Underground personnel identification method and system based on UWB technology

Abstract

The invention discloses an underground personnel identification method and system based on a UWB technology. The method comprises the following steps: S1, arranging a plurality of receivers in any area; s2, any receiver communicates with other receivers and measures distance, and a detection area is constructed according to a distance measurement result; s3, the multiple receivers communicate with one another, and clock synchronization is completed; s4, the positioning card communicates with the receiver, the coordinate position of the positioning card is calculated, and whether the coordinate position of the positioning card is located in the detection area or not is judged. The system comprises a plurality of receivers which are in wireless connection and construct a detection area; the positioning card is worn by an underground person and is in wireless connection with the receiver; the controller is connected with the plurality of receivers and is used for receiving data measured by the receivers; the receiver comprises a first UWB transmit-receive unit and a second UWB transmit-receive unit with different frequency bands. According to the underground personnel identification method and system based on the UWB technology, receivers are arranged at different positions, the receivers automatically form detection areas, the method and system are suitable for various different scenes, the positioning card identification method is simplified, and the positioning card identification speed is increased.

Description

Technical Field

[0001] This invention relates to the field of downhole positioning technology, specifically to downhole positioning based on UWB technology, and more particularly to a method and system for downhole personnel identification based on UWB technology. Background Technology

[0002] UWB (Ultra Wide Band) wireless positioning technology has been widely used in positioning systems in underground coal mines due to its advantages such as high positioning accuracy, strong multipath resistance, and low power consumption.

[0003] In the scenario of uniqueness detection for entering and exiting a well, each person entering the well is required to carry a personal positioning card. The system needs to quickly identify the positioning cards worn by personnel within the range of the turnstile or security gate and compare them with the personnel's biometric features. Positioning card identification typically involves deploying a receiver on the turnstile or security gate. The receiver and the positioning card use conventional ranging methods to identify positioning cards within a certain range centered on the receiver. This method cannot effectively cover the area of ​​the turnstile or security gate; too large a range leads to misidentification, while too small a range results in missed identifications, and the identification speed is also low.

[0004] Furthermore, in scenarios involving trackless rubber-wheeled vehicles, the positioning cards worn by passengers can obstruct signals due to the metal frame of the vehicle, preventing positioning base stations along the route from continuously locating passengers inside the vehicle. Typically, receivers need to be deployed inside the vehicle to measure distances with the positioning cards worn by passengers. However, conventional ranging methods cannot guarantee a good match between the receiver's coverage area and the vehicle's outline; too large a range leads to misidentification, while too small a range results in missed identifications, and the identification speed is also low.

[0005] Whether in turnstiles, security gates, trackless rubber-wheeled vehicles, or other common mining scenarios, conventional detection methods and systems often result in misidentification or missed identification due to inaccurate coverage. In addition, the high number of distance measurement interactions leads to slow recognition speed, which is particularly noticeable when the number of positioning cards to be identified increases. Summary of the Invention

[0006] The technical problem to be solved by this invention is: in order to solve the problem of complex identification schemes for positioning cards in different scenarios in the prior art, this invention provides a method and system for identifying personnel in mines based on UWB technology. By setting receivers at different locations, the receivers automatically form detection areas, which can be adapted to various scenarios, simplify the positioning card identification method and improve the positioning card identification speed.

[0007] The technical solution adopted by this invention to solve its technical problem is: a method for identifying downhole personnel based on UWB technology, comprising the following steps: S1. Multiple receivers can be deployed in any area; S2. Any receiver communicates with the other receivers and measures the distance, and constructs the detection area based on the distance measurement results; S3. Multiple receivers communicate with each other and complete clock synchronization; S4. The positioning card communicates with the receiver and calculates the coordinates of the positioning card to determine whether the coordinates of the positioning card are within the detection area.

[0008] This invention relates to an underground personnel identification method based on UWB technology. Receivers are arranged according to the required identification area, and the receivers automatically form a detection area through a ranging device. At the same time, the clocks of the receivers are synchronized, allowing for quick determination of whether a positioning card is located within the detection area. This simplifies the positioning card identification method and improves the positioning card identification speed.

[0009] Furthermore, in order to obtain the detection plane, the receiver in step S1 includes a first receiver A1, a second receiver A2, a third receiver A3, and a fourth receiver A4.

[0010] Furthermore, in order to construct a detection plane based on the relative positions of the receivers, step S2 specifically includes: S21. The first receiver A1 obtains the distance D between itself and the second receiver A2, the third receiver A3, and the fourth receiver A4 through UWB ranging. 12 D 13 D 14 ; S22. The second receiver A2 obtains the distance D between itself and the first receiver A1, the third receiver A3, and the receiver A4 through UWB ranging. 21 D 23 D 24 ; S23. Receiver A3 obtains the distance D between itself and the first receiver A1, the second receiver A2, and the fourth receiver A4 via UWB ranging. 31 D 32 D 34 ; S24. Receiver A4 obtains the distance D between itself and the first receiver A1, the second receiver A2, and the third receiver A3 via UWB ranging. 41 D 42 D 43 ; S25. Taking the location of the first receiver A1 as the origin O, calculate the planar coordinates of the second receiver A2, the third receiver A3, and the fourth receiver A4 relative to the origin O based on the distance values ​​obtained in S21-S24, thereby determining the detection area.

[0011] Furthermore, in order to obtain the relative positions between the receivers, the distance D12 is calculated using the following formula: ,in, This represents the time difference between receiver A1 sending a Poll message and receiving a PollAck message from receiver A2. This represents the time difference between receiver A2 sending the PollAck message and receiving the Final message from receiver A1. This represents the time difference between when receiver A2 receives the Poll message from receiver A1 and when receiver A2 sends the PollAck message. This represents the time difference between when receiver A1 receives the PollAck message from receiver A2 and when receiver A1 sends the Final message; The formula for calculating the distance D13 is as follows: ,in, This represents the time difference between receiver A1 sending a Poll message and receiving a PollAck message from receiver A3. This represents the time difference between receiver A3 sending the PollAck message and receiving the Final message from receiver A1. This indicates the time difference between receiver A3 receiving the Poll message from receiver A1 and receiver A3 sending the PollAck message. This represents the time difference between when receiver A1 receives the PollAck message from receiver A3 and when receiver A1 sends the Final message; The formula for calculating the distance D14 is as follows: ,in, This represents the time difference between receiver A1 sending a Poll message and receiving a PollAck message from receiver A4. This represents the time difference between receiver A4 sending the PollAck message and receiving the Final message from receiver A1. This indicates the time difference between receiver A4 receiving the Poll message from receiver A1 and receiver A4 sending the PollAck message. This represents the time difference between when receiver A1 receives the PollAck message from receiver A4 and when receiver A1 sends the Final message.

[0012] Furthermore, in order to update the detection area after the receiver position changes, the following steps are also included: S26. First receiver A1 calculates distance D in real time. 12 D 13 D 14 If the distance D 12 D 13 D 14 If the value changes, repeat steps S21-S25 to update the detection area.

[0013] Furthermore, in order to achieve clock synchronization between receivers, step S3 specifically includes: S31. After the second receiver A2, the third receiver A3, and the fourth receiver A4 periodically receive the Poll message from the first receiver A1, they record the corresponding reception time T of the second receiver A2, the third receiver A3, and the fourth receiver A4. A2 T A3 T A4 The Poll message carries the local time T of the first receiver A1 when the Poll message was sent. A1 ; S32. Calculate the flight time T of the Poll message sent by the first receiver A1 received by the second receiver A2, the third receiver A3, and the fourth receiver A4. 21 T 31 T 41 ; S33. Using their own clocks as a reference, the second receiver A2, the third receiver A3, and the fourth receiver A4 respectively calculate the sending time of the Poll message sent by the first receiver A1. , , ; S34. Obtain the actual sending time T of the Poll message sent by the first receiver A1. A1 The clock offsets of the second receiver A2, the third receiver A3, and the fourth receiver A4 relative to the first receiver A1 are calculated; based on the clock offsets, the clocks of the second receiver A2, the third receiver A3, and the fourth receiver A4 are aligned with the clock of the first receiver A1.

[0014] Furthermore, in order to quickly identify the location of the positioning card using the receiver, the calculation of the positioning card's coordinates in step S4 includes the following steps: S41. The positioning card sends a Poll message. The first receiver A1, the second receiver A2, the third receiver A3, and the fourth receiver A4 receive the Poll message and record the reception time. , , , ; S42. Calculate the time difference between the first receiver A1 and the second receiver A2. The time difference between the second receiver A2 and the third receiver A3 The time difference between the third receiver A3 and the fourth receiver A4 The time difference between the fourth receiver A4 and the first receiver A1 ; S43. Based on the time difference , , , Calculate the corresponding distance difference respectively , , , Each distance difference corresponds to a hyperbola in a two-dimensional plane, and the overlapping coordinate points are the coordinate positions of the positioning card.

[0015] Furthermore, to avoid interference between the component detection area and the identification positioning card, the first receiver A1, the second receiver A2, the third receiver A3, and the fourth receiver A4 each include a first UWB transceiver unit and a second UWB transceiver unit. The first receiver A1, the second receiver A2, the third receiver A3, and the fourth receiver A4 perform ranging and clock synchronization through the first UWB transceiver unit, and the second UWB transceiver unit communicates with the positioning card to determine the position and information of the positioning card.

[0016] Furthermore, to avoid signal interference, the first UWB transceiver unit and the second UWB transceiver unit use different channels.

[0017] The technical solution adopted by this invention to solve its technical problem is: an underground personnel identification system based on UWB technology, employing the aforementioned underground personnel identification method based on UWB technology, the system comprising: Multiple receivers are wirelessly connected to form a detection area; A positioning card, which is worn by personnel underground and wirelessly connected to a receiver; A controller, which is connected to multiple receivers and receives data measured by the receivers; The receiver includes a first UWB transceiver unit and a second UWB transceiver unit for different frequency bands.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention relates to a method and system for identifying personnel in underground mines based on UWB technology. It utilizes four receivers to construct a detection area. The positions of the four receivers can change at any time without needing to remain in a fixed position. This makes it applicable to different detection scenarios and avoids the situation of insufficient or excessive coverage that occurs in conventional methods. At the same time, the clocks of the receivers are kept synchronized, and the positioning card only needs to send a signal once to calculate the coordinate position of the positioning card in the detection area. This improves the time delay caused by the need for multiple judgments in conventional solutions.

[0019] 2. The present invention provides a method and system for identifying personnel in underground mines based on UWB technology. Each receiver communicates through two UWB transceiver units with different channels, namely a first UWB transceiver unit and a second UWB transceiver unit. This separates the communication between receivers from the communication between the receiver and the positioning card, avoiding mutual interference of signals and improving the identification efficiency of the positioning card. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a flowchart illustrating the downhole personnel identification method based on UWB technology of the present invention. Figure 2 This is a schematic diagram of the principle of the downhole personnel identification system based on UWB technology of the present invention; Figure 3 This is a schematic diagram illustrating the ranging principle between four receivers; Figure 4 This is a schematic diagram illustrating the principle of clock synchronization among the four receivers of the present invention; Figure 5 This is a schematic diagram illustrating the principle of a second embodiment of an underground personnel identification system based on UWB technology. Figure 6 This is a schematic diagram illustrating the ranging principle of the positioning card and receiver. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] like Figure 1 As shown, a method for identifying downhole personnel based on UWB technology includes the following steps: S1. Multiple receivers can be deployed in any area; S2. Any receiver communicates with the other receivers and measures the distance, and constructs the detection area based on the distance measurement results; S3. Multiple receivers communicate with each other and complete clock synchronization; S4. The positioning card communicates with the receiver and calculates the coordinates of the positioning card to determine whether the coordinates of the positioning card are within the detection area.

[0026] In different scenarios, receivers are placed at different locations within an area. These receivers can calculate distances to construct corresponding detection zones. While constructing the detection zone, the receivers synchronize their clocks. Subsequently, the positioning card only needs to send a signal once to calculate its coordinates within the detection zone (two-dimensional plane), reducing frequent signal interactions, avoiding signal interference and collisions, and improving the positioning card's recognition efficiency. Example 1 illustrates the scenario of location card reading when personnel pass through the entrance / exit gates of a mine. Since the uniqueness detection function is a fundamental feature of the positioning system, the mainstream approach is to deploy biometric recognition devices such as facial or iris scanners on the entrance / exit gates or security doors to acquire the personnel's biometric features. Simultaneously, these features are compared with the location card number worn by the personnel. Only if there is one and only one location card belonging to the individual can the uniqueness detection be passed.

[0027] Existing technologies for acquiring personnel biometrics while simultaneously reading location card numbers include: 1. In addition to the UWB transceiver unit of the positioning card, add functional units of other signal standards, and read the card number by deploying corresponding receivers on the turnstile or security gate. The advantage of this method is that it avoids the problem of multiple positioning cards being read at the same time due to the long transmission and reception distance of the UWB signal itself. However, each positioning card adds extra cost, and the recognition range cannot completely overlap with the outline of the turnstile or security gate.

[0028] 2. Using only the UWB transceiver unit of the positioning card, the card number is simply read by the UWB receiver deployed on the turnstile or security gate. However, due to the long transmission and reception distance of UWB signals, the receiver needs to measure the distance with the positioning card to determine which positioning cards are within its range. The advantage of this method is that the positioning card is low-cost and does not require additional functional units of other signal standards. However, the recognition range still cannot completely cover the outline of the turnstile or security gate. In addition, the simple distance measurement between the receiver and the positioning card to determine the recognition range requires at least three distance measurement interactions between the positioning card and the receiver to determine the distance. The air interface utilization is low, and the recognition speed will be slow in scenarios with multiple people queuing or high concurrency.

[0029] like Figure 2 As shown, the underground personnel identification system based on UWB technology includes: multiple receivers, positioning cards, and a controller. The multiple receivers are wirelessly connected to establish a detection area. The positioning cards are worn by underground personnel and are wirelessly connected to the receivers. The controller is connected to the multiple receivers and receives the data measured by them. The controller and receivers only need to maintain normal communication; the connection can be wired, such as via a bus, or wirelessly, such as via WiFi, Bluetooth, etc.

[0030] Specifically, the receivers include a first receiver A1, a second receiver A2, a third receiver A3, and a fourth receiver A4. These four receivers are positioned at the four corners of the turnstile. The first receiver A1, second receiver A2, third receiver A3, and fourth receiver A4 perform wireless ranging and establish a detection area, while simultaneously synchronizing their wireless clocks. After the positioning card measures distance from the receivers, its coordinates within the detection area can be determined, ultimately identifying the identity information of the positioning card within the detection area.

[0031] Specifically, the process by which the first receiver A1, the second receiver A2, the third receiver A3, and the fourth receiver A4 construct the detection area is as follows: S21. The first receiver A1 obtains the distance D between itself and the second receiver A2, the third receiver A3, and the fourth receiver A4 through UWB ranging. 12 D 13 D 14 .

[0032] S22. The second receiver A2 obtains the distance D between itself and the first receiver A1, the third receiver A3, and the receiver A4 through UWB ranging. 21 D 23 D 24 .

[0033] S23. Receiver A3 obtains the distance D between itself and the first receiver A1, the second receiver A2, and the fourth receiver A4 via UWB ranging. 31 D 32D 34 .

[0034] S24. Receiver A4 obtains the distance D between itself and the first receiver A1, the second receiver A2, and the third receiver A3 via UWB ranging. 41 D 42 D 43 .

[0035] S25. The aforementioned distance values ​​are transmitted to the controller via the bus. The controller takes the location of the first receiver A1 as the origin O and calculates the planar coordinates of the second receiver A2, the third receiver A3, and the fourth receiver A4 relative to the origin O based on the distance values ​​obtained in S21-S24, thereby determining the detection area.

[0036] S26. First receiver A1 calculates distance D in real time. 12 D 13 D 14 If the distance D 12 D 13 D 14 If the value changes, repeat steps S21-S25 to update the detection area. Four receivers are positioned at the four corners of the gate, and the detection area formed by the receivers covers the outline of the gate, satisfying the identification requirements of the positioning card within the gate area.

[0037] Since the receiver can be set as needed, the constructed detection area is not static. In different detection scenarios, the receiver's setting position is also different. The receiver can automatically generate new detection areas to meet the requirements of different detection scenarios and ensure the accuracy of the positioning structure.

[0038] The principle of UWB ranging is to calculate the distance using the signal time difference between the time reference points of the signal transmitter and receiver. For example... Figure 3 As shown, the first receiver A1 is the signal transmitter, and the second receiver A2, the third receiver A3, and the fourth receiver A4 are the signal receivers. The first receiver A1 sends a Poll message, and the second receiver A2, the third receiver A3, and the fourth receiver A4 can all receive the Poll message and give an acknowledgment. There is a time difference in this sending, receiving, and acknowledgment process, and the corresponding distance can be calculated using this time difference.

[0039] Specifically, the formula for calculating the distance D12 is: ,in, This represents the time difference between receiver A1 sending a Poll message and receiving a PollAck message from receiver A2. This represents the time difference between receiver A2 sending the PollAck message and receiving the Final message from receiver A1. This represents the time difference between when receiver A2 receives the Poll message from receiver A1 and when receiver A2 sends the PollAck message. This represents the time difference between when receiver A1 receives the PollAck message from receiver A2 and when receiver A1 sends the Final message; Specifically, the formula for calculating the distance to D13 is: ,in, This represents the time difference between receiver A1 sending a Poll message and receiving a PollAck message from receiver A3. This represents the time difference between receiver A3 sending the PollAck message and receiving the Final message from receiver A1. This indicates the time difference between receiver A3 receiving the Poll message from receiver A1 and receiver A3 sending the PollAck message. This represents the time difference between when receiver A1 receives the PollAck message from receiver A3 and when receiver A1 sends the Final message.

[0040] Specifically, the formula for calculating the distance to D14 is: ,in, This represents the time difference between receiver A1 sending a Poll message and receiving a PollAck message from receiver A4. This represents the time difference between receiver A4 sending the PollAck message and receiving the Final message from receiver A1. This indicates the time difference between receiver A4 receiving the Poll message from receiver A1 and receiver A4 sending the PollAck message. This represents the time difference between when receiver A1 receives the PollAck message from receiver A4 and when receiver A1 sends the Final message.

[0041] The distances D12, D13, D14, D21, D23, D24, D31, D32, D34, D41, D42, and D43 calculated by the four receivers as signal transmitters are aggregated and sent to the controller. Then, using the location of the first receiver A1 as the origin O, the planar coordinates of the second receiver A2, the third receiver A3, and the fourth receiver A4 relative to the origin O are calculated, thereby determining the two-dimensional planar region A1A2A3A4 (the detection area). For example, the coordinates of receiver A1 are... Let the coordinates of the second receiver A2, the third receiver A3, and the fourth receiver A4 be respectively... , , From the receiver The installation location is known. =0, =0, , , Therefore, the coordinates of the four receivers can be obtained.

[0042] like Figure 4 To achieve clock synchronization between receivers, clock synchronization and ranging between receivers are performed simultaneously. Step S3 specifically includes: S31. After the second receiver A2, the third receiver A3, and the fourth receiver A4 periodically receive the Poll message from the first receiver A1, they record the corresponding reception time T of the second receiver A2, the third receiver A3, and the fourth receiver A4. A2 T A3 T A4 The Poll message carries the local time T of the first receiver A1 when the Poll message was sent. A1 ; S32. Calculate the flight time T of the Poll message sent by the first receiver A1 received by the second receiver A2, the third receiver A3, and the fourth receiver A4. 21 T 31 T 41 ; S33. Using their own clocks as a reference, the second receiver A2, the third receiver A3, and the fourth receiver A4 respectively calculate the sending time of the Poll message sent by the first receiver A1. , , ; S34. Obtain the actual sending time T of the Poll message sent by the first receiver A1. A1 The clock offsets of the second receiver A2, the third receiver A3, and the fourth receiver A4 relative to the first receiver A1 are calculated; based on the clock offsets, the clocks of the second receiver A2, the third receiver A3, and the fourth receiver A4 are aligned with the clock of the first receiver A1.

[0043] In other words, the reception time is the time from when the first receiver A1 sends a Poll message to when the second receiver A2, the third receiver A3, and the fourth receiver A4 receive the Poll message. , , Given distances D21, D31, and D41, the flight time of the Poll message to each receiver can be calculated. , , ,in, , , c represents the speed of light. , , The clock offset of the second receiver A2 is... The clock deviation of the third receiver A3 is The clock offset of the fourth receiver A4 is Clock alignment between receivers can be achieved by compensating for clock skew to the corresponding receiver.

[0044] The process of calculating the coordinate position of the positioning card includes: S41. The positioning card sends a Poll message. The first receiver A1, the second receiver A2, the third receiver A3, and the fourth receiver A4 receive the Poll message and record the reception time. , , , ; S42. Calculate the time difference between the first receiver A1 and the second receiver A2. The time difference between the second receiver A2 and the third receiver A3 The time difference between the third receiver A3 and the fourth receiver A4 The time difference between the fourth receiver A4 and the first receiver A1 ; S43. Based on the time difference , , , Calculate the corresponding distance difference respectively , , , Each distance difference corresponds to a hyperbola in a two-dimensional plane, and the overlapping coordinate points are the coordinate positions of the positioning card. For example... Figure 6 As shown ( Figure 6 The central square is the positioning card. This represents the distance difference from this point to the first receiver A1 and the second receiver A2. The distance difference to two known points on a plane can be represented by a hyperbola. The rest... , , Similarly, ideally, the three receivers can construct two hyperbolas, the intersection of which represents the coordinates of the positioning card. In other words, the positioning card only needs to receive the signal from all three receivers to determine if the person is within the gate's range. The positioning card sends a poll message, and the four receivers record the time they receive the message. Since each receiver's clock is synchronized, the time difference between two receivers can be used to calculate two coordinate points. For example, the first receiver A1 and the second receiver A2 will generate two coordinate points, and the second receiver A2 and the third receiver A3 will also generate two coordinate points. Two of these four coordinate points will overlap, and the overlapping point is the positioning card's coordinate point. After obtaining the positioning card's coordinates, it can be determined whether the positioning card is within the detection area. Under normal circumstances, the positioning card only needs to send one signal to determine whether it is within the detection area, eliminating the need for multiple signal transmissions and reducing data concurrency.

[0045] Preferably, the first receiver A1, second receiver A2, third receiver A3, and fourth receiver A4 each include a first UWB transceiver unit and a second UWB transceiver unit. The first UWB transceiver unit enables ranging and clock synchronization among the receivers, while the second UWB transceiver unit communicates with the positioning card to determine its location and information. The first and second UWB transceiver units use different channels. By utilizing the first UWB transceiver unit for ranging and clock synchronization among the receivers, and the second UWB transceiver unit for communication with the positioning card's UWB unit, interference between the detection area construction and positioning card identification is avoided, thus improving the positioning card's identification efficiency.

[0046] Example 2, taking a trackless rubber-wheeled vehicle as an example, such as Figure 5 Four receivers are positioned at different locations within the trackless rubber-tired vehicle, maintaining the same installation height. The four receivers construct a detection area according to the method in Example 1 and are synchronized by clock. When a personnel member boards the vehicle, their personal positioning card communicates with the receivers installed inside the vehicle. The method in Example 1 is used to determine whether the positioning card is within the detection area. If it is, it indicates that the personnel member has boarded; otherwise, it indicates that they have not yet boarded.

[0047] In underground coal mines, accurately and quickly identifying whether personnel are boarding a vehicle directly impacts their movement trajectory. For example, if a person has disembarked but is still linked to the vehicle's position, their trajectory will move rapidly with the vehicle. Conversely, if a person has boarded but is not linked in time, their movement will be slow and abnormal. Entering certain restricted areas without accurate and rapid identification of the relationship between the person and the vehicle can cause serious problems. This invention places receivers at the four corners of the vehicle compartment. Through distance measurement calculations between the receivers, a two-dimensional planar area is constructed that can completely reflect the actual outline of the compartment, avoiding situations of insufficient or excessive coverage. Because the clocks of the receivers are synchronized, the positioning card only needs to send a signal once to calculate its coordinates, overcoming the time delay caused by multiple judgments.

[0048] In summary, the present invention provides a method and system for identifying personnel in underground mines based on UWB technology. By setting up receivers at different locations, the receivers automatically form detection areas, adapting to various scenarios, simplifying the location card identification method, and improving the location card identification speed.

[0049] The above description is based on the preferred embodiments of the present invention. Through the above description, those skilled in the art can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. A method for identifying downhole personnel based on UWB technology, characterized in that, Includes the following steps: S1. Multiple receivers can be deployed in any area; S2. Any receiver communicates with the other receivers and measures the distance, and constructs the detection area based on the distance measurement results; S3. Multiple receivers communicate with each other and complete clock synchronization; S4. The positioning card communicates with the receiver and calculates the coordinates of the positioning card to determine whether the coordinates of the positioning card are within the detection area.

2. The downhole personnel identification method based on UWB technology according to claim 1, characterized in that, The receivers in step S1 include a first receiver A1, a second receiver A2, a third receiver A3, and a fourth receiver A4.

3. The downhole personnel identification method based on UWB technology according to claim 2, characterized in that, Step S2 specifically includes: S21. The first receiver A1 obtains the distance D between itself and the second receiver A2, the third receiver A3, and the fourth receiver A4 through UWB ranging. 12 D 13 D 14 ; S22. The second receiver A2 obtains the distance D between itself and the first receiver A1, the third receiver A3, and the receiver A4 through UWB ranging. 21 D 23 D 24 ; S23. Receiver A3 obtains the distance D between itself and the first receiver A1, the second receiver A2, and the fourth receiver A4 via UWB ranging. 31 D 32 D 34 ; S24. Receiver A4 obtains the distance D between itself and the first receiver A1, the second receiver A2, and the third receiver A3 via UWB ranging. 41 D 42 D 43 ; S25. Taking the location of the first receiver A1 as the origin O, calculate the planar coordinates of the second receiver A2, the third receiver A3, and the fourth receiver A4 relative to the origin O based on the distance values ​​obtained in S21-S24, thereby determining the detection area.

4. The downhole personnel identification method based on UWB technology according to claim 3, characterized in that, The formula for calculating the distance D12 is as follows: ,in, This represents the time difference between receiver A1 sending a Poll message and receiving a PollAck message from receiver A2. This represents the time difference between receiver A2 sending the PollAck message and receiving the Final message from receiver A1. This represents the time difference between when receiver A2 receives the Poll message from receiver A1 and when receiver A2 sends the PollAck message. This represents the time difference between when receiver A1 receives the PollAck message from receiver A2 and when receiver A1 sends the Final message; The formula for calculating the distance D13 is as follows: ,in, This represents the time difference between receiver A1 sending a Poll message and receiving a PollAck message from receiver A3. This represents the time difference between receiver A3 sending the PollAck message and receiving the Final message from receiver A1. This indicates the time difference between receiver A3 receiving the Poll message from receiver A1 and receiver A3 sending the PollAck message. This represents the time difference between when receiver A1 receives the PollAck message from receiver A3 and when receiver A1 sends the Final message; The formula for calculating the distance D14 is as follows: ,in, This represents the time difference between receiver A1 sending a Poll message and receiving a PollAck message from receiver A4. This represents the time difference between receiver A4 sending the PollAck message and receiving the Final message from receiver A1. This indicates the time difference between receiver A4 receiving the Poll message from receiver A1 and receiver A4 sending the PollAck message. This represents the time difference between when receiver A1 receives the PollAck message from receiver A4 and when receiver A1 sends the Final message.

5. The downhole personnel identification method based on UWB technology according to claim 4, characterized in that, It also includes the following steps: S26. First receiver A1 calculates distance D in real time. 12 D 13 D 14 If the distance D 12 D 13 D 14 If the value changes, repeat steps S21-S25 to update the detection area.

6. The method for identifying downhole personnel based on UWB technology according to claim 1, characterized in that, Step S3 specifically includes: S31. After the second receiver A2, the third receiver A3, and the fourth receiver A4 periodically receive the Poll message from the first receiver A1, they record the corresponding reception time T of the second receiver A2, the third receiver A3, and the fourth receiver A4. A2 T A3 T A4 The Poll message carries the local time T of the first receiver A1 when the Poll message was sent. A1 ; S32. Calculate the flight time T of the Poll message sent by the first receiver A1 received by the second receiver A2, the third receiver A3, and the fourth receiver A4. 21 T 31 T 41 ; S33. Using their own clocks as a reference, the second receiver A2, the third receiver A3, and the fourth receiver A4 respectively calculate the sending time of the Poll message sent by the first receiver A1. , , ; S34. Obtain the actual sending time T of the Poll message sent by the first receiver A1. A1 The clock offsets of the second receiver A2, the third receiver A3, and the fourth receiver A4 relative to the first receiver A1 are calculated; based on the clock offsets, the clocks of the second receiver A2, the third receiver A3, and the fourth receiver A4 are aligned with the clock of the first receiver A1.

7. The downhole personnel identification method based on UWB technology according to claim 1, characterized in that, The calculation of the coordinate position of the positioning card in step S4 includes the following steps: S41. The positioning card sends a Poll message. The first receiver A1, the second receiver A2, the third receiver A3, and the fourth receiver A4 receive the Poll message and record the reception time. , , , ; S42. Calculate the time difference between the first receiver A1 and the second receiver A2. The time difference between the second receiver A2 and the third receiver A3 The time difference between the third receiver A3 and the fourth receiver A4 The time difference between the fourth receiver A4 and the first receiver A1 ; S43. Based on the time difference , , , Calculate the corresponding distance difference respectively , , , Each distance difference corresponds to a hyperbola in a two-dimensional plane, and the overlapping coordinate points are the coordinate positions of the positioning card.

8. The method for identifying downhole personnel based on UWB technology according to claim 2, characterized in that, The first receiver A1, the second receiver A2, the third receiver A3, and the fourth receiver A4 each include a first UWB transceiver unit and a second UWB transceiver unit. The first receiver A1, the second receiver A2, the third receiver A3, and the fourth receiver A4 perform ranging and clock synchronization through the first UWB transceiver unit. The second UWB transceiver unit communicates with the positioning card to determine the position and information of the positioning card.

9. The method for identifying downhole personnel based on UWB technology according to claim 8, characterized in that, The channels of the first UWB transceiver unit and the second UWB transceiver unit are different.

10. A downhole personnel identification system based on UWB technology, characterized in that, The system employs the downhole personnel identification method based on UWB technology as described in any one of claims 1-9, wherein the system comprises: Multiple receivers are wirelessly connected to form a detection area; A positioning card, which is worn by personnel underground and wirelessly connected to a receiver; A controller, which is connected to multiple receivers and receives data measured by the receivers; The receiver includes a first UWB transceiver unit and a second UWB transceiver unit for different frequency bands.

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