Underground coal mine positioning and communication integrated method

Abstract

The invention relates to a coal mine underground positioning and communication integrated method, and belongs to the technical field of coal mine safety. Aiming at the problems of complex architecture, high cost and low data collaboration efficiency caused by independent deployment of a traditional positioning and communication system, the method innovatively adopts a double-ultra-wideband module four-antenna base station structure, and a master module and a slave module dynamically switch working modes based on a time ordering mechanism; and the slave module processes a data transmission task in a 6.0 GHz frequency band, and the master module and the slave module alternately switch the frequency band after distance measurement is completed. The distance between the two positioning antennas is larger than 1 meter, and the left-right position of equipment in a roadway is accurately judged through the distance difference. And the access equipment is awakened in sequence and performs positioning or communication operation in a time-sharing manner. According to the invention, deep multiplexing of positioning and communication hardware is realized, the system architecture is obviously simplified, the operation and maintenance cost is reduced, the roadway positioning precision and the multi-service concurrent processing capability are improved, new and old equipment are compatible, and the explosion-proof safety standard of a coal mine is met.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine safety and relates to an integrated positioning and communication method for underground coal mines. Background Art

[0002] In the coal mine industry's production safety system, personnel and equipment positioning systems and communication systems constitute the core infrastructure for ensuring underground operation safety and are listed as key components of the six major coal mine safety systems. Traditionally, positioning and communication systems employ independent architectures: positioning systems typically rely on radio frequency identification, Bluetooth, or Zigbee technology for real-time location tracking, while communication systems rely on wired dispatch telephones or wireless WiFi networks for information transmission. This separate design leads to multiple inherent flaws:

[0003] First, system deployment required the construction of two independent hardware networks. The positioning system required the installation of a positioning base station and supporting cables at the top of the tunnel, while the communication system required the installation of an additional communication base station and transmission lines. This dual, parallel system not only significantly increased the complexity of underground installation but also occupied limited tunnel cross-section resources. Later maintenance required the separate inspection and repair of both systems, significantly increasing operational costs.

[0004] Secondly, the discrete architecture drives up overall construction costs. Coal mining companies must duplicate hardware resources such as positioning base stations, communication base stations, power supply modules, and transmission cables, while also shouldering double the equipment installation and commissioning costs and subsequent upgrade fees, resulting in a significant financial burden.

[0005] More critically, functional separation leads to inefficient data collaboration. The location information collected by the positioning system and the dispatch instructions transmitted by the communication system cannot interact in real time, creating information silos. In emergency scenarios such as gas overruns and flooding incidents, the ground command center struggles to quickly link personnel location information with escape instructions, delaying emergency response time and posing a safety hazard.

[0006] As intelligent coal mine construction progresses, underground operations increasingly demand high-precision positioning and high-speed data transmission. Existing discrete systems, due to issues such as frequency interference, hardware redundancy, and coordination barriers, cannot meet the integrated requirements of modern mines for real-time location monitoring, environmental data transmission, video inspections, and emergency response. Therefore, an innovative technology is urgently needed to fundamentally address the disconnect between positioning and communication functions and achieve an integrated solution that combines hardware integration, resource reuse, and performance synergy. Summary of the Invention

[0007] To address the drawbacks of traditional independent positioning and communication systems, such as complex installation, high costs, and low efficiency, this paper proposes an integrated positioning and communication method for underground coal mines. Through technological innovation, this method seamlessly integrates positioning and communication functions, aiming to address the resource waste and lack of coordination caused by functional separation in traditional systems. It also improves the system's reliability, cost-effectiveness, and applicability, providing efficient support for the complex environments of underground coal mines.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A method for integrating positioning and communication in underground coal mines, comprising the following steps:

[0010] The base station adopts a dual ultra-wideband (UWB) module architecture, including a master module and a slave module. Each module is connected to a 3.4GHz positioning antenna and a 6.0GHz communication antenna.

[0011] Allocate time slots to access devices through a time sorting mechanism, controlling the switching of access devices between sleep and working states;

[0012] In positioning mode, the main module operates in the 3.4GHz frequency band and performs two-way time of flight (TOF) ranging with the access device;

[0013] In data transmission mode, the slave module operates in the 6.0GHz frequency band and processes data transmission requests from access devices;

[0014] The master module and the slave module switch their working modes alternately at a fixed cycle: when the master module completes ranging, it switches to 6.0GHz to process data transmission, and at the same time, the slave module switches to 3.4GHz to take over the next round of ranging tasks.

[0015] Furthermore, the installation distance between the two 3.4GHz positioning antennas is greater than 1 meter, and the left and right positions of the access device in the lane are determined by calculating the distance difference between the access device and the two positioning antennas.

[0016] Furthermore, the TOF ranging specifically includes:

[0017] The access device sends a ranging packet to the base station main module within the allocated time slot. The ranging packet contains the device ID and timestamp. After receiving the ranging packet, the main module returns a response packet and calculates the distance value based on the round-trip time of the signal. The calculation formula is:

[0018]

[0019] Where d is the distance between the device and the base station, c is the speed of light, and t tx The signal sending timestamp, trx Timestamp for signal reception.

[0020] Furthermore, the access device includes an identification card and a transmission device. The identification card is in a dormant state during a non-working period to reduce energy consumption, and wakes up and switches to the 3.4 GHz or 6.0 GHz frequency band only during an allocated time slot.

[0021] Furthermore, the 6.0 GHz frequency band is used to transmit sensor data and alarm information, including gas concentration, temperature and video stream data.

[0022] Furthermore, the left and right position determination is achieved by:

[0023] Assume that the coordinates of the two positioning antennas are A1(x1,y1) and A2(x2,y2), and the coordinates of the access device are P(x,y);

[0024] Calculate the distance difference Δd = |d1-d2|, where d1 is the distance from P to A1 and d2 is the distance from P to A2;

[0025] If Δd>0 and d1<d2, the device is determined to be on the left side of the lane; if d1>d2, the device is determined to be on the right side.

[0026] An integrated positioning and communication system for underground coal mines, comprising:

[0027] The base station includes a master UWB module and a slave UWB module, each of which is connected to a 3.4GHz positioning antenna and a 6.0GHz communication antenna respectively;

[0028] Multiple access devices, including identification cards for positioning and transmission devices for data transmission;

[0029] The master module and the slave module are connected via a clock synchronization circuit to achieve alternating switching of working modes:

[0030] When the master module performs TOF ranging in the 3.4GHz band, the slave module processes data transmission in the 6.0GHz band;

[0031] After the master module completes the ranging, it switches to the 6.0 GHz band, and at the same time, the slave module switches to the 3.4 GHz band to take over the ranging task.

[0032] Furthermore, the identification card adopts a single UWB module dual-antenna design, including a 3.4GHz positioning antenna and a 6.0GHz communication antenna, and has a built-in microcontroller to enable dual antenna switching within microseconds.

[0033] Furthermore, the transmission equipment includes a gas sensor, a temperature sensor and a video acquisition module, which transmits data to the base station via the 6.0 GHz frequency band.

[0034] Furthermore, the base station and access equipment adopt intrinsically safe circuit design and incorporate AES-128 encryption protocol, complying with the GB3836 coal mine explosion-proof standard.

[0035] The beneficial effects of the present invention are:

[0036] (1) The positioning and communication functions are integrated into a unified hardware platform, completely eliminating the redundant structure of two independent systems in traditional solutions. The base station adopts a dual-module four-antenna integrated design. A single set of equipment supports both positioning and data transmission, significantly reducing the number of underground base station deployments and the complexity of cable wiring, significantly reducing the difficulty of equipment installation and subsequent maintenance costs.

[0037] (2) Based on an innovative layout with dual positioning antennas spaced greater than 1 meter apart, combined with two-way time-of-flight ranging technology, it effectively solves the industry's difficult problem of ambiguous left and right position identification of equipment and personnel in narrow and long lanes. Positioning accuracy reaches centimeter level, providing reliable spatial data support for escape route planning.

[0038] (3) Dynamically schedule the working status of access devices through a time sorting mechanism, placing inactive devices in sleep mode. The base station master-slave modules complete the alternating switching between positioning mode and data transmission mode within microseconds, achieving efficient reuse of hardware resources, reducing overall system energy consumption while ensuring continuous operation and extending device battery life.

[0039] (4) A physical isolation strategy is adopted for the 3.4GHz and 6.0GHz dual-bands, ensuring that positioning signals and data signals do not interfere with each other. High-speed data transmission is embedded in the gaps between positioning tasks, supporting the simultaneous transmission of sensor monitoring data, real-time video streams, and emergency commands, thus meeting the high concurrency requirements of intelligent mines for multiple types of services.

[0040] (5) The system is compatible with traditional identification cards that only require positioning, sensor devices that only require communication, and intelligent terminals that integrate positioning and communication, protecting the existing investments of coal mining enterprises. The entire system adopts an intrinsically safe circuit design and encrypted communication protocol, complies with coal mine explosion-proof standards, and ensures safe operation in high-gas environments.

[0041] (6) Positioning data and communication commands interact in real time on a unified platform, breaking down the information silos of traditional systems. When a disaster occurs, the command center can simultaneously obtain the precise location of personnel and on-site environmental parameters, quickly generate the optimal escape route, and issue targeted commands, significantly improving emergency rescue efficiency and personnel survival probability.

[0042] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0044] Figure 1 This is a schematic diagram of the base station dual-module four-antenna design;

[0045] Figure 2 Provide a schematic diagram for the base station positioning antenna installation design;

[0046] Figure 3 Design a schematic diagram for the base station operating mode;

[0047] Figure 4 Design a schematic diagram for the base station operating mode;

[0048] Figure 5 Design a schematic diagram for base station time sequencing;

[0049] Figure 6 This is a schematic diagram of the dual antenna design for the identification card; Figure 7 This is a schematic diagram of the identification card ranging data transmission. DETAILED DESCRIPTION

[0050] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0051] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0052] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0053] This paper proposes an integrated positioning and communication method for underground coal mines. Based on ultra-wideband (UWB) technology, this method embeds data transmission tasks within positioning intervals, achieving efficient integration of positioning and communication functions. This solution addresses the specific needs of complex underground coal mine environments, such as narrow and long tunnels, high electromagnetic interference, and strict safety requirements, with a unique system architecture and operating mechanism.

[0054] The base station of this method adopts dual UWB master-slave positioning modules. The antennas of the two positioning modules are installed more than 1 meter apart. The left and right directions of the access device in the tunnel are determined by judging the distance between the access device and the two antennas. It is suitable for positioning and ranging in coal mines.

[0055] The base station UWB module operates in two modes: positioning mode and data transmission mode. The positioning mode operates at 3.4 GHz, while the data transmission mode operates at 6.0 GHz.

[0056] This method uses a time-sequencing method. Access devices that have already joined the network switch to the 3.4GHz frequency within the specified time and initiate positioning and ranging packets to the master and slave positioning modules of the base station. The master and slave modules of the base station simultaneously receive the ranging data packets of the access device. At this time, the base station master module is in 3.4GHz operating mode and sends the ranging data packet back to the access device. At the same time, the base station slave module operates in 6.0GHz data transmission mode to process UWB data transmissions from other access devices. After the ranging data packet transmission between the base station master module and the access device is completed, it switches to 6.0GHz data transmission mode and continues to process other UWB data transmissions. At the same time, the base station slave module switches to 3.4GHz operating mode and sends the ranging data packet back to the access device.

[0057] The base station switches between the 3.4GHz positioning mode and the 6.0GHz data transmission mode in a chronological order to meet the requirements of simultaneous ranging and data transmission.

[0058] In this method, the base station switches between positioning mode and data transmission mode, accessing different access devices at fixed times. The access devices are sorted by time and are in sleep mode during non-working periods.

[0059] The technical design of this invention has the following advantages: while meeting UWB positioning requirements, it can perform high-bandwidth data transmission and achieve integrated positioning and communication.

[0060] System composition:

[0061] The system consists of the following core components, which work together to achieve integrated positioning and communication:

[0062] Base station: The control core of the system, responsible for coordinating positioning and communication tasks, adopts a dual UWB module architecture to support parallel processing.

[0063] Positioning devices: such as identification cards worn on people or equipment, used for real-time location tracking and supporting high-precision ranging.

[0064] Transmission equipment: includes sensors (such as temperature, humidity, and gas concentration sensors) and communication terminals, used for environmental data collection and information transmission.

[0065] Detailed design:

[0066] 1. Base station dual-module four-antenna design

[0067] Mining cable transmission method is adopted in places where it is inconvenient to deploy optical cables, such as working faces and return air lanes. Figure 1 Schematic diagram of the base station dual-module four-antenna design.

[0068] The base station adopts a dual-UWB module four-antenna architecture. The design details are as follows:

[0069] (1) Hardware structure:

[0070] Each base station contains two UWB modules: a master module and a slave module, which are responsible for the dynamic switching of positioning and communication tasks respectively.

[0071] Positioning antenna: Each module is equipped with a 3.4GHz frequency band positioning antenna. The distance between the two antennas is designed to be more than 1 meter. By calculating the distance difference between the access device and the two positioning antennas (based on two-way time of flight TOF), accurate judgment of the left and right positions in the lane can be achieved. Figure 2 Schematic diagram of the base station positioning antenna installation design.

[0072] Communication antenna: Each module is equipped with a 6.0GHz frequency band communication antenna for high-speed data transmission.

[0073] (2) Functional division:

[0074] The master module and slave modules are synchronized through internal clocks to ensure seamless task switching.

[0075] The antenna design takes into account the influence of metal reflection and multipath effect in coal mines and optimizes the signal propagation characteristics.

[0076] (3) Base station working mode design

[0077] The UWB module of the base station supports two working modes: positioning mode and data transmission mode. Dynamic switching is achieved through a time sorting mechanism:

[0078] (4) Positioning mode:

[0079] The module operates in the 3.4GHz frequency band and performs high-precision ranging tasks.

[0080] The TOF algorithm is used to calculate the distance between the access device and the base station, with positioning accuracy reaching centimeter level.

[0081] (5) Data transmission mode:

[0082] The module switches to the 6.0GHz frequency band, supports high-speed data exchange, and the transmission rate can reach Mbps level.

[0083] (6) Switching mechanism:

[0084] At a certain moment, the master module runs in positioning mode to process ranging requests; the slave module runs in data transmission mode to process data exchange.

[0085] After the task is completed, the master module switches to 6.0 GHz and the slave module switches to 3.4 GHz, forming an alternating cycle.

[0086] The switching time is controlled at the microsecond level to avoid task conflicts and ensure continuous operation of the system.

[0087] Figure 3 、 Figure 4 This is a schematic diagram of the working modes of the left and right modules of the base station.

[0088] 2. Positioning and communication process

[0089] The system's workflow is divided into two sub-processes: positioning and data transmission, as follows:

[0090] (1) Positioning process:

[0091] The access device switches to the 3.4 GHz frequency band within the allocated time slot and sends a ranging packet (including the device ID and timestamp) to the base station main module.

[0092] After receiving the ranging packet, the main module sends back a response packet to complete TOF two-way ranging.

[0093] The system calculates the specific position of the device in the lane (front and back, left and right) based on the distance difference between the two positioning antennas.

[0094] After the ranging is completed, the master module switches to 6.0 GHz and the slave module takes over the next round of ranging.

[0095] (2) Data transmission process:

[0096] The access device switches to the 6.0 GHz frequency band within the allocated time slot and sends data packets (such as sensor data or alarm information) to the base station.

[0097] The base station module (master or slave) receives the data and processes it (such as storing and forwarding it to the ground control center).

[0098] After the transfer is complete, the device returns to sleep and waits for the next wake-up.

[0099] The number of tags that can be connected to the base station simultaneously is limited by hardware requirements. A time-sequencing design allows only one tag to be processed at a time, either for positioning information or data transmission. The remaining tags are dormant, and the base station prioritizes them by time, processing tags that require ranging or data transmission. Each tag wakes up within the allotted timeframe and then performs positioning or data transmission with the base station. Figure 5 This is a schematic diagram of base station time sorting.

[0100] 3. Identification card:

[0101] Adopting single UWB module dual antenna design, Figure 6 Schematic diagram of the dual antenna design for identification cards. Figure 7 This is a schematic diagram of the identification card ranging data transmission.

[0102] 3.4GHz antenna: used for positioning communication and ranging interaction with the base station.

[0103] 6.0GHz antenna: used for data transmission and supports status information upload.

[0104] Built-in microcontroller supports fast antenna switching (switching time < 1ms).

[0105] 4. Transmission equipment:

[0106] Configure sensors (such as gas sensors, temperature sensors) and storage modules according to application requirements.

[0107] Communicates with base stations via the 6.0 GHz frequency band, supporting the transmission of large amounts of data (such as video streams or multi-sensor data).

[0108] 5. Security and compatibility

[0109] Safety design:

[0110] The system adopts a fully intrinsically safe circuit design, which complies with the underground explosion-proof standards of coal mines (such as GB3836), ensuring safe operation in flammable and explosive environments.

[0111] Add encryption protocols (such as AES-128) to prevent data leakage or tampering.

[0112] compatibility:

[0113] Supports multiple device types:

[0114] Devices that only require positioning (such as old-fashioned identification cards).

[0115] Devices that only need to communicate (such as stand-alone sensors).

[0116] Devices that require both positioning and communication (such as new smart terminals).

[0117] Scalability:

[0118] The system supports modular expansion and the number of base stations can be increased according to the length of the lane or the number of devices.

[0119] The present invention adopts the following technical solutions to realize the integration of underground positioning and communication in coal mines:

[0120] (1) Base station deployment

[0121] Base stations are installed on the tunnel ceiling at intervals of 200 meters, and each base station integrates a master ultra-wideband module and a slave ultra-wideband module.

[0122] The master module is connected to the 3.4GHz positioning antenna A1 and the 6.0GHz communication antenna A2, and the slave module is connected to the 3.4GHz positioning antenna B1 and the 6.0GHz communication antenna B2, where the distance between A1 and B1 is 1.2 meters.

[0123] The base station is powered and communicates with the ground control center via a mine armored cable.

[0124] (2) Identification card configuration

[0125] The identification card worn by personnel has a built-in single ultra-wideband module, integrating a 3.4GHz positioning antenna and a 6.0GHz communication antenna.

[0126] The sleep current of the identification card is controlled at 10μA and the wake-up time is 800 microseconds.

[0127] (3) Time sorting mechanism

[0128] The base station generates a time slot table, with each 20ms period divided into:

[0129] 0-5ms: Positioning of identification card 001

[0130] 5-10ms: Sensor group A data transmission

[0131] 10-15ms: Positioning of identification card 002

[0132] 15-20ms: Video device data transmission

[0133] Trigger device wakeup via broadcast synchronization signal.

[0134] (4) Lane positioning algorithm

[0135] Assume that the coordinates of antenna A1 are (0,0), the coordinates of B1 are (1.2,0), the distance from the identification card to A1 is d1 = 3.5m, and the distance to B1 is d2 = 2.8m.

[0136] The distance difference Δd = |3.5-2.8| = 0.7m>0. Since d1>d2, it is determined that the identification card is located on the right side of the alley.

[0137] Example 1: Personnel Positioning and Environmental Monitoring in the Return Air Lane

[0138] Time slot 0ms: Identification card 001 is awakened and switches to the 3.4 GHz frequency band to send a ranging packet to the base station main module.

[0139] The main module receives the packet in the 3.4GHz band and returns a response packet, calculating the distance value as 3.2m.

[0140] During the same period, the slave module receives the temperature sensor data "28.5°C" in the 6.0GHz frequency band.

[0141] At 5ms, the main module switches to 6.0GHz to process the gas sensor data, and the slave module switches to 3.4GHz to respond to the positioning request of identification card 002.

[0142] The video equipment sends the image of the cracks in the tunnel roof at 15ms, with a data rate of 12Mbps.

[0143] The personnel location update cycle is ≤5 seconds, the environmental data delay is <1 second, and a single base station can simultaneously process 8 types of equipment tasks.

[0144] Example 2: Forklift avoidance scheduling in transport lanes

[0145] The forklift identification card sends a distance measurement packet in the time slot of 10ms, and the base station main module obtains the distance d1 = 4.1m to the antenna A1 and the distance d2 = 3.0m to the antenna B1.

[0146] The system calculates Δd = 1.1m. Since d1>d2 and Δd>threshold 0.5m, it determines that the forklift is on the right side of the aisle.

[0147] Combined with historical trajectory analysis, when the distance between the forklift on the right and the person on the left is less than 2m, an audible and visual alarm is automatically triggered.

[0148] The alarm command is sent to the forklift terminal in real time via the 6.0GHz frequency band.

[0149] The left and right position misjudgment rate is <1%, and the collision avoidance warning response time is 200 milliseconds.

[0150] Example 3: Exceeding gas limit at the excavation working face

[0151] The gas sensor detects a concentration of 1.5% and immediately seizes the 6.0GHz communication channel to send alarm data.

[0152] The base station interrupts the current time slot and forcibly wakes up all personnel identification cards within 20 meters.

[0153] The main module completes the positioning of 8 identification cards within 0.5 seconds in the 3.4GHz frequency band and generates a heat evacuation map.

[0154] The system automatically plans a disaster avoidance route and sends an "evacuate eastward" command to the nearest identification card via the 6.0GHz frequency band.

[0155] The video equipment is started simultaneously and the on-site images are transmitted back to the command center in real time.

[0156] The entire disaster response process takes less than 3 seconds, with a 100% command accessibility rate, complying with coal mine safety regulations.

[0157] Finally, it should be noted that the above 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 with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for integrating positioning and communication in underground coal mines, characterized by: The following steps are involved: The base station adopts a dual ultra-wideband (UWB) module architecture, including a master module and a slave module. Each module is connected to a 3.4GHz positioning antenna and a 6.0GHz communication antenna. Allocate time slots to access devices through a time sorting mechanism, controlling the switching of access devices between sleep and working states; In positioning mode, the main module operates in the 3.4GHz frequency band and performs two-way time-of-flight (TOF) ranging with the access device; In data transmission mode, the slave module operates in the 6.0GHz frequency band and processes data transmission requests from access devices; The master module and the slave module switch their working modes alternately at a fixed cycle: when the master module completes ranging, it switches to 6.0GHz to process data transmission, and at the same time, the slave module switches to 3.4GHz to take over the next round of ranging tasks.

2. The integrated method for underground coal mine positioning and communication according to claim 1, characterized in that: The installation distance between the two 3.4GHz positioning antennas is greater than 1 meter. The left and right positions of the access device in the lane are determined by calculating the distance difference between the access device and the two positioning antennas.

3. The integrated positioning and communication method for underground coal mines according to claim 1, characterized in that: The TOF ranging specifically includes: The access device sends a ranging packet to the base station main module within the allocated time slot, wherein the ranging packet includes a device ID and a timestamp; After receiving the ranging packet, the main module returns a response packet and calculates the distance value based on the round-trip time of the signal. The calculation formula is: Where d is the distance between the device and the base station, c is the speed of light, and t tx The signal sending timestamp, t rx Timestamp for signal reception.

4. The integrated positioning and communication method for underground coal mines according to claim 1, characterized in that: The access device includes an identification card and a transmission device. The identification card is in a dormant state during a non-working period to reduce energy consumption, and wakes up and switches to the 3.4 GHz or 6.0 GHz frequency band only during the allocated time slot.

5. The integrated method for underground coal mine positioning and communication according to claim 1, characterized in that: The 6.0 GHz frequency band is used to transmit sensor data and alarm information, including gas concentration, temperature and video stream data.

6. The integrated method for underground coal mine positioning and communication according to claim 2, characterized in that: The left and right position determination is achieved by: Assume that the coordinates of the two positioning antennas are A1(x1,y1) and A2(x2,y2), and the coordinates of the access device are P(x,y); Calculate the distance difference Δd = |d1-d2|, where d1 is the distance from P to A1 and d2 is the distance from P to A2; If Δd>0 and d1<d2, the device is determined to be on the left side of the lane; if d1>d2, the device is determined to be on the right side.

7. An integrated positioning and communication system for underground coal mines, characterized by: include: The base station includes a master UWB module and a slave UWB module, each of which is connected to a 3.4GHz positioning antenna and a 6.0GHz communication antenna respectively; Multiple access devices, including identification cards for positioning and transmission devices for data transmission; The master module and the slave module are connected via a clock synchronization circuit to achieve alternating switching of working modes: When the master module performs TOF ranging in the 3.4GHz band, the slave module processes data transmission in the 6.0GHz band; After the master module completes the ranging, it switches to the 6.0 GHz band, and at the same time, the slave module switches to the 3.4 GHz band to take over the ranging task.

8. The integrated underground coal mine positioning and communication system according to claim 7, characterized in that: The identification card adopts a single UWB module dual-antenna design, including a 3.4GHz positioning antenna and a 6.0GHz communication antenna, and has a built-in microcontroller to enable dual antenna switching within microseconds.

9. The integrated underground coal mine positioning and communication system according to claim 7, characterized in that: The transmission equipment includes a gas sensor, a temperature sensor and a video acquisition module, and transmits data to the base station via the 6.0 GHz frequency band.

10. The integrated underground coal mine positioning and communication system according to claim 7, characterized in that: The base station and access equipment adopt intrinsically safe circuit design and add AES-128 encryption protocol, complying with GB3836 coal mine explosion-proof standard.

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