag can effectively range with each base station within its signal coverage range. While avoiding ranging failures, it can combine multiple ranging information to improve the positioning accuracy of the tag;

[0142] 4. When the base station relocates, it can automatically update the anti-collision management strategy of the base station response signals again, so as to ensure the availability and maintainability of the system underground in the mine.

[0143] Next, in combination with Figure 2 The implementation process of the technical solution of this application example will be described in detail.

[0144] Step 201: Directed clustering analysis of base stations to determine the upper limit of the number of base stations that respond simultaneously.

[0145] Here, construct an undirected graph D for the center line of the underground roadway. Assume the effective ranging range of the base station UWB signal is d. For any base station i, perform bounded constrained breadth-first search along the two directions of the roadway where the base station is located to obtain other base stations that may have signal response conflicts with base station i, and cluster base station i and other base stations that may have signal response conflicts to form a set and denote the set of base station clusters obtained by searching along the two directions of the roadway.

[0146] Among them, the bounded constrained breadth-first search means that while using the breadth-first search algorithm to improve the search efficiency, it also takes into account that the searched base stations are bounded and constrained. The method for evaluating whether base station i can search for base station j based on the bounded constrained breadth-first search is as follows:

[0147] If base station i and base station j can be connected by a polyline, and the polyline simultaneously satisfies the following conditions, then base station i can search for base station j based on the bounded constrained breadth-first search; otherwise, it cannot.

[0148] (1) The polyline is one or two segments;

[0149] (2) When the polyline is one segment, the length of the polyline is less than 2d; when the polyline is two segments, the length of each segment is less than d;

[0150] (3) The polyline does not intersect the roadway side line.

[0151] Let the set corresponding to all base stations and The maximum value of the number of elements in is m, and m is the upper limit of the number of base stations that can respond simultaneously.

[0152] Step 202: Analyze the relevance of base station clustering to determine the relevance degree of each base station.

[0153] Here, define the parameter e i , which represents the clustering relevance degree of base station i.

[0154] Here, the sum of the number of times base station i appears in the sets corresponding to all base stations and is the clustering relevance degree e of base station i i .

[0155] Step 203: Construct an evaluation matrix for the overlap of UWB signals between base stations.

[0156] Here, assume the number of base stations is n, and construct an evaluation matrix B for the overlap of UWB signals between base stations i,i′ , B i,i′ is an n×n matrix.

[0157] For any base station \(i\), determine the UWB signal coverage range of base station \(i\), that is, the range where the distance between any position on the center line of the roadway and base station \(i\) is less than \(d\), and the connection line does not intersect with the side line of the roadway.

[0158] When the UWB signal coverage ranges of base station \(i\) and base station \(i'\) overlap, the signal overlap evaluation matrix \(B\) i,i′ The corresponding element \(b\) i,i′ takes the value of \(1\), otherwise takes the value of \(0\).

[0159] Step 204: Establish a mathematical model for optimizing the anti-collision of the response signals of the underground UWB positioning base stations (i.e., the response anti-collision model).

[0160] Decision variables:

[0161] where the value range of \(i\) is \([1, n]\), and the value range of \(j\) is \([1, m]\).

[0162] Objective function:

[0163] The expectation of the objective function is that the polling code values of each base station are as small as possible, and the polling code values of base stations with high clustering correlation should be even smaller, so as to ensure that the efficiency of the base station responding to the tag ranging request is as high as possible.

[0164] Constraints:

[0165] (1) Only one of the \(m\) response polling codes of the base station takes effect (the first constraint condition):

[0166]

[0167] (2) The same response polling code of base stations with overlapping UWB signals cannot take effect simultaneously (the second constraint condition):

[0168]

[0169] (3) Within the same clustering set, the response polling code values of each base station are different from each other (the third constraint condition):

[0170]

[0171] Step 205: Solve the mathematical model to obtain the response polling codes of each base station.

[0172] Solve the above mathematical model. When the value of \(x\) i,j is \(1\), that is, the \(j\)-th response polling code of base station \(i\) takes effect, indicating that the response polling code value of base station \(i\) is the \(j\)-th response polling code value.

[0173] When the positioning tag sends a ranging request data message, all base stations within the UWB signal coverage of the positioning tag will receive the ranging request, and the base stations within the signal coverage are assigned different response polling code values. Each base station responds one by one from small to large according to the size of the response polling code value and the preset single response time t. That is, when the polling code value of base station i is the jth polling code value, after base station i receives the ranging request, it sends a response message after a time period of t×(j-1), which can effectively realize the anti-collision management of the UWB positioning base station response signal.

[0174] In order to implement the method of the embodiment of the present application, the embodiment of the present application also provides an electronic device. Figure 3 Only an exemplary structure of the electronic device is shown, not all structures, and it can be implemented as needed. Figure 3 Partial or complete structure shown. Figure 3 As shown, the electronic device 300 provided in the embodiment of the present application includes: at least one processor 301, a memory 302, a user interface 303 and at least one network interface 304. The various components in the electronic device 300 are coupled together through a bus system 305. It can be understood that the bus system 305 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 305 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, in Figure 3 Various buses are labeled as bus system 305 .

[0175] The user interface 303 may include a display, a keyboard, a mouse, a trackball, a click wheel, keys, buttons, a touch pad or a touch screen.

[0176] The memory 302 in the embodiment of the present application is used to store various types of data to support the operation of the electronic device. Examples of such data include: any computer program used to operate on the electronic device.

[0177] The anti-collision method for the downhole ultra-wideband positioning base station response signal of the electronic device disclosed in the embodiments of the present application can be applied to or implemented by the processor 301. The processor 301 may be an integrated circuit chip with signal processing capabilities. In the implementation process, the steps of the anti-collision method for the downhole ultra-wideband positioning base station response signal of the electronic device can be completed by the integrated logic circuit in hardware or the instructions in software form in the processor 301. The above-mentioned processor 301 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 301 can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. Combining the steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by the combination of the hardware and software modules in the decoding processor. The software module may be located in the storage medium, and this storage medium is located in the memory 302. The processor 301 reads the information in the memory 302 and combines its hardware to complete the steps of the anti-collision method for the downhole ultra-wideband positioning base station response signal of the electronic device provided in the embodiments of the present application.

[0178] In an exemplary embodiment, the electronic device can be implemented by one or more application-specific integrated circuits (ASICs, Application Specific Integrated Circuits), DSPs, programmable logic devices (PLDs, Programmable Logic Devices), complex programmable logic devices (CPLDs, Complex Programmable Logic Devices), field programmable gate arrays (FPGAs, Field Programmable Gate Arrays), general-purpose processors, controllers, microcontroller units (MCUs, MicroController Units), microprocessors (Microprocessors), or other electronic components, and is used to execute the foregoing method.

[0179] It can be understood that the memory 302 can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or... The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as a static random access memory (SRAM), a synchronous static random access memory (SSRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDR SDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a sync link dynamic random access memory (SLDRAM), a direct rambus random access memory (DRRAM). The memories described in the embodiments of the present application are intended to include but not be limited to these and any other suitable types of memories.

[0180] In an exemplary embodiment, the embodiment of the present application further provides a computer storage medium, specifically a computer-readable storage medium, on which a computer program is stored. The above computer program can be executed by a processor to complete the steps of the method of the embodiment of the present application. The computer-readable storage medium can be a memory such as ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0181] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence.

[0182] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0183] As mentioned above, the above are only the specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for preventing collision of downhole ultra-wideband positioning base station response signals, characterized in that, Including: In response to a ranging request sent by an underground positioning tag, determining a plurality of target base stations within the ultra-wideband signal coverage range of the underground positioning tag; For each target base station among the plurality of target base stations, solving the response anti-collision model of the target base station to determine the effective target response polling code of the target base station; The response anti-collision model is constructed based on the underground roadway topology and the ultra-wideband signal overlap relationship between base stations generated based on the effective ranging of each underground base station; Based on each effective target response polling code value, the single response response time of each preset target base station, and the set time calculation rule, determining the target response time of each target base station, so that each target base station among the target base stations independently responds at the target response time of the target base station; Controlling each of the target base stations to generate a response message for the ranging request within each target response time based on the response order of the target response polling code values from small to large.

2. The method according to claim 1, characterized in that, The method further includes: Based on the topology of the underground roadway centerline, constructing an undirected graph of the underground roadway; Based on the rules of the bounded constrained breadth-first search algorithm of the undirected graph, searching for the clustering set of the target base station, where the clustering set of the target base station includes: a first clustering set and a second clustering set; the first clustering set consists of base stations that have signal response conflicts with the target base station along the first extension direction of the underground roadway, and the second clustering set consists of other base stations that have signal response conflicts with the target base station along the second extension direction of the underground roadway; Based on the overlap evaluation matrix and the effective ranging of each underground base station, determining the overlap base station set that overlaps with the ultra-wideband signal of the target base station, where the overlap base station set represents the ultra-wideband signal overlap relationship between the target base stations; Based on the objective function, the first constraint condition, the second constraint condition, and the third constraint condition, generating the response anti-collision model of the target base station; where the first constraint condition is that only one of the response polling codes of the target base station takes effect, the second constraint condition is that the response polling codes of the target base station and the overlap base stations that overlap with the ultra-wideband signal of the target base station cannot take effect simultaneously, and the third constraint condition is that within the clustering set of the target base station, the response polling code values of each base station are different from each other.

3. The method according to claim 2, wherein The method further includes: Based on the decision variable indicating whether the response polling code of the target base station takes effect, the clustering association degree of the target base station, and the number of response polling codes of the target base station, constructing an objective function; the number of response polling codes of the target base station is the maximum value of the number of base stations in the first clustering set and the second clustering set in the clustering set of the target base station; the clustering association degree of the target base station is the total number of occurrences of the target base station in the clustering sets of each base station in the underground roadway.

4. The method according to claim 2, wherein The first extension direction is the forward extension direction of the target base station along the roadway centerline; the second extension direction is the backward extension direction of the target base station along the roadway centerline.

5. The method according to claim 2, characterized in that The rules of the bounded constrained breadth-first search algorithm include: the breadth-first search algorithm and the bounded constraint condition based on the effective ranging range. Based on the undirected graph and the rules of the bounded constrained breadth-first search algorithm, searching for the first clustering set and the second clustering set includes: Based on the undirected graph, respectively along the first extension direction of the target base station in the underground roadway and along the second extension direction in the underground roadway, construct a polyline search for the base stations conflicting with the target base station based on the breadth-first search algorithm; If it is determined that the polyline meets the bounded constraint condition, it is determined that the search is successful, and the first clustering set and the second clustering set are generated; Based on the first clustering set and the second clustering set, generate the clustering set of the target base station; The bounded constraint condition based on the effective ranging range includes: The polyline is one or two segments; When the polyline is one segment, the length of the polyline is less than twice the effective ranging range of the base station; when the polyline is two segments, the length of each segment is less than the effective ranging range of the base station; The polyline does not intersect the side line of the underground roadway.

6. The method according to claim 2, characterized in that, The ultra-wideband signal overlap evaluation matrix includes multiple matrix elements characterizing whether the base stations overlap. Based on the overlap evaluation matrix and the effective ranging of each base station in the underground, determine the set of overlapping base stations whose ultra-wideband signals overlap with the target base station. Determining the set of overlapping base stations whose base station signals overlap with the target base station includes: Based on the effective ranging range of each base station in the underground, determine the ultra-wideband signal coverage range of each base station. The ultra-wideband signal coverage range is the range where the distance between any position on the roadway center line and the base station is less than the effective ranging range of the base station, and the connection line does not intersect the side line of the roadway; If the ultra-wideband signal coverage range of other base stations except the target base station among all base stations overlaps with the ultra-wideband signal coverage range of the target base station, determine that the matrix element of the other base station and the target base station in the overlap evaluation matrix is 1 and mark the other base station as an overlapping base station whose ultra-wideband signal overlaps with the target base station; Based on the overlapping base stations, determine the set of overlapping base stations whose base station signals overlap with the target base station.

7. The method according to claim 3, wherein The objective function is: where x i,j is the decision variable of base station i, j is the number of the response polling code value, i is the base station number, and e i is the clustering association degree of base station i. The value range of i is [1, n], the value range of j is [1, m], n is the number of base stations, and m is the maximum value of the number of base stations in the first clustering set and the second clustering set in the clustering set of base station i; The expectation of the objective function is that the response polling code value of the target base station is as small as possible, and the response polling code value of the target base station with a high clustering correlation degree is smaller.

8. The method according to claim 2, wherein The first constraint is as follows: where x i,j is the decision variable of base station i, i is the base station number, and j is the number of the response polling code value; The second constraint condition is as follows: where x i,j is the decision variable of the base station, i is the base station number, j is the number of the response polling code value, and x i′,j is the decision variable of the overlapping base station whose ultra-wideband signal overlaps with that of base station i, and b i,i′ is the matrix element between base station i and base station i; The third constraint condition is as follows: where x i,j is a decision variable, i is the base station number, and j is the number of the response polling code value. is the first clustering set of base station i, is the second clustering set of base station i.

9. The method according to claim 1, characterized in that The time calculation rule is: t×(j - 1) where t is the single response time preset for base station i, i is the base station number, and j is the number of the response polling code value.

10. An electronic device, characterized in that, Includes: A processor and a memory for storing a computer program that can run on the processor. Among them, The processor, when running the computer program, executes the steps of the method according to any one of claims 1 to 8.

Images