Mine UWB positioning system help seeking method and system, medium and product

Abstract

The invention relates to a mine UWB positioning system help seeking method and system, a medium and a product. The method comprises the steps that a target UWB positioning tag responds to a help-seeking starting instruction, help-seeking state information is generated, a first message used for a distance measurement request is sent, and the first message at least carries the help-seeking state information and a tag identifier; the first UWB positioning base station receiving the first message obtains help-seeking state information of the target UWB positioning tag, and stores a tag identifier and the help-seeking state information of the target UWB positioning tag; the first UWB positioning base station reports a second message to the upper computer of the UWB positioning system; wherein the second message comprises a first set of label identifiers indicating the UWB positioning labels and a second set of help-seeking state information indicating the UWB positioning labels; and the first UWB positioning base station is a wired UWB positioning base station or a wireless UWB positioning base station corresponding to the target UWB positioning tag, so that the safety of mine underground operation can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a mine UWB positioning system assistance method, system, medium and product. Background Art

[0002] Underground mining is inherently dangerous, with numerous equipment, vehicles, and personnel involved. Disasters and accidents caused by natural or man-made factors pose a significant threat to the safety of underground workers. Effective management of underground personnel and vehicles, as well as rescue efforts after accidents and disasters, require precise location data for these personnel, vehicles, and equipment. Remote and intelligent control of underground equipment is even more crucial, requiring real-time, accurate location data. Precise positioning technology has become a crucial support for safe mine production. Ultra-wideband (UWB) positioning technology is commonly used for underground positioning. UWB positioning base stations are deployed at regular intervals underground, and personnel, vehicles, or equipment carry UWB positioning tags. The time-of-flight of pulse signals between the UWB positioning base stations and the tags is measured to accurately calculate the distance between the tag and the base station. The coordinates of the UWB positioning base stations are known, and the precise distances between the tag and multiple UWB positioning base stations can be used to accurately calculate the coordinates of the UWB positioning tag.

[0003] Due to the dynamic changes and mining disturbances in underground mining scenarios, the dynamic expansion and migration capabilities of UWB positioning systems have become one of the core requirements for precise underground positioning. Existing UWB positioning technology usually requires the installation of a UWB positioning base station at a fixed location first. The location coordinates of the UWB positioning base station are accurately measured through underground measurement methods. The location coordinates of the UWB positioning base station need to be configured in the UWB positioning system before the UWB positioning tag can be accurately positioned. Each UWB positioning base station communicates with the host computer server through a fiber optic ring network or RS-485 connection method, and uploads the ranging information to the server. The UWB positioning base station in the above system is called a wired UWB positioning base station.

[0004] In a UWB positioning system that supports dynamic expansion and migration, it should be possible to dynamically add UWB positioning base stations in areas that require dynamic expansion, or to dynamically migrate UWB positioning base stations to new areas. The UWB positioning base stations involved in this system are called wireless UWB positioning base stations.

[0005] In the mine UWB positioning system, personnel carrying UWB positioning tags report help-seeking information through the tags. At the same time, the upper computer application management end of the UWB positioning system will feedback the receiving status to the UWB positioning tag after receiving the help-seeking information. This is the core business demand of the mine UWB positioning system. In order to realize the help-seeking reporting and status feedback in the mining scene, it is necessary to build a separate mine IP telephone system or achieve full coverage of mine underground communication signals. For help-seeking reporting based on the mine IP telephone system, underground personnel need to move to the IP phone end to dial and report help-seeking information; in addition, achieving full coverage of mine underground communication signals requires a large investment, and in the front-line operation locations where personnel activities are frequent, due to the extension of mining depth and operation disturbances in the operation scene, the timeliness and technical feasibility of the construction of full coverage of underground communication signals are also very difficult. Summary of the Invention

[0006] In order to overcome the problems existing in the background technology, the present invention provides a method, system, medium and product for asking for help in a mine UWB positioning system. The mine UWB positioning system does not need to separately build a mine IP telephone system to realize the sending of help information. The method is implemented based on the mine UWB positioning system, which can ensure that the help information is received by the wired UWB positioning base station and transmitted to the host computer. The present invention can not only save the help cost in the UWB positioning system including the wired UWB positioning base station and the wireless UWB positioning base station, but also ensure the timely and effective reception of the help information.

[0007] To achieve the above object, the present invention is implemented through the following technical solutions: The method for seeking help from the mine UWB positioning system is based on the UWB positioning system, which includes a wired UWB positioning base station, a wireless UWB positioning base station, a host computer and a UWB positioning tag; the method for seeking help from the UWB positioning system includes: In response to the help start instruction, the UWB positioning tag generates help status information and sends a first message for ranging request to a wired UWB positioning base station or a wireless UWB positioning base station, wherein the first message carries at least the help status information and the tag identifier; the UWB positioning tag that issues the start instruction is called a target UWB positioning tag, and the target UWB positioning tag is any UWB positioning tag; The UWB positioning base station obtains the help status information of the target UWB positioning tag and stores the tag identifier and help status information of the target UWB positioning tag; the wired UWB positioning base station that first receives the first message is called the first UWB positioning base station; The first UWB positioning base station reports a second message to the host computer of the UWB positioning system; wherein the second message includes a first set of tag identifiers indicating the UWB positioning tag and a second set of help status information indicating the UWB positioning tag; The host computer sends the third message to the wired UWB positioning base station.

[0008] Furthermore, if the wireless positioning base station receives the first message before any wired positioning base station, the wireless UWB positioning base station that receives the first message synchronizes the first message information to other wireless UWB positioning base stations, and the wireless UWB positioning base station sends the first message to the wired UWB positioning base station in the direction from far to near from the wired UWB positioning base station until the wired UWB positioning base station receives the first message; the wired UWB positioning base station that first receives the first message is called the first UWB positioning base station.

[0009] Furthermore, the first message also carries a tag clock. If the first UWB positioning base station determines that the first message carries help status information and determines based on the tag clock that the target UWB positioning tag is not in the allocated positioning time slot, the current time slot is allocated to the target UWB positioning tag.

[0010] Furthermore, the third message includes a third set of tag identifiers indicating the UWB positioning tag and a fourth set of reception status information corresponding to the help status information indicating the UWB positioning tag; the wired UWB positioning base station forwards the third message to the wireless UWB positioning base station; the wireless UWB positioning base station sends corresponding reception status information to the UWB positioning tags falling into the third set.

[0011] Furthermore, the wired UWB positioning base station forwards the third message to the wireless UWB positioning base station, and transmits it to the UWB positioning tag. The UWB positioning tag generates prompt information for the user based on the receiving status information.

[0012] Furthermore, the wired UWB positioning base station forwards the third message to the wireless UWB positioning base station in the UWB positioning system, specifically, The wired UWB positioning base forwards the third message to the adjacent wireless UWB positioning base station; the wireless UWB positioning base station and other wireless UWB positioning base stations adjacent to the wired UWB positioning base forward the third message in the direction from near to far from the wired UWB positioning base station.

[0013] The UWB positioning system includes a wired UWB positioning base station, a wireless UWB positioning base station and a UWB positioning tag; the wired UWB positioning base stations are connected to each other and to a host computer; the wireless positioning base stations and the wireless positioning base stations are connected to the wired positioning base station via wireless signals; the UWB positioning system is configured to execute the method according to any one of claims 1 to 6.

[0014] The storage medium stores a computer program, characterized in that when the computer program is executed by a processor, it implements the help-seeking method according to any one of claims 1 to 6.

[0015] The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

[0016] Beneficial effects of the present invention: The mine UWB positioning system of the present invention can realize the sending of help information without the need to separately build a mine IP telephone system, thereby saving the help cost in the UWB positioning system including a wired UWB positioning base station and a wireless UWB positioning base station.

[0017] The method of the present invention is implemented based on the mine UWB positioning system. Even if the personnel and equipment carrying the UWB positioning tags are far away from the wired UWB positioning base station, the help information sent can be promptly and effectively received by the wired UWB positioning base station and reported to the host computer, ensuring the effective reception of the help information and the feedback of the information reception status, and realizing full coverage of underground signals.

[0018] The present invention can also report help status information to the host computer of the UWB positioning system based on any UWB positioning tag, which is beneficial to ensuring the safety of underground mine operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a flow chart of a method for seeking help in a mine UWB positioning system according to an embodiment of the present invention; Figure 2 This is a flow chart of a method for seeking help in a mine UWB positioning system in an application embodiment of the present invention; Figure 3 Schematic diagram of the spatial topological relationship of the lanes and the positions of the positioning base stations in the application embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and beneficial effects of the present invention more clear, the technical solution of the present invention will be described in detail below. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0021] 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.

[0022] In order to illustrate the present invention more clearly, the following examples are given to illustrate it in detail.

[0023] Example 1 A UWB positioning system for mines The UWB positioning system includes a wired UWB positioning base station, a wireless UWB positioning base station and a UWB positioning tag.

[0024] Communication connections can be established between wired UWB positioning base stations, and between wired UWB positioning base stations and host computers through optical fiber, RS-485 or CAN bus, etc. (this communication connection method is an existing technology, and this embodiment does not elaborate on the specific communication connection establishment method and information transmission method).

[0025] The UWB positioning tag communicates with the wireless positioning base station via UWB wireless signals (this wireless signal communication method is an existing technology, and this embodiment does not elaborate on the communication connection method and information transmission method); the UWB positioning tag communicates with the wired positioning base station via UWB wireless signals; the wireless positioning base station and the wired positioning base station communicate via UWB wireless signals; the wired positioning base station communicates with the wired positioning base station via optical fiber, RS-485 or CAN bus (this communication method is an existing technology, and this embodiment does not elaborate on the communication connection method and information transmission method); the wired positioning base station communicates with the host computer via optical fiber, RS-485 or CAN bus. The help-seeking method in the following embodiments is based on the positioning system of this embodiment. Example 2

[0026] A method for seeking help from a mine UWB positioning system, based on the mine UWB positioning system of Example 1, includes the following steps: Step 101: In response to a help start instruction, the UWB positioning tag generates help status information and sends a first message for a ranging request, wherein the first message carries at least the help status information and a tag identifier.

[0027] In the UWB positioning system of the present invention, any UWB positioning tag can send a help signal. The UWB positioning tag that responds to the help start instruction, generates help status information and sends the first message for ranging request is called the target UWB positioning tag.

[0028] For example, a UWB positioning tag can be provided with a help button for initiating a help request. A person underground can press and hold the help button to initiate a help request. It is understood that the help request can also be input using other methods, such as a touch screen or a knob, and this embodiment of the present application does not limit this.

[0029] In step 102, the UWB positioning base station receives the first message, obtains the help status information of the target UWB positioning tag, and stores the tag identifier of the target UWB positioning tag and the corresponding help status information. In the following, the UWB positioning base station that first receives the first message is referred to as the first UWB positioning base station.

[0030] In step 103, the first UWB positioning base station reports a second message to the host computer of the UWB positioning system. The second message includes a first set of tag identifiers indicating the UWB positioning tag and a second set of help-seeking status information indicating the UWB positioning tag. The first UWB positioning base station sends the second message to the host computer of the UWB positioning system based on UDP (User Datagram Protocol).

[0031] It is understandable that, after receiving the first message sent by the target UWB positioning tag, the wired UWB positioning base station can obtain the tag identifier and help status information indicating the identity of the UWB positioning tag. In one application example, the help status information can use a help status identifier with a first state indicating that help is currently available and a second state indicating that help is not currently available, thereby distinguishing whether the person corresponding to the UWB positioning tag has a need for help. The wired UWB positioning base station can combine the obtained tag identifier and help status information with the tag identifier and help status information in its own storage unit to obtain a first set and a second set, and then generate a second message and send the second message to the host computer based on UDP.

[0032] Exemplarily, if the first to receive the first message is a wireless UWB positioning base station (the wireless UWB positioning base station that first receives the first message is referred to as the first wireless UWB positioning base station), the first wireless UWB positioning base station and other wireless UWB positioning base stations forward the first message in the direction from far to near from the wired UWB positioning base station until the first message is transmitted to the wired UWB positioning base station, and the wired UWB positioning base station sends the second message to the host computer of the UWB positioning system based on UDP.

[0033] By introducing wireless UWB positioning base stations, the present invention can dynamically expand or relocate underground mine communication distances, meeting the communication needs of underground workers at any location. This eliminates the need to build a separate mine IP phone system or achieve full underground mine communication signal coverage. This allows for reporting of assistance requests based on a positioning system that integrates wired and wireless UWB positioning base stations. Support personnel can report assistance requests from any location within the signal coverage of either the wired or wireless UWB positioning base stations.

[0034] Here, the first UWB positioning base station reports the second message including the first set and the second set to the host computer of the UWB positioning system. In this way, based on the combination of wired UWB base stations and wireless UWB base stations, full coverage of underground mine communication signals can be achieved, and based on any UWB positioning tag, the help status information can be reported to the host computer of the UWB positioning system, which is beneficial to ensuring the safety of underground mine operations.

[0035] Each UWB positioning base station (including a wired UWB positioning base station and a wireless UWB positioning base station) updates the second message based on the first set and the second set stored in the base station.

[0036] In an application example, for a wireless UWB positioning base station that receives the second message, it can report the second message to the upper-level wireless UWB positioning base station based on the cascade identifier until it reaches the wired UWB positioning base station, and each UWB positioning base station along the way (including wired UWB positioning base stations and wireless UWB positioning base stations) can merge the help status information and tag identifiers sent by other tags received and stored during the positioning period, and update the second message based on the merged information.

[0037] Exemplarily, the wireless UWB positioning base station may send the second message based on a first set time slot in the positioning cycle.

[0038] Exemplarily, the first message further carries a tag clock, where the tag clock is used to indicate the time when the UWB positioning tag sends the first message. The method further includes: The UWB positioning base station that first receives the first message carrying the help status information (including wired UWB positioning base stations and wireless UWB positioning base stations? That is, whether wired or wireless, the first one to receive it allocates the current time slot to the tag), if it is determined that the first message carries the help status information and based on the tag clock, it is determined that the target UWB positioning tag is not in the allocated positioning time slot, then the current time slot is allocated to the target UWB positioning tag.

[0039] Here, after receiving the first message carrying the help status information, the UWB positioning base station that first receives the first message determines that the person corresponding to the UWB positioning tag needs help based on the help status information, and determines based on the tag clock that the reporting time slot of the UWB positioning tag is not in the allocated positioning time slot (that is, the time slot pre-allocated for sending ranging requests), then the current time slot is allocated to the UWB positioning tag, so that the delay in reporting the help information can be reduced.

[0040] Exemplarily, the method further includes: The wired UWB positioning base station receives a third message sent by the host computer, where the third message includes: a third set of tag identifiers indicating the UWB positioning tag and a fourth set of receiving status information corresponding to the help status information indicating the UWB positioning tag; The wired UWB positioning base station forwards the third message to the wireless UWB positioning base station in the UWB positioning system; The wireless UWB positioning base station sends corresponding receiving status information to the UWB positioning tags that fall into the third set.

[0041] It should be noted that in order to enhance the interactive feedback after personnel ask for help in underground operation scenarios and to comfort the people who ask for help in a timely manner, the management personnel can generate reception status feedback information after the upper computer receives the help information from the relevant personnel, that is, the upper computer sends a third message to the wired UWB positioning base station, and then the wired UWB positioning base station forwards the third message to the wireless UWB positioning base station and passes it to the corresponding UWB positioning tag. In this way, the sending of reception status feedback is realized.

[0042] Exemplarily, the method further includes: The UWB positioning tag generates prompt information for prompting the user based on the receiving status information.

[0043] Here, after receiving the reception status information, the UWB positioning tag may generate prompt information for prompting the user based on the reception status information. The prompt information may be an audio / visual signal, a vibration signal, etc., which is not limited in this embodiment.

[0044] Exemplarily, the specific method for the wired UWB positioning base station to forward the third message to the wireless UWB positioning base station in the UWB positioning system is: The wired UWB positioning base station forwards the third message to a second adjacent wireless UWB positioning base station; The second wireless UWB positioning base station and other wireless UWB positioning base stations forward the third message in the direction from near to far from the wired UWB positioning base station (according to the distance from the wired UWB positioning base station, the wireless UWB positioning base station closest to the wired UWB positioning base station is named the first wireless UWB positioning base station, the wireless UWB positioning base station second closest to the wired UWB positioning base station is named the second wireless UWB positioning base station, and so on).

[0045] Here, the wired UWB positioning base station can forward the third message to the adjacent second wireless UWB positioning base station based on the second set time slot in the positioning cycle, and then the wireless UWB positioning base stations can forward the third message from near to far distance from the wired UWB positioning base station based on the cascade identifier, thereby realizing the orderly distribution of the third message between the wireless UWB positioning base stations. In this way, it can meet the requirements that underground personnel can receive the corresponding reception status information at any location. Example 3

[0046] Application examples of the method of the present invention This application example provides a method for reporting help and status feedback of a mine UWB positioning system, which implements the reporting help and status feedback of a positioning system based on the integration of wired UWB base stations and wireless UWB base stations. Figure 2 As shown, the method for requesting help and providing status feedback includes the following steps: Step 201: The UWB positioning tag generates a first data message for help information. The underground personnel initiate a call for help by long pressing the help button in the UWB positioning tag i. At this time, the first data message of the help information is generated in the UWB positioning tag i. The first data message at least includes the help status information, and the first data message is stored in the storage unit in the UWB positioning tag i.

[0047] Step 202: The UWB positioning tag initiates a second data message of a ranging request.

[0048] During the ranging process between the UWB positioning tag i and the UWB positioning base station, the UWB positioning tag i initiates a second data message (corresponding to the first message of Example 2) of the ranging request. The second data message includes at least the tag ID, the tag clock and the content of the first data message.

[0049] Step 203: The UWB positioning base station responds to the third data message of the ranging request. The UWB positioning base station A receives the second data message. When the help status value in the second data message is "yes", it determines whether the UWB positioning tag i initiates a ranging request in the correct time period. If the UWB positioning tag i does not initiate a ranging request in the correct time period, the UWB positioning base station A temporarily allocates the time period to the UWB positioning tag i.

[0050] UWB positioning base station A stores the tag ID and request status in the second data message into a storage unit in UWB positioning base station A, and the storage content is set to S. UWB positioning base station A responds to the third data message of the ranging request, and the third data message includes at least the ID of UWB positioning base station A.

[0051] If the UWB positioning base station A is a wired base station, step 205 is executed; if the UWB positioning base station A is a wireless base station, step 204 is executed.

[0052] Step 204: The wireless UWB positioning base station synchronizes the help information to the wired UWB positioning base station. (1) UWB positioning base station A initiates a fourth data message for synchronization of help information, the fourth data message at least including the UWB positioning tag ID and the tag help status; (2) Y1 wireless UWB base stations combine the received fourth data message with the information S in their own storage units to form a fifth data message, and Y1 wireless base stations forward the fifth data message, wherein the wireless base station A ignores the data message. It is assumed that the other Y2 wireless base stations receive the forwarded fifth data message; (3) According to the same principle as above, Y2 wireless base stations merge the received fifth data message with the information S in their own storage units to form a sixth data message, and Y2 wireless base stations continue to relay and forward the sixth data message, wherein the above-mentioned wireless base station A and Y1 wireless base stations ignore the data message until the information is synchronized to the wired UWB positioning base station (the method of the wireless UWB base station sending information to the wired UWB base station is the same as Example 2), and the wired UWB positioning base station merges the received data message into its own storage unit.

[0053] Step 205: The wired UWB positioning base station reports the seventh data message of the assistance information.

[0054] The wired UWB positioning base station reports the seventh data message (the second message of Example 2) of the help information to the upper computer application management end through the wired network using the UDP protocol. The seventh data message includes at least a set of positioning tag IDs (i.e., the first set of Example 2) and a set of positioning tag help status (i.e., the second set of Example 2).

[0055] Step 206: The UWB positioning system host computer application management terminal sends an eighth data message indicating the status of receiving the help information.

[0056] The user can receive the help information reported by the UWB positioning tag through the upper computer application management end operation interface. The upper computer application management end uses the UDP protocol to send the eighth data message of the help information reception status to the wired UWB positioning base station through the wired network. The eighth data message includes at least a set of UWB positioning tag IDs and a set of reception status.

[0057] Step 207: The wired UWB positioning base station synchronizes the help information reception status to the wireless UWB positioning base station.

[0058] (1) The wired UWB positioning base station initiates a ninth data message of a synchronous help information reception status. The ninth data message includes at least a set of UWB positioning tag IDs and a set of reception statuses. Suppose that X1 wireless base stations receive the ninth data message. (2) X1 wireless base stations forward the ninth data message, and X2 wireless base stations receive the forwarded ninth data message; (3) X2 wireless base stations continue to relay the ninth data message, wherein the aforementioned X1 wireless base station ignores the data message. Assume that another X3 wireless base stations receive the ninth data message that has been relayed. (4) According to the same principle as above, the X3 wireless base stations continue to relay and forward the ninth data message, wherein the X1 and X2 wireless base stations ignore the data message until all wireless base stations receive the data message in the receiving state.

[0059] Step 208: The UWB positioning tag receives the tenth data message of the help information reception status.

[0060] During the next ranging process between the UWB positioning tag i and the UWB positioning base station, the UWB positioning tag i initiates a data message of a ranging request.

[0061] The UWB positioning base station A receives the data message of the ranging request and initiates a tenth data message to respond to the ranging request. The tenth data message at least includes a set E of tag IDs and a set F of receiving statuses.

[0062] The UWB positioning tag i receives the tenth data message. When the ID of the UWB positioning tag i belongs to the set E, the UWB positioning tag i determines that the upper computer application management end confirms receipt of the help information.

[0063] Note: In the specification of the present invention, unless otherwise specified, the name "UWB positioning base station" includes both wired UWB positioning base stations and wireless UWB positioning base stations.

[0064] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A method for requesting help from a UWB positioning system, characterized in that: The method for seeking help is based on a UWB positioning system, which includes a wired UWB positioning base station, a wireless UWB positioning base station, a host computer and a UWB positioning tag; the method for seeking help in the UWB positioning system includes: In response to the help start instruction, the UWB positioning tag generates help status information and sends a first message for ranging request to a wired UWB positioning base station or a wireless UWB positioning base station, wherein the first message carries at least the help status information and the tag identifier; the UWB positioning tag that issues the start instruction is called a target UWB positioning tag, and the target UWB positioning tag is any UWB positioning tag; The UWB positioning base station obtains the help status information of the target UWB positioning tag and stores the tag identifier and help status information of the target UWB positioning tag; the wired UWB positioning base station that first receives the first message is called the first UWB positioning base station; The first UWB positioning base station reports a second message to the host computer of the UWB positioning system; wherein the second message includes a first set of tag identifiers indicating the UWB positioning tag and a second set of help status information indicating the UWB positioning tag; The host computer sends the third message to the wired UWB positioning base station.

2. The method for seeking help according to claim 1, wherein: If the wireless positioning base station receives the first message before any wired positioning base station, the wireless UWB positioning base station that receives the first message synchronizes the first message information to other wireless UWB positioning base stations, and the wireless UWB positioning base station sends the first message to the wired UWB positioning base station in the direction from far to near from the wired UWB positioning base station until the wired UWB positioning base station receives the first message; the wired UWB positioning base station that first receives the first message is called the first UWB positioning base station.

3. The help-seeking method according to claim 1 or 2, characterized in that: The first message also carries a tag clock. The wireless UWB positioning base station or wired UWB positioning base station that first receives the first message carrying the help status information determines based on the tag clock that the target UWB positioning tag is not in the allocated positioning time slot, and then allocates the current time slot to the target UWB positioning tag.

4. The method for seeking help according to claim 3, wherein: The third message includes a third set of tag identifiers indicating the UWB positioning tag and a fourth set of receiving status information corresponding to the help status information indicating the UWB positioning tag; The wired UWB positioning base station forwards the third message to the wireless UWB positioning base station; the wireless UWB positioning base station sends corresponding receiving status information to the UWB positioning tags that fall into the third set.

5. The method for seeking help according to claim 4, characterized in that: The wired UWB positioning base station forwards the third message to the wireless UWB positioning base station, and transmits it to the UWB positioning tag. The UWB positioning tag generates prompt information for prompting the user based on the receiving status information.

6. The help-seeking method according to claim 1 or 4, characterized in that: The wired UWB positioning base station forwards the third message to the wireless UWB positioning base station in the UWB positioning system, specifically, The wired UWB positioning base forwards the third message to the adjacent wireless UWB positioning base station; the wireless UWB positioning base station and other wireless UWB positioning base stations adjacent to the wired UWB positioning base forward the third message in the direction from near to far from the wired UWB positioning base station.

7. A UWB positioning system, characterized in that: It includes a wired UWB positioning base station, a wireless UWB positioning base station and a UWB positioning tag; the wired UWB positioning base stations are connected to each other and to a host computer; the wireless positioning base stations and the wireless positioning base stations are connected to the wired positioning base station via wireless signals; the UWB positioning system is configured to execute the method according to any one of claims 1 to 6.

8. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the help-seeking method according to any one of claims 1 to 6 is implemented.

9. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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