Coal mine underground UWB positioning base station and label dynamic anti-collision method

Abstract

The invention provides an underground coal mine UWB positioning base station and label dynamic anti-collision method, and relates to the technical field of UWB positioning, and the method comprises the steps: setting an ordered registration set in a UWB positioning base station, transmitting registration information carrying identity information by a UWB positioning label, and searching the position of the identity information in the ordered registration set, thereby achieving the dynamic anti-collision of the UWB positioning base station and the label. And according to the position of the identity information, the maximum identification concurrency number, the base station positioning period and the current timing moment, determining a time slot of sending a signal by a UWB positioning label corresponding to the identity information, and sending the time slot, so that the positioning label sends the positioning information to a positioning base station according to the time slot. Through the mechanism that the positioning base station carries out dynamic time slot distribution on all the labels in a centralized mode, the sending time of each label can be dynamically planned, the time interval of any two label signals can be ensured, it is ensured that the positioning signal sending time of each label does not collide with each other, signal collision is fundamentally avoided, and the positioning accuracy is improved. And the collision problem of UWB signals in the underground coal mine is effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of UWB positioning technology, and in particular to a dynamic anti-collision method between a UWB positioning base station and a tag in an underground coal mine. Background Art

[0002] Underground coal mines are a harsh working environment, filled with flammable and explosive substances such as gas and dust. Space is limited, tunnel structures are complex and varied, and electromagnetic interference from communications and electrical equipment is rampant. In such an environment, accurate location information for personnel and equipment is crucial for ensuring safe production and improving emergency rescue efficiency. With the advancement of intelligent coal mines, UWB positioning technology, due to its high precision, low power consumption, and strong anti-interference properties, has been widely adopted in underground coal mine personnel and equipment positioning systems. Furthermore, relevant technical standards set high requirements for precise underground positioning: for example, the maximum static positioning error should be no more than 0.3m, and the maximum dynamic positioning error should be no more than 7.3m. UWB technology, which transmits data using narrow, non-sinusoidal pulses in the nanosecond to microsecond range, can achieve centimeter-level positioning accuracy, effectively meeting the stringent requirements for precise positioning underground and providing strong support for coal mine safety management.

[0003] However, in actual application, the complex physical environment and communication conditions in coal mines pose severe challenges to UWB signals. As the number of workers and equipment working underground in coal mines increases, the number of UWB positioning tags operating simultaneously in the same area is also increasing. In a UWB positioning system, ranging and positioning are completed through signal interaction between tags and base stations. When multiple tags send signals to the base station at the same time, signal collision interference will occur due to the overlap of signal transmission time and frequency. The currently commonly used TOF ranging algorithm requires multiple two-way communications between tags and base stations to calculate the distance. Signal collisions can seriously affect the success rate of communication and the accuracy of data, resulting in the failure of some tags to locate or delayed positioning results. In applications such as wellhead unique identification and underground personnel control, this can seriously affect the real-time and accuracy of the positioning system. Simply put, the signal collision problem of existing UWB positioning technology in the complex environment of coal mines seriously affects its positioning accuracy and reliability, posing a potential threat to coal mine safety production.

[0004] The common method for avoiding collisions in existing UWB signals is to add a random delay to each ranging measurement. This ensures that even in the event of an initial signal collision, a collision is unlikely to occur again. The biggest problem with this method is that when there are a large number of targets to be identified, such as more than 125, each TOF ranging measurement takes approximately 8ms, and with a recognition frequency of once per second, collisions are inevitable. Actual experimental results show that some unlucky targets remain unidentified for several minutes or even dozens of minutes. Summary of the Invention

[0005] In order to solve the problem of insufficient positioning accuracy and reliability caused by signal collision in the existing technology, the purpose of the present invention is to provide a dynamic anti-collision method for UWB positioning base stations and tags in coal mines. Through the mechanism of dynamic time slot allocation of all tags by the UWB positioning base station, the sending time of each tag can be dynamically planned, and the time interval between any two tag signals can be ensured, so as to ensure that the time for sending positioning signals of each tag will not collide, fundamentally avoiding signal collision, and effectively solving the collision problem of UWB signals in coal mines, thereby improving the accuracy and reliability of UWB positioning in coal mines.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a dynamic anti-collision method for a UWB positioning tag in an underground coal mine, comprising:

[0008] Preset tag positioning cycle, registration cycle and watchdog cycle;

[0009] In standby mode, a registration signal is sent according to the registration period, wherein the registration information carries the identity information of the UWB positioning tag;

[0010] When receiving the time slot feedback from the UWB positioning base station, it switches to the working mode and sends the positioning signal to the UWB positioning base station according to the tag positioning cycle in the working mode;

[0011] When no time slot feedback is received from the UWB positioning base station within the watchdog period, it switches to standby mode;

[0012] When receiving the time slot feedback from the UWB positioning base station, the tag positioning period is updated to the base station positioning period, and the positioning signal sending time is obtained in combination with the received time slot size to complete the initialization.

[0013] Regarding the preset of each period in the UWB positioning tag, the present invention provides a preferred solution in the first aspect, wherein the preset registration period is shorter than the watchdog period.

[0014] Furthermore, based on the above preferred solution, a more preferred solution is given, in which the preset registration period is less than or equal to 10 times the tag positioning period; and the watchdog period is greater than or equal to 10 times the tag positioning period.

[0015] To achieve anti-collision of UWB positioning signals in coal mines, the present invention provides a dynamic anti-collision method for a UWB positioning base station in coal mines, based on the signal transmission, reception, and processing process of the UWB positioning tag provided in the first aspect, including:

[0016] Preset the base station positioning cycle and time within the base station positioning cycle according to the number of tags in the area identified by the UWB positioning base station and the maximum number of concurrent identifications;

[0017] Receiving registration information sent from any UWB positioning tag in the identified area, wherein the registration information carries the identity information of the UWB positioning tag;

[0018] Querying the identity information in a registration set, where the registration set is an ordered registration set stored in a UWB positioning base station;

[0019] When the query is found, the position of the identity information in the registration set is obtained;

[0020] If the identity information is not found, insert the identity information into the registration set, update the registration set, and obtain the position of the identity information in the updated registration set;

[0021] The time slot for the UWB positioning tag corresponding to the identity information to send a signal is determined according to the location of the identity information, the maximum number of concurrent identifications, the base station positioning cycle and the current timing, and the time slot is sent to the UWB positioning tag so that the UWB positioning tag sends positioning information to the UWB positioning base station according to the time slot.

[0022] In a second aspect, the present invention provides a preferred solution, which introduces a first adjustment mechanism for an adaptive positioning cycle: the base station positioning cycle is adaptively updated according to the number of tags in the updated registration set and the maximum concurrent identification number.

[0023] Furthermore, based on the above preferred scheme, a more preferred scheme is given. After the base station positioning cycle is updated, the time slots for sending signals of the UWB positioning tags corresponding to all identity information in the registration set are re-determined and sent to each UWB positioning tag accordingly, so that each UWB positioning tag in the identified area sends ranging data to the UWB positioning base station according to the re-determined corresponding time slots.

[0024] In a second aspect, the present invention provides another preferred solution, which introduces a tag cleaning mechanism to regularly clear the identity information of UWB positioning tags in the registration set that have been inactive for a period of time.

[0025] Furthermore, based on the above preferred solution, a more preferred solution is provided, which introduces a tag cleaning mechanism to regularly clear the identity information of UWB positioning tags in the registration set that have not been active for a period of time, specifically including:

[0026] Traverse the identity information of all UWB positioning tags received during the statistical period;

[0027] The identity information of the corresponding UWB positioning tag that has not received registration information within the statistical period is deleted from the registration set and the registration set is updated again.

[0028] Furthermore, a second adjustment mechanism for the adaptive positioning cycle is introduced: the base station positioning cycle is adaptively updated according to the number of UWB positioning tags corresponding to all identity information in the updated registration set and the maximum number of concurrent identifications.

[0029] Regarding the statistical period, the present invention provides a preferred solution in the second aspect, wherein the statistical period is greater than or equal to 10 times the base station positioning period.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] The present invention sets an ordered registration set in a UWB positioning base station, and the UWB positioning tag sends registration information carrying identity information, searches for the position of the identity information in the ordered registration set, determines the time slot for the UWB positioning tag corresponding to the identity information to send a signal according to the position of the identity information, the maximum number of concurrent identifications, the base station positioning cycle and the current timing, and sends the time slot to the UWB positioning tag, so that the UWB positioning tag sends positioning information to the UWB positioning base station according to the time slot. Through this mechanism of dynamic time slot allocation of all tags by the UWB positioning base station, the sending time of each tag can be dynamically planned, the time interval between any two tag signals can be ensured, and the time for each tag to send the positioning signal will not collide, thereby fundamentally avoiding signal collisions and effectively solving the collision problem of UWB signals in coal mines, thereby improving the accuracy and reliability of UWB positioning in coal mines, improving the safety production level of coal mines, and ensuring the safety of personnel and the normal operation of equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0033] Figure 1 This is a step diagram of a dynamic anti-collision method for UWB positioning tags in coal mines provided in Example 1 of the present invention;

[0034] Figure 2 This is a working mode switching diagram of a UWB positioning tag in a dynamic anti-collision method for UWB positioning tags in coal mines provided by Example 1 of the present invention;

[0035] Figure 3This is a step diagram of a dynamic anti-collision method for a UWB positioning base station in an underground coal mine provided by Example 2 of the present invention;

[0036] Figure 4 This is a flowchart of a process in which a UWB positioning base station receives a registration signal in a dynamic anti-collision method for a UWB positioning base station in an underground coal mine provided by Example 2 of the present invention;

[0037] Figure 5 In the method for dynamic anti-collision of a UWB positioning base station in a coal mine provided by embodiment 2 of the present invention, each statistical period T of the UWB positioning base station s Statistical flow chart. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] Example 1

[0040] Please refer to Figure 1 In a preferred embodiment, a dynamic anti-collision method for UWB positioning tags in coal mines is provided. That is, the UWB positioning tags implement the signal transmission, reception, and processing process of signal anti-collision, which is specifically implemented through the following steps:

[0041] S1a. Preset tag positioning cycle, registration cycle and watchdog cycle.

[0042] UWB positioning tag has built-in positioning cycle T1, registration cycle T a , watchdog period T b , timer t1, t2, timer t1, t2 starts counting from 0 and increases at the normal time flow rate, T a 、T b Custom, but requires T a <T b , that is, the preset registration period is less than the watchdog period, T a The bigger, T b The smaller the size, the more energy-saving it is, but T a The larger the value, the longer the average time from standby to normal operation will be. b Setting it too small may cause data leakage. Therefore, in a preferred embodiment, T a It should not be greater than 10T1, that is, the preset registration period is less than or equal to 10 times the tag positioning period; T bIt should not be less than 10T1, that is, the watchdog period is greater than or equal to 10 times the tag positioning period.

[0043] S2a. In standby mode, a registration signal is sent according to the registration cycle, and the registration information carries the identity information of the UWB positioning tag. In a preferred embodiment, the identity information of the tag is an ID number, and each tag has a unique ID number.

[0044] S3a. When receiving the time slot feedback from the UWB positioning base station, it switches to the working mode and sends the positioning signal to the UWB positioning base station according to the tag positioning cycle in the working mode.

[0045] S4a. When no time slot feedback is received from the UWB positioning base station within the watchdog period, the system switches to the standby mode.

[0046] S5a. When receiving the time slot feedback from the UWB positioning base station, the tag positioning period is updated to the base station positioning period, and the positioning signal sending time is obtained in combination with the received time slot size to complete the initialization.

[0047] Please refer to Figure 2 ,The UWB positioning tag has two operating states, standby mode and working mode. ,The working mode switching is shown in the figure;

[0048] In standby mode, timer t1 is working and timer t2 is suspended. When t1=T a When the UWB positioning tag transmits a registration signal, t1 is reset to 0, and the registration signal only includes the tag ID number;

[0049] In the working mode, timers t1 and t2 are both working. When t1=T1, the UWB positioning tag transmits a normal positioning signal to perform positioning, and t1 starts counting from 0 again. When the UWB positioning base station responds to the positioning signal, t2 starts counting from 0 again. When T1 is continuously b seconds without receiving positioning feedback information from the UWB positioning base station, that is, t2 = T b , the operating state switches to standby mode.

[0050] ID number is ID x The UWB positioning tag receives the initialization command [ID x , T0, t x ], set the positioning cycle T1 to T0, and set the current time of timer t1 to T0-t x , that is, the UWB positioning tag will be x The first positioning command is sent in seconds, and positioning commands are sent in cycles of t0 after the first time, and the operation state is set to working mode.

[0051] Example 2

[0052] Please refer to Figure 3 To achieve collision avoidance of UWB positioning signals in coal mines, based on the dynamic collision avoidance method for UWB positioning tags in coal mines given in the above embodiment 1, that is, the signal transmission, reception, and processing process for the UWB positioning tag to achieve collision avoidance, a dynamic collision avoidance method for UWB positioning base stations in coal mines is provided, that is, the signal reception, processing, and signal transmission process for the UWB positioning base station to achieve collision avoidance, which is mainly achieved through the following steps:

[0053] S1b. Preset a base station positioning cycle according to the number of tags in the area identified by the UWB positioning base station and the maximum number of concurrent identifications and start timing within the base station positioning cycle.

[0054] S2b. Receive registration information sent from any UWB positioning tag in the identified area, where the registration information carries the identity information of the UWB positioning tag.

[0055] S3b. Query the identity information in the registration set, which is an ordered registration set stored in the UWB positioning base station.

[0056] Specifically, in the above steps S1b to S3b, the maximum number of concurrent identifications in an ideal situation is Y at an identification frequency of once per second. The UWB positioning base station stores a built-in ID registration set A = {[ID a , S a ],[ID b , S b ],…[ID m , S m ]}(S a 、S b …S m ∈N+,S m >…>S b >S a ), positioning period T0, statistical period T s , timer t0; ID registration set A is initialized to The UWB positioning base station cycle T0 is initialized to 1 second, and the timer t0 starts counting from 0 and cycles between [0, T0] at a normal time flow rate. s Custom, T s The smaller it is, the faster the UWB positioning base station dynamically adjusts the positioning cycle according to the number of UWB positioning tags in the identification area, but the processor computing burden is also heavier. Therefore, in a preferred embodiment, T s It should not be less than 10T0, that is, the statistical period is greater than or equal to 10 times the base station positioning period.

[0057] S4b. When the query is received, obtain the position of the identity information in the registration set.

[0058] S5b. If the identity information is not found, insert the identity information into the registration set, update the registration set, and obtain the position of the identity information in the updated registration set.

[0059] S6b. Determine the time slot for the UWB positioning tag corresponding to the identity information to send a signal based on the location of the identity information, the maximum number of concurrent identifications, the base station positioning cycle, and the current timing, and send the time slot to the UWB positioning tag so that the UWB positioning tag sends positioning information to the UWB positioning base station according to the time slot.

[0060] S7b. Introduce the first adjustment mechanism of the adaptive positioning cycle: adaptively update the base station positioning cycle according to the number of tags in the updated registration set and the maximum number of concurrent identifications.

[0061] S8b. After the base station positioning cycle is updated, the time slots for the UWB positioning tags corresponding to all identity information in the registration set to send signals are re-determined and sent to each UWB positioning tag, so that each UWB positioning tag in the identified area sends ranging data to the UWB positioning base station according to the re-determined corresponding time slots.

[0062] Please refer to Figure 4 , the above steps S4b to S8b are specifically as follows:

[0063] The UWB positioning base station receives the registration signal, and then checks the received tag ID number. k In the ID registration set A, the element is [ID k , S k ](k∈N+), only give the tag ID number ID k The tag sends the initialization command [ID k , T0, t k ], where time slot t k The expression is as follows:

[0064]

[0065] The ID number is ID k The UWB positioning tag receives the initialization command [ID k , T0, t k ], set the positioning cycle T1 to T0, and set the current time of timer t1 to T0-t k , that is, the UWB positioning tag will be k The first positioning command is sent in seconds, and positioning commands are sent with T0 as the cycle after the first time, and the operation state is set to working mode.

[0066] The UWB positioning base station receives the registration signal, and then checks the received tag ID number. kNot in ID registration set A,

[0067]

[0068] when When , T0 is updated to T0+1;

[0069] when When , T0 remains unchanged;

[0070] Set the tag ID k Insert into the "vacancy" in the ID registration set A, the vacancy means that in A={[ID a , S a ],[ID b , S b ],…[ID m , S m ]}(S a 、S b …S m ∈N+,S m >…>S b >S a ), if S a 、S b …S m All of them satisfy the increment order of plus 1, directly [ID k , S m+1 ] is inserted at the end of the collection, otherwise if there is the first adjacent [ID e , S e ]、[ID f , S f ]∈A, satisfying S e +1<S f , change [ID k , S e +1] is inserted into [ID e , S e ]、[ID f , S f ]between.

[0071] If t0 is not updated, only the tag ID is given k The tag sends the initialization command [ID k , T0, t k ],in

[0072]

[0073] If T0 is updated, send an initialization command [ID x , T0, t x ]([ID x , Sx ]∈A), where

[0074]

[0075] S9b. Introduce a tag cleaning mechanism to regularly clear the identity information of UWB positioning tags in the registration set that have not been active for a period of time. In a preferred embodiment, the tag cleaning mechanism is specifically implemented by the following steps:

[0076] Traverse the identity information of all UWB positioning tags received during the statistical period;

[0077] The identity information of the corresponding UWB positioning tag that has not received registration information within the statistical period is deleted from the registration set and the registration set is updated again.

[0078] S10b. Introduce a second adjustment mechanism for the adaptive positioning cycle: adaptively update the base station positioning cycle according to the number of UWB positioning tags corresponding to all identity information in the updated registration set and the maximum number of concurrent identifications.

[0079] Please refer to Figure 5 , the above steps S9b to S10b are specifically as follows:

[0080] Every cycle T s Seconds, UWB positioning base station statistics in the past T s All UWB positioning tag ID numbers received in seconds will be processed through the past T s The UWB positioning tag ID number that has not been received is deleted from the ID registration set A. For the updated ID registration set A:

[0081]

[0082] Express Round up.

[0083] When the result of rounding up is equal to T0, T0 remains unchanged;

[0084] When the rounded-up result is less than T0, T0 is updated to the rounded value.

[0085] If T0 is not updated, no processing is done;

[0086] If T0 is updated,

[0087] Set A = {[ID a , S a ],[ID b , S b ],…[ID m , S m ]}(Sa 、S b …S m ∈N+,S m >…>S b＞ S a ) is updated to {[ID a ,1],[ID b ,2],…[ID m ,rad(A)]}, timer t0 starts counting from 0 again and cycles between [0, T0] at normal time flow rate. Then send initialization instruction [ID x , T0, S x / Y]([ID x , S x ]∈A).

[0088] The above embodiment of the method for dynamic anti-collision between UWB positioning base station and tag in coal mine can automatically adjust the positioning frequency and positioning pulse triggering time according to the number of UWB positioning tags (according to the initialization command [ID k , T0, t k T0 and t in k Obtained), fundamentally avoiding signal collisions, effectively solving the collision problem of UWB signals in coal mines, thereby improving the accuracy and reliability of UWB positioning in coal mines, improving the safety level of coal mine production, and ensuring the safety of personnel and the normal operation of equipment.

[0089] Based on the above embodiments, the present invention can achieve the following beneficial technical effects:

[0090] (1) The present invention sets an ordered registration set in the UWB positioning base station, and the UWB positioning tag sends registration information carrying identity information, and searches for the position of the identity information in the ordered registration set. According to the position of the identity information, the maximum number of concurrent identifications, the base station positioning cycle and the current timing, the time slot for the UWB positioning tag corresponding to the identity information to send the signal is determined, and the time slot is sent to the UWB positioning tag, so that the UWB positioning tag sends positioning information to the UWB positioning base station according to the time slot. Through this mechanism of the UWB positioning base station centrally allocating dynamic time slots to all tags, the sending time of each tag can be dynamically planned, the time interval between any two tag signals can be ensured, and the time for each tag to send the positioning signal can be ensured not to collide, thereby fundamentally avoiding signal collisions and effectively solving the collision problem of UWB signals in coal mines, thereby improving the accuracy and reliability of UWB positioning in coal mines, improving the safety level of coal mine production, and ensuring the safety of personnel and the normal operation of equipment.

[0091] (2) The present invention introduces an adaptive positioning cycle first adjustment mechanism, that is, the base station positioning cycle is adaptively updated according to the number of tags in the updated registration set and the maximum number of concurrent identifications. The positioning cycle can be automatically adjusted according to the number of UWB positioning tags under the UWB positioning base station, which can achieve real-time capacity expansion, cope with the tag positioning of large traffic when the tag increases suddenly, and complete collision-free signal transmission. In theory, no matter how large the number of identifications is, the positioning of all targets can be completed without omission in the shortest time.

[0092] (3) The present invention introduces a tag cleaning mechanism, that is, regularly clearing the identity information of UWB positioning tags that have not been active for a period of time in the registration set, regularly clearing invalid resource occupation, improving resource utilization and reducing power consumption.

[0093] (4) The UWB positioning tag of the present invention adopts a working mode and a standby mode. In the standby mode, a lightweight registration signal is sent to reduce channel occupancy resources. In the working mode, a positioning signal is sent to reduce energy consumption and optimize resource allocation.

[0094] (5) The UWB positioning tag of the present invention can implement a timeout fuse protection mechanism by setting a watchdog cycle, thereby solving the problem of communication failure in complex underground environments. For example, if the tag enters a signal blind spot and continues to send signals, there is a risk of power exhaustion. At this time, the watchdog cycle can be used to switch to standby mode to ensure power.

[0095] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0096] The technical features of the above-described embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. The above-described embodiments only express several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. For those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A dynamic anti-collision method for UWB positioning tags in coal mines, characterized in that: include: Preset tag positioning cycle, registration cycle and watchdog cycle; In standby mode, a registration signal is sent according to the registration period, wherein the registration information carries the identity information of the UWB positioning tag; When receiving the time slot feedback from the UWB positioning base station, it switches to the working mode and sends the positioning signal to the UWB positioning base station according to the tag positioning cycle in the working mode; When no time slot feedback is received from the UWB positioning base station within the watchdog period, it switches to standby mode; When receiving the time slot feedback from the UWB positioning base station, the tag positioning period is updated to the base station positioning period, and the positioning signal sending time is obtained in combination with the received time slot size to complete the initialization.

2. The method for dynamic anti-collision of UWB positioning tags in underground coal mines according to claim 1, characterized in that: The preset registration period is shorter than the watchdog period.

3. The method for dynamic anti-collision of UWB positioning tags in underground coal mines according to claim 2, characterized in that: The preset registration period is less than or equal to 10 times the tag positioning period; the watchdog period is greater than or equal to 10 times the tag positioning period.

4. A dynamic anti-collision method for a UWB positioning base station in a coal mine, characterized in that: include: Preset the base station positioning cycle and time within the base station positioning cycle according to the number of tags in the area identified by the UWB positioning base station and the maximum number of concurrent identifications; Receiving registration information sent from any UWB positioning tag within the identified area, wherein the registration information carries the identity information of the UWB positioning tag; Querying the identity information in a registration set, where the registration set is an ordered registration set stored in a UWB positioning base station; When queried, obtain the position of the identity information in the registration set; If the identity information is not found, insert the identity information into the registration set, update the registration set, and obtain the position of the identity information in the updated registration set; The time slot for the UWB positioning tag corresponding to the identity information to send a signal is determined according to the location of the identity information, the maximum number of concurrent identifications, the base station positioning cycle and the current timing, and the time slot is sent to the UWB positioning tag so that the UWB positioning tag sends positioning information to the UWB positioning base station according to the time slot.

5. The method for dynamic anti-collision of a UWB positioning base station in an underground coal mine according to claim 4, characterized in that: Also includes: Introduction The first adjustment mechanism of the adaptive positioning cycle: the base station positioning cycle is adaptively updated according to the number of tags in the updated registration set and the maximum number of concurrent identifications.

6. The method for dynamic anti-collision of a UWB positioning base station in an underground coal mine according to claim 5, characterized in that: Also includes: After the base station positioning cycle is updated, the time slots for the UWB positioning tags corresponding to all identity information in the registration set to send signals are re-determined and sent to each UWB positioning tag accordingly, so that each UWB positioning tag in the identified area sends ranging data to the UWB positioning base station according to the re-determined corresponding time slots.

7. The method for dynamic anti-collision of a UWB positioning base station in an underground coal mine according to claim 4, characterized in that: Also includes: A tag cleaning mechanism is introduced to regularly clear the identity information of UWB positioning tags in the registration set that have not been active for a period of time.

8. The method for dynamic anti-collision of a UWB positioning base station in an underground coal mine according to claim 7, characterized in that: Also includes: The tag cleaning mechanism is introduced to regularly clear the identity information of UWB positioning tags in the registration set that have not been active for a period of time, specifically including: Traverse the identity information of all UWB positioning tags received during the statistical period; The identity information of the corresponding UWB positioning tag that has not received registration information within the statistical period is deleted from the registration set and the registration set is updated again.

9. The method for dynamic anti-collision of a UWB positioning base station in an underground coal mine according to claim 8, characterized in that: Also includes: Introduction The second adjustment mechanism of the adaptive positioning cycle: the base station positioning cycle is adaptively updated according to the number of UWB positioning tags corresponding to all identity information in the updated registration set and the maximum number of concurrent identifications.

10. The method for dynamic anti-collision of a UWB positioning base station in an underground coal mine according to claim 9, characterized in that: The statistical period is greater than or equal to 10 times the base station positioning period.

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