Dynamic anti-collision method for underground coal mine UWB positioning base station and tag

Abstract

The application provides a dynamic anti-collision method for a coal mine underground UWB positioning base station and a tag, and relates to the technical field of UWB positioning.The application is characterized in that an orderly registration set is arranged in the UWB positioning base station, the UWB positioning tag sends registration information carrying identity information, and the position of the identity information is searched in the orderly registration set.According to the position of the identity information, the maximum identification concurrency, the base station positioning period and the current timing moment, the time slot of the signal sent by the UWB positioning tag corresponding to the identity information is determined and sent, so that the positioning tag sends positioning information to the positioning base station according to the time slot.Through the mechanism of dynamic time slot allocation of the positioning base station to all tags, the sending moment of each tag can be dynamically planned, the time interval of signals of any two tags can be ensured, the sending time of the positioning signal of each tag will not collide, signal collision is fundamentally avoided, and the collision problem of the UWB signal in the coal mine is effectively solved.

Description

Technical Field

[0001] This invention relates to the field of UWB positioning technology, and in particular to a dynamic anti-collision method for UWB positioning base stations and tags in underground coal mines. Background Technology

[0002] The underground working environment in coal mines is harsh, filled with flammable and explosive substances such as gas and dust, and characterized by cramped spaces, complex and variable tunnel structures, as well as electromagnetic interference from numerous communication and electrical equipment. In such an environment, accurately determining the location of personnel and equipment is crucial for ensuring safe production and improving emergency rescue efficiency. With the advancement of intelligent coal mine construction, UWB positioning technology, due to its high precision, low power consumption, and strong anti-interference characteristics, has been widely applied in underground personnel and equipment positioning systems. Furthermore, relevant technical standards have set high requirements for accurate underground positioning: for example, the maximum static positioning error should not exceed 0.3m, and the maximum dynamic positioning error should not exceed 7.3m. UWB technology, utilizing nanosecond to microsecond-level non-sinusoidal narrow pulse data transmission, can achieve centimeter-level positioning accuracy, effectively meeting the stringent requirements for precise positioning underground and providing strong support for coal mine safety production management.

[0003] However, in practical applications, the complex physical environment and communication conditions underground in coal mines pose severe challenges to UWB signals. With the increasing number of personnel and equipment working underground, the number of UWB positioning tags operating simultaneously in the same area also continues to grow. In UWB positioning systems, tags and base stations complete ranging and positioning through signal interaction. When multiple tags simultaneously send signals to the base station, signal collision interference occurs due to overlapping signal transmission times and frequencies. Currently used Time-of-Flight (TOF) based ranging algorithms require multiple bidirectional communications between tags and base stations to calculate distance. Signal collisions severely affect the success rate of communication and the accuracy of data, leading to positioning failures or delays in some tags. In applications such as unique identification at mine entrances and personnel restrictions underground, this seriously affects the real-time performance and accuracy of the positioning system. In short, the signal collision problem severely impacts the accuracy and reliability of existing UWB positioning technologies in the complex environment of underground coal mines, thus posing a potential threat to coal mine safety.

[0004] The common method for collision avoidance in existing UWB signal technologies is to add a random delay during each ranging measurement. This way, even if a collision occurs initially, subsequent collisions are unlikely to happen. The biggest problem with this method is that when a large number of targets are identified, such as more than 125 targets, and each TOF ranging measurement takes about 8ms with a recognition frequency of once per second, collisions are unavoidable. Actual experimental results show that some "unlucky" targets cannot be identified for several minutes or even tens of minutes. Summary of the Invention

[0005] To address the problem of insufficient accuracy and reliability in existing positioning technologies due to signal collisions, this invention aims to provide a dynamic anti-collision method for UWB positioning base stations and tags in coal mines. By centrally allocating dynamic time slots for all tags through the UWB positioning base station, the transmission time of each tag can be dynamically planned. This ensures that the time interval between any two tag signals will not collide, fundamentally avoiding signal collisions and effectively solving the UWB signal collision problem in coal mines, thereby improving the accuracy and reliability of UWB positioning in coal mines.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] The present invention provides a dynamic anti-collision method for UWB positioning tags in underground coal mines, comprising:

[0008] Preset the tag positioning period, registration period, and watchdog period;

[0009] 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;

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

[0011] If no time slot feedback is received from the UWB positioning base station during the watchdog cycle, switch to standby mode;

[0012] Upon receiving the timeslot feedback from the UWB positioning base station, the tag positioning period is updated to the base station positioning period, and the positioning signal transmission time is obtained by combining the received timeslot size to complete the initialization.

[0013] Regarding the preset of each period within 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, wherein 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 collision avoidance for UWB positioning signals in underground coal mines, this invention, based on the signal transmission, reception, and processing process of UWB positioning tags described in the first aspect, provides a dynamic collision avoidance method for UWB positioning base stations in underground coal mines in the second aspect, comprising:

[0016] The base station positioning cycle is preset based on the number of tags and the maximum number of concurrent identifications within the area identified by the UWB positioning base station, and the time is kept within the base station positioning cycle;

[0017] Receive registration information from any UWB positioning tag within the identified area, wherein the registration information carries the identity information of the UWB positioning tag;

[0018] The identity information is retrieved from the registration set, which is an ordered registration set stored within the UWB positioning base station.

[0019] When the information is found, retrieve its position within the registration set;

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

[0021] Based on the location 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 signals is determined, and the time slot is sent to the UWB positioning tag so that the UWB positioning tag can send 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 by introducing an adaptive positioning cycle first adjustment mechanism: the base station positioning cycle is adaptively updated based on the number of tags in the updated registration set and the maximum number of concurrent identifications.

[0023] Furthermore, based on the above preferred scheme, a more preferred scheme is given: after the base station positioning cycle is updated, the time slot for transmitting signals of the UWB positioning tags corresponding to all identity information in the registration set is 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 slot.

[0024] In a second aspect, the present invention provides another preferred solution by introducing a tag cleaning mechanism to periodically remove the identity information of UWB location tags that have not been active within a certain period of time in the registration set.

[0025] Furthermore, based on the aforementioned preferred solution, a better solution is proposed: a tag cleanup mechanism is introduced to periodically remove the identity information of inactive UWB location tags within the registration set for a certain period. Specifically, this includes:

[0026] Iterate through the identity information of all UWB location tags received within the statistical period;

[0027] Remove the identity information of the corresponding UWB location tag that has not received registration information within the statistical period from the registration set and update the registration set again.

[0028] Furthermore, an adaptive positioning cycle adjustment mechanism is introduced: the base station positioning cycle is adaptively updated based on 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 embodiment in a 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] This invention establishes an ordered registration set within a UWB positioning base station. UWB positioning tags send registration information carrying identity information and search for the location of this identity information within the ordered registration set. Based on the location, maximum concurrent identification count, base station positioning cycle, and current timing, the time slot for the corresponding UWB positioning tag to send its signal is determined, and this time slot is sent to the UWB positioning tag. This allows the UWB positioning tag to send positioning information to the UWB positioning base station according to the specified time slot. This mechanism, where the UWB positioning base station centrally and dynamically allocates time slots for all tags, dynamically plans the transmission time of each tag, ensuring that the time interval between any two tag signals does not collide. This fundamentally avoids signal collisions, effectively solving the problem of UWB signal collisions in underground coal mines. This improves the accuracy and reliability of UWB positioning in coal mines, enhances mine safety, and protects personnel and equipment operation. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

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

[0034] Figure 2 This is a diagram showing the switching modes of the UWB positioning tag in a dynamic anti-collision method for UWB positioning tags in underground coal mines, as provided in Embodiment 1 of the present invention.

[0035] Figure 3This is a flowchart illustrating the steps of a dynamic anti-collision method for UWB positioning base stations in coal mines provided in Embodiment 2 of the present invention.

[0036] Figure 4 This is a flowchart illustrating the processing of a registration signal received by a UWB positioning base station in a dynamic anti-collision method for an underground UWB positioning base station in a coal mine, as provided in Embodiment 2 of the present invention.

[0037] Figure 5 In the dynamic anti-collision method for UWB positioning base stations in coal mines provided in Embodiment 2 of the present invention, each statistical period T of the UWB positioning base station... s The statistical flowchart. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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 underground coal mines is provided: that is, the process of signal transmission, reception, and processing for UWB positioning tags to achieve signal anti-collision is specifically implemented through the following steps:

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

[0042] UWB positioning tags have a built-in positioning period T1 and a registration period T. a Watchdog cycle T b Timers t1 and t2 start counting from 0 and increment at a normal time flow rate. T a T b Customizable, but requires T a <T b In other words, the pre-set registration period is shorter than the watchdog period, T a The larger, T b Smaller is more energy-efficient, but T a The larger the value, the longer the average time it takes to transition from standby to normal operation. b Setting it too small may result in data loss; therefore, in a preferred implementation, T a The timeframe should not exceed 10T1, meaning the pre-set registration period should be less than or equal to 10 times the tag positioning period; T bIt should not be less than 10T1, that is, the watchdog timer cycle should be greater than or equal to 10 times the tag positioning cycle.

[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 tag's identity information uses an ID number, and each tag has a unique ID number.

[0044] S3a. Upon receiving time slot feedback from the UWB positioning base station, switch to working mode and send positioning signals to the UWB positioning base station according to the tag positioning cycle in working mode.

[0045] S4a. If no time slot feedback is received from the UWB positioning base station during the watchdog cycle, switch to standby mode.

[0046] S5a. Upon receiving the time slot feedback from the UWB positioning base station, update the tag positioning period to the base station positioning period, and obtain the positioning signal transmission time by combining the received time slot size, thus completing the initialization.

[0047] Please refer to Figure 2 UWB positioning tags have two operating states: standby mode and working mode. The working mode switching is shown in the figure.

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

[0049] In operating mode, timers t1 and t2 both operate. When t1 = T1, the UWB positioning tag transmits a normal positioning signal to perform positioning, and t1 restarts counting from 0. When a reply to the positioning signal is received from the UWB positioning base station, t2 restarts counting from 0. When T1 = T2, the tag continues to count. b No positioning feedback information was received from the UWB positioning base station within t2 seconds, i.e., t2 = T. b When the time is reached, the running state switches to standby mode.

[0050] ID number is ID x The UWB positioning tag received the initialization command [ID] x T0, t x After that, set the positioning period T1 to T0, and set the current time of timer t1 to T0-t. x That is, the UWB positioning tag goes through t x The first positioning command is sent every second, and subsequent positioning commands are sent at intervals of t0. The running status is set to working mode.

[0051] Example 2

[0052] Please refer to Figure 3 To achieve collision prevention for UWB positioning signals in underground coal mines, based on the dynamic collision prevention method for UWB positioning tags in underground coal mines given in Example 1 above (i.e., the process of signal transmission, reception, and processing for UWB positioning tags to achieve signal collision prevention), a dynamic collision prevention method for UWB positioning base stations in underground coal mines is presented. This method, which involves the process of signal reception, processing, and transmission for UWB positioning base stations to achieve signal collision prevention, is mainly implemented through the following steps:

[0053] S1b. Preset the base station positioning period based on the number of tags in the area identified by the UWB positioning base station and the maximum number of concurrent identifications, and keep track of the time within the base station positioning period.

[0054] S2b. Receive registration information from any UWB positioning tag within the identified area, wherein 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 steps S1b to S3b above, the ideal maximum concurrent identification count at an identification frequency of once per second is Y. 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 period T0 is initialized to 1 second, and the timer t0 starts counting from 0, cycling between [0, T0] at a normal time flow rate. s Custom, T s The smaller the value, the faster the UWB positioning base station can dynamically adjust the positioning cycle based on the number of UWB positioning tags in the identification area. However, the processor's computational burden is also heavier. Therefore, in a preferred implementation, T... s It should not be less than 10T0, that is, the statistical period should be greater than or equal to 10 times the base station positioning period.

[0057] S4b. When the information is found, retrieve the position of the identity information in the registration set.

[0058] S5b. If the identity information is not found, insert it 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 signals 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. Introducing an adaptive positioning cycle first adjustment mechanism: The base station positioning cycle is adaptively updated based on 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 slot for transmitting signals of the UWB positioning tags corresponding to all identity information in the registration set is 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 slot.

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

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

[0064]

[0065] And the ID number is ID k The UWB positioning tag received the initialization command [ID] k T0, t k After that, set the positioning period T1 to T0, and set the current time of timer t1 to T0-t. k That is, the UWB positioning tag goes through t k The first positioning command is sent every second, and subsequent positioning commands are sent at intervals of T0. The running status is set to working mode.

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

[0067]

[0068] when At that time, T0 is updated to T0+1;

[0069] when At that time, T0 remains unchanged;

[0070] Tag ID k Insert into an "empty slot" in the ID registration set A. An empty slot 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 In, if S a S b …S m All satisfy the condition of incrementing by 1 sequentially, so directly add [ID] k S m+1 Insert it at the end of the set, otherwise, if it exists, insert it as the first adjacent [ID]. e S e ]、[ID f S f ]∈A, satisfying S e +1<S f , will [ID] k S e +1] Insert into set A's [ID] e S e ]、[ID f S f ]between.

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

[0072]

[0073] If T0 is updated, send an initialization command [ID] to all tags in the registration set A. x T0, t x ]([ID x Sx ]∈A), where

[0074]

[0075] S9b. Introduce a tag cleanup mechanism to periodically remove the identity information of inactive UWB location tags within the registration set for a certain period. In a preferred embodiment, the tag cleanup mechanism is implemented through the following steps:

[0076] Iterate through the identity information of all UWB location tags received within the statistical period;

[0077] Remove the identity information of the corresponding UWB location tag that has not received registration information within the statistical period from the registration set and update the registration set again.

[0078] S10b. Introducing a second adjustment mechanism for the adaptive positioning cycle: The base station positioning cycle is adaptively updated based on 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 Specifically, steps S9b to S10b are as follows:

[0080] Every period T s Seconds, UWB positioning base station statistics of the past T s All UWB location tag IDs received in seconds will go through the past T s UWB location tag IDs that were never received were removed from the ID registration set A. For the updated ID registration set A:

[0081]

[0082] Indicates to Round up.

[0083] When the result of rounding up equals T0, T0 remains unchanged.

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

[0085] If T0 is not updated, no action will be taken;

[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 Updated to {[ID] a ,1],[ID b ,2],…[ID m , rad(A)]}, timer t0 restarts counting from 0, cycling between [0, T0] at the normal time flow rate. Then, initialization instructions [ID] are sent to all tags in the registration set A. x T0, S x / Y]([ID x S x ]∈A).

[0088] The above embodiment of the dynamic anti-collision method for UWB positioning base stations and tags in coal mines can automatically adjust the positioning frequency and positioning pulse trigger time according to the number of UWB positioning tags (based on the initialization command [ID]). k T0, t k T0 and t in ] k This technology can fundamentally avoid signal collisions, effectively solve the problem of UWB signal collisions in underground coal mines, thereby improving the accuracy and reliability of UWB positioning in underground coal mines, enhancing the level of safe production in coal mines, 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) This invention sets up an ordered registration set within a UWB positioning base station. The UWB positioning tag sends registration information carrying identity information and searches for the location of the identity information in the ordered registration set. Based on the location 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 UWB positioning base station centrally and dynamically allocating time slots for all tags, the sending time of each tag can be dynamically planned, ensuring that the time interval between any two tag signals can be ensured, and ensuring that the sending time of each tag's positioning signal will not collide, fundamentally avoiding signal collisions, effectively solving the problem of UWB signal collisions in coal mines, thereby improving the accuracy and reliability of UWB positioning in coal mines, improving the level of coal mine safety production, and ensuring the safety of personnel and the normal operation of equipment.

[0091] (2) This invention introduces an adaptive positioning cycle adjustment mechanism, which adaptively updates the base station positioning cycle based on the number of tags in the updated registration set and the maximum number of concurrent identifications. This allows for automatic adjustment of the positioning cycle according to the number of UWB positioning tags under the UWB positioning base station, enabling real-time capacity expansion to cope with a surge in tags and handle high-volume tag positioning. It also enables collision-free signal transmission. Theoretically, regardless of the number of identifications, all targets can be located without omissions in the shortest possible time.

[0092] (3) This invention introduces a tag cleaning mechanism, which periodically removes the identity information of UWB positioning tags that have not been active for a period of time in the registration set, and periodically removes invalid resource occupation, thereby 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, it sends a light registration signal to reduce channel resource occupation. In the working mode, it activates the positioning signal to reduce energy consumption and optimize resource allocation.

[0094] (5) The UWB positioning tag of the present invention can realize the protection mechanism of timeout fuse by setting the watchdog cycle, which solves the communication failure problem in the complex environment of the well. For example, if the tag enters the signal blind zone, it will be risky to run out of power if it continues to send. At this time, it can switch to standby mode through the watchdog cycle to ensure power.

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

[0096] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. Furthermore, the above embodiments only illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A dynamic anti-collision method for UWB positioning tags in underground coal mines, characterized in that, include: Preset the tag positioning period, registration period, and watchdog period; In standby mode, registration information is sent according to the registration cycle, and the registration information carries the identity information of the UWB positioning tag. When it receives time slot feedback from the UWB positioning base station, it switches to working mode and sends positioning signals to the UWB positioning base station according to the tag positioning cycle in working mode. If no time slot feedback is received from the UWB positioning base station during the watchdog cycle, switch to standby mode; Upon receiving the timeslot feedback from the UWB positioning base station, the tag positioning period is updated to the base station positioning period, and the positioning signal transmission time is obtained by combining the received timeslot size to complete the initialization. ID number is ID x The UWB positioning tag received the initialization command [ID] x T0, t x After that, set the tag positioning period T1 to the base station positioning period T0, and set the current time of timer t1 to T0-t. x UWB positioning tags then pass t x The first location command is sent within seconds; among which... ； S x The location of the tag's identity information; Y: Maximum concurrent identification capacity of the base station; t0: The current time of the base station, starting from 0 and cycling between [0, T0]; t x : The time slot in which the tag sends signals.

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

3. The dynamic anti-collision method for UWB positioning tags in 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 UWB positioning base stations in coal mines, characterized in that, include: The base station positioning cycle is preset based on the number of tags and the maximum number of concurrent identifications within the area identified by the UWB positioning base station, and the time is kept within the base station positioning cycle; Receive registration information from any UWB positioning tag within the identified area, wherein the registration information carries the identity information of the UWB positioning tag; The identity information is retrieved from the registration set, which is an ordered registration set stored within the UWB positioning base station. When the information is found, retrieve its position within the registration set; If the identity information is not found, insert it into the registration set, update the registration set, and obtain the position of the identity information in the updated registration set. Based on the location 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 signals 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. If the base station positioning period T0 is updated, an initialization command [ID] is sent to all tags in the registration set A. x T0, t x ], [ID] x S x ]∈A, where ； S x The location of the tag's identity information; Y: Maximum concurrent identification capacity of the base station; t0: The current time of the base station, starting from 0 and cycling between [0, T0]; t x : The time slot in which the tag sends signals.

5. The dynamic anti-collision method for UWB positioning base stations in coal mines according to claim 4, characterized in that, Also includes: An adaptive positioning cycle adjustment mechanism is introduced: the base station positioning cycle is adaptively updated based on the number of tags in the updated registration set and the maximum number of concurrent identifications.

6. The dynamic anti-collision method for UWB positioning base stations in coal mines according to claim 5, characterized in that, Also includes: After the base station positioning cycle is updated, the time slots for transmitting signals from the UWB positioning tags corresponding to all identity information in the registration set are redefined and sent to each UWB positioning tag accordingly, so that each UWB positioning tag in the identified area can send ranging data to the UWB positioning base station according to the redefined corresponding time slots.

7. The dynamic anti-collision method for UWB positioning base stations in coal mines according to claim 4, characterized in that, Also includes: A tag cleanup mechanism is introduced to periodically remove the identity information of UWB location tags that have not been active for a period of time from the registration set.

8. The dynamic anti-collision method for UWB positioning base stations in coal mines according to claim 7, characterized in that, Also includes: The introduced tag cleanup mechanism periodically removes the identity information of inactive UWB location tags within the registration set for a certain period of time, specifically including: Iterate through the identity information of all UWB location tags received within the statistical period; Remove the identity information of the corresponding UWB location tag that has not received registration information within the statistical period from the registration set and update the registration set again.

9. The dynamic anti-collision method for UWB positioning base stations in coal mines according to claim 8, characterized in that, Also includes: introduction The second adjustment mechanism for the adaptive positioning cycle: The base station positioning cycle is adaptively updated based on 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 dynamic anti-collision method for UWB positioning base stations in coal mines 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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