CN111681329A

CN111681329A - Attendance record generation method, device and system

Info

Publication number: CN111681329A
Application number: CN202010206321.2A
Authority: CN
Inventors: 裘有斌; 陈宗辉; 张国熠
Original assignee: Qing Yanxun Technology Beijing Co ltd
Current assignee: Qing Yanxun Technology Beijing Co ltd
Priority date: 2020-03-23
Filing date: 2020-03-23
Publication date: 2020-09-18

Abstract

The embodiment of the application provides a method, a device and a system for generating attendance records, wherein the method comprises the following steps: receiving a request instruction sent by a user management terminal, wherein the request instruction is used for requesting to acquire an attendance record of a target node in a long and narrow space, and the user management terminal is used for receiving the attendance record of the target node based on the request instruction and displaying the attendance record; acquiring first position information of the target node through ultra-wideband UWB communication; generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space; and sending the attendance record to the user management terminal. Through the embodiment of the application, the technical problem that in the related technology, due to the fact that the signal difference in the long and narrow space can not be used for checking the attendance of the target in the long and narrow space is solved.

Description

Attendance record generation method, device and system

Technical Field

The embodiment of the application relates to the field of communication, in particular to a method, a device and a system for generating attendance records.

Background

At present, the construction of tunnels in China is continuously increased, however, the construction cost of the tunnels is high, and the monitoring management of the tunnels is relatively complex, so that the monitoring management of the tunnels is highly valued in various places. Because signals in the tunnel are poor, the existing remote information management system cannot accurately acquire the position of a constructor in the tunnel, and cannot accurately monitor whether the constructor enters a preset attendance checking area or not, so that the constructor cannot be comprehensively, timely and accurately mastered, and a lot of accidents are caused.

In view of the above problems in the related art, no effective solution has been found at present.

Disclosure of Invention

The embodiment of the application provides a method, a device and a system for generating attendance records, and at least solves the technical problem that in the related art, due to signal difference in a long and narrow space, attendance cannot be performed on a target in the long and narrow space.

According to an embodiment of the application, a method for generating an attendance record is provided, which includes: receiving a request instruction sent by a user management terminal, wherein the request instruction is used for requesting to acquire an attendance record of a target node in a long and narrow space, and the user management terminal is used for receiving the attendance record of the target node based on the request instruction and displaying the attendance record; acquiring first position information of the target node through ultra-wideband UWB communication; generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space; and sending the attendance record to the user management terminal.

Optionally, at least two first ultra wide band UWB positioning base stations are fixedly disposed at an entrance of the elongated space, the at least two first ultra wide band UWB positioning base stations are sequentially arranged along an extending direction of the elongated space, and the acquiring the first position information of the target node through ultra wide band UWB communication includes: acquiring first positioning information for positioning the target node through the at least two first UWB positioning base stations; calculating first location information of the target node from the first location information and at least two second location information of the at least two first UWB positioning base stations, wherein the at least two second location information are known.

Optionally, at least two second UWB positioning base stations are fixedly disposed on a first mobile device, a connection line of at least two UWB positioning base stations of the at least two second UWB positioning base stations is perpendicular to an extending direction of the elongated space, the first mobile device is located at a target operation plane of the elongated space, and the obtaining the first position information of the target node through ultra wide band UWB communication includes: acquiring third position information of a first preset reference tag in the elongated space and second positioning information for positioning the target node through the at least two second UWB positioning base stations, wherein the first preset reference tag comprises a UWB positioning module, a coplanar waveguide antenna is arranged in the UWB positioning module, and the first preset reference tag can communicate with the at least two second UWB positioning base stations; calculating at least two fourth position information of the at least two second UWB positioning base stations according to the third position information; and calculating first position information of the target node according to the at least two pieces of fourth position information and the second positioning information.

Optionally, generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space includes: generating a movement track of the target node based on the first position information; selecting a first position for entering the attendance area for the first time and a second position for leaving the attendance area for the last time in the movement track; acquiring first time and second time when the target node respectively resides at the first position and the second position; and determining the first time and the second time as the working time and the working time in the attendance record of the target node.

Optionally, before generating the attendance record of the target node according to the first location information and the attendance region in the elongated space, the method further includes: acquiring a locatable area of a plurality of Ultra Wide Band (UWB) location base stations in the long and narrow space; setting an active area of the target node according to the locatable area and the geographical structure of the elongate space; and compressing the movable area in parallel for a preset distance in the extending direction of the long and narrow space to obtain an area serving as the attendance checking area.

According to an embodiment of the present application, another method for generating an attendance record is provided, including: sending a request instruction to a server, wherein the request instruction is used for requesting to acquire an attendance record of a target node in an elongated space, the server is used for acquiring first position information of the target node through ultra-wideband UWB communication, generating the attendance record of the target node according to the first position information and an attendance area in the elongated space, and sending the attendance record to a user management terminal based on the request instruction; receiving the attendance record; and displaying the attendance record.

According to an embodiment of the present application, there is provided an attendance record generation apparatus, including: the system comprises a receiving module, a sending module and a processing module, wherein the receiving module is used for receiving a request instruction sent by a user management terminal, the request instruction is used for requesting to acquire the attendance record of a target node in a long and narrow space, and the user management terminal is used for receiving the attendance record of the target node based on the request instruction and displaying the attendance record; the first acquisition module is used for acquiring first position information of the target node through ultra-wideband UWB communication; the generating module is used for generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space; and the sending module is used for sending the attendance record to the user management terminal.

Optionally, at least two first ultra wide band UWB positioning base stations are fixedly disposed at an entrance of the elongated space, the at least two first UWB positioning base stations are sequentially arranged along an extending direction of the elongated space, and the first obtaining module includes: a first obtaining unit, configured to obtain first positioning information for positioning the target node through the at least two first UWB positioning base stations; a first calculating unit, configured to calculate first location information of the target node according to the first location information and at least two second location information of the at least two first UWB positioning base stations, where the at least two second location information are known.

Optionally, at least two second UWB positioning base stations are fixedly disposed on a first mobile device, a connection line of at least two UWB positioning base stations of the at least two second UWB positioning base stations is perpendicular to an extending direction of the elongated space, the first mobile device is located at a target working plane of the elongated space, and the first obtaining module includes: a second obtaining unit, configured to obtain third position information of a first preset reference tag in the elongated space and obtain second positioning information for positioning the target node through the at least two second UWB positioning base stations, where the first preset reference tag includes a UWB positioning module, a coplanar waveguide antenna is disposed in the UWB positioning module, and the first preset reference tag is communicable with the at least two second UWB positioning base stations; a second calculating unit, configured to calculate at least two fourth position information of the at least two second UWB positioning base stations according to the third position information; and a third calculating unit, configured to calculate first location information of the target node according to the at least two fourth location information and the second positioning information.

Optionally, the generating module includes: a generating unit, configured to generate a movement trajectory of the target node based on the first position information; the selection unit is used for selecting a first position entering the attendance checking area for the first time and a second position leaving the attendance checking area for the last time in the moving track; a third obtaining unit, configured to obtain a first time and a second time when the target node resides in the first location and the second location, respectively; the determining unit is used for determining the first time and the second time as the on-duty time and the off-duty time in the attendance record of the target node.

Optionally, the apparatus further comprises: a second obtaining module, configured to obtain locatable areas of multiple ultra-wideband UWB positioning base stations in the long and narrow space before generating an attendance record of the target node according to the first location information and the attendance area in the long and narrow space; a setting module for setting an active area of the target node according to the locatable area and the geographical structure of the elongate space; and the determining module is used for parallelly compressing the activity area to the extending direction of the long and narrow space for a preset distance to obtain an area as the attendance checking area.

According to an embodiment of the present application, there is provided another attendance record generation apparatus, including: the system comprises a sending module, a server and a user management terminal, wherein the sending module is used for sending a request instruction to the server, the request instruction is used for requesting to acquire an attendance record of a target node in a long and narrow space, the server is used for acquiring first position information of the target node through ultra-wideband UWB communication, generating the attendance record of the target node according to the first position information and an attendance area in the long and narrow space, and sending the attendance record to the user management terminal based on the request instruction; the receiving module is used for receiving the attendance record; and the display module is used for displaying the attendance record.

According to another embodiment of the present application, there is also provided a system for generating an attendance record, including at least: user management terminal, server and a plurality of ultra wide band UWB location base station, wherein, user management terminal includes: the system comprises a sending module, a sending module and a sending module, wherein the sending module is used for sending a request instruction to a server, and the request instruction is used for requesting to acquire the attendance record of a target node in a long and narrow space; the receiving module is used for receiving the attendance record sent by the server; the display module is used for displaying the attendance record; the server includes: the receiving module is used for receiving a request instruction sent by the user management terminal; the acquisition module is used for acquiring first position information of the target node through ultra-wideband UWB communication; the generating module is used for generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space; the sending module is used for sending the attendance record to the user management terminal; the plurality of ultra-wideband UWB positioning base stations are in communication connection with the server and used for positioning the target node, wherein the plurality of ultra-wideband UWB positioning base stations at least comprise at least two first UWB positioning base stations and at least two second UWB positioning base stations, the at least two first UWB positioning base stations are fixedly arranged at the entrance of the elongated space, and the at least two first UWB positioning base stations are sequentially arranged along the extending direction of the elongated space; the at least two second UWB positioning base stations are fixedly arranged on a first mobile device, the first mobile device is located at a target operation surface of the long and narrow space, and a connecting line of the at least two UWB positioning base stations in the at least two second UWB positioning base stations is perpendicular to the extending direction of the long and narrow space.

Optionally, the system further includes: the first preset reference tag is positioned between the at least two first UWB positioning base stations and the at least two second UWB positioning base stations and used for positioning the at least two second UWB positioning base stations, wherein the first preset reference tag comprises a UWB positioning module, a coplanar waveguide antenna is arranged in the UWB positioning module, and the first preset reference tag can communicate with the at least two second UWB positioning base stations.

According to a further embodiment of the present application, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.

According to yet another embodiment of the present application, there is also provided an electronic device, comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.

According to the embodiment of the application, after the request instruction of requesting to acquire the attendance record of the target node in the long and narrow space (such as a tunnel) sent by the user management terminal is received, the target node is positioned through ultra-wideband UWB communication, so that the position information of the target node is accurately acquired, the attendance record of the target node is generated based on the position information of the target node and the attendance area arranged in the long and narrow space, and then the attendance record is sent to the user management terminal, so that the attendance can be accurately performed on the target node in the long and narrow space, and the technical problem that the attendance of the target in the long and narrow space cannot be performed due to the signal difference in the long and narrow space in the related technology is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a block diagram of a hardware structure in which a method for generating an attendance record according to an embodiment of the present application is applied to a mobile terminal;

fig. 2 is a flowchart of a method for generating an attendance record according to an embodiment of the present application;

fig. 3 is a schematic diagram of 3 positioning modes based on UWB positioning according to an embodiment of the application;

fig. 4 is a schematic structural diagram of a UWB positioning module provided in an embodiment of the present application;

fig. 5 is a schematic structural view of a coplanar waveguide antenna according to the present embodiment;

FIG. 6 is a radiation pattern for a coplanar waveguide antenna having an operating frequency of 4GHz according to an embodiment of the present invention;

fig. 7 is a top view of a first arrangement of base stations in a tunnel according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a one-dimensional positioning process provided in accordance with an embodiment of the present application;

fig. 9 is a top view of a second base station layout in a tunnel according to an embodiment of the present application;

FIG. 10 is a schematic diagram of a two-dimensional positioning process provided in accordance with an embodiment of the present application;

fig. 11 is a top view of a third arrangement of base stations in a tunnel according to an embodiment of the present application;

fig. 12 is a schematic coordinate diagram of automatic updating of coordinates of a base station according to an embodiment of the present disclosure;

FIG. 13 is a schematic diagram of an AOA principle based positioning provided according to an embodiment of the present invention;

fig. 14 is a schematic diagram illustrating division of attendance areas in a tunnel according to an embodiment of the present application;

fig. 15 is a flowchart of another attendance record generation method according to an embodiment of the present application;

fig. 16 is a block diagram of a device for generating an attendance record according to an embodiment of the present application;

fig. 17 is a block diagram of another attendance record generation apparatus according to an embodiment of the present application;

fig. 18 is a block diagram of a system for generating attendance records according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

The method provided by the first embodiment of the present application may be executed in a computer, a server, a terminal, or a similar computing device. Taking an example of running on a terminal, fig. 1 is a hardware structure block diagram of an attendance record generation method applied to a mobile terminal according to an embodiment of the present application. As shown in fig. 1, the terminal may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally, a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.

The memory 104 may be used to store a computer program, for example, a software program and a module of application software, such as a computer program corresponding to a method for generating an attendance record in the embodiment of the present application, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.

In this embodiment, another method for generating an attendance record is provided, and fig. 2 is a flowchart of another method for generating an attendance record according to an embodiment of the present application, and as shown in fig. 2, the flowchart includes the following steps:

step S202, receiving a request instruction sent by a user management terminal, wherein the request instruction is used for requesting to acquire an attendance record of a target node in a long and narrow space, and the user management terminal is used for receiving the attendance record of the target node based on the request instruction and displaying the attendance record;

step S204, acquiring first position information of a target node through ultra-wideband UWB communication;

uwb (ultra wideband), an ultra wideband technology, is a carrier-free communication technology, and uses nanosecond to microsecond non-sine wave narrow pulses to transmit data, and transmits signals with extremely low power over a wide frequency spectrum. UWB technology has many advantages for local area positioning: 1) the positioning precision is high (within 10 cm), and the ultra-wideband adopts a pulse signal with short duration (nanosecond level), so that the time resolution and the space resolution are strong, and the high positioning precision can be achieved; 2) the anti-interference capability is strong, the resolution ratio is high, and the interference of widely used 2.4G signals is avoided; 3) the power consumption is low, the carrier wave does not need to be continuously transmitted, the pulse duration is short, and the duty ratio is low.

In this embodiment, the UWB positioning base station needs to transmit the collected data back to the positioning engine (located on the server) for processing in a wired or wireless manner. Generally, three positioning manners are involved, as shown in fig. 3, fig. 3 is a schematic diagram of 3 positioning manners based on UWB positioning provided by the embodiment of the present application, and the following 3 positioning manners are: 1) presence detection: the typical application is a small room, and whether a positioning target is in the room is detected through a base station; 2) one-dimensional positioning: typically, when the base station is used for positioning in a long and narrow space such as a corridor or a tunnel, the base station is erected along the length direction of a region, and only the relative position (i.e. the first position information) of a positioning target (i.e. the target node) in the length direction of the region is needed, and the width (i.e. the relative distance) of the region is generally ignored; 3) two-dimensional positioning: typically, the positioning base station is used in an open area with a large area, and the positioning base station spans and covers the corresponding area in the form of a square matrix, so as to position the two-dimensional coordinates (i.e., the first position information) of the positioning target in the corresponding area.

Step S206, generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space;

and step S208, sending the attendance record to the user management terminal.

The execution subject may be a server, but is not limited thereto.

Through the embodiment, after the request instruction of requesting to acquire the attendance record of the target node in the long and narrow space (such as a tunnel) sent by the user management terminal is received, the target node is positioned through ultra-wideband UWB communication, so that the position information of the target node is accurately acquired, the attendance record of the target node is generated based on the position information of the target node and the attendance area arranged in the long and narrow space, and then the attendance record is sent to the user management terminal, so that the attendance of the target node in the long and narrow space can be accurately performed, and the technical problem that the attendance of the target in the long and narrow space cannot be performed due to the signal difference in the long and narrow space in the related technology is solved.

In an optional embodiment of the present disclosure, at least two first ultra wide band UWB positioning base stations are fixedly disposed at an entrance of the elongated space, the at least two first ultra wide band UWB positioning base stations are sequentially arranged along an extending direction of the elongated space, and the acquiring the first position information of the target node through ultra wide band UWB communication includes: acquiring first positioning information for positioning a target node through at least two first UWB positioning base stations; first position information of the target node is calculated according to the first position information and at least two second position information of at least two first UWB positioning base stations, wherein the at least two second position information are known.

In an optional application scenario, taking a tunnel as an example, two fixed coordinate UWB base stations (i.e., the at least two first UWB positioning base stations) are installed at an entrance of the tunnel, and the two fixed coordinate base stations are sequentially arranged along an extending direction of the tunnel, and are used for positioning a constructor (i.e., the target node) within a communication range covered by the two fixed coordinate base stations, wherein the constructor is worn with a positioning tag, the positioning tag is provided with a UWB positioning module and a power supply module, the positioning information is sent to a server through the UWB base stations, and the server calculates a position of the constructor (i.e., the first position information), so that one-dimensional positioning of the constructor at the entrance of the tunnel is realized.

In another optional embodiment of the present disclosure, at least two second UWB positioning base stations are fixedly disposed on the first mobile device, a connection line of at least two UWB positioning base stations of the at least two second UWB positioning base stations is perpendicular to an extending direction of the elongated space, the first mobile device is located at a target operation plane of the elongated space, and acquiring the first position information of the target node through the ultra wideband UWB communication includes: acquiring third position information of a first preset reference tag in a long and narrow space and second positioning information for positioning a target node through at least two second UWB positioning base stations, wherein the first preset reference tag comprises a UWB positioning module, a coplanar waveguide antenna is arranged in the UWB positioning module, and the first preset reference tag can be communicated with the at least two second UWB positioning base stations; calculating at least two fourth position information of at least two second UWB positioning base stations according to the third position information; and calculating first position information of the target node according to the at least two fourth position information and the second positioning information.

In another alternative application scenario, taking the tunnel as an example, a trolley (i.e. the first moving device) is provided at the tunnel face (i.e. the target working face) of the tunnel (i.e. the target working face), the trolley moves along with the tunnel face, the trolley is provided with two UWB base stations (i.e. the at least two second UWB base stations), a connection line of the two UWB base stations is perpendicular to an extending direction of the tunnel, and a reference label (namely the first preset label) is arranged between the entrance of the tunnel and the tunnel face, the reference label comprises a UWB positioning module and a power supply module, wherein, the UWB positioning module is internally provided with a coplanar waveguide antenna, as shown in fig. 4, fig. 4 is a schematic structural diagram of the UWB positioning module provided by the embodiment of the present application, wherein, be equipped with UWB chip 40 in the UWB location module, with UWB location radio frequency module 42 communication, UWB location radio frequency module 42 and coplanar waveguide antenna 44 communication. In this embodiment, but the communication between two UWB basic stations on benchmark label and the platform truck, fix a position two UWB basic stations on the platform truck through the benchmark label to with locating information transmission to server, the server calculates the position coordinates of two UWB basic stations on the platform truck, thereby realize carrying out one-dimensional location to the constructor around the platform truck according to two UWB basic stations on the platform truck.

In an alternative embodiment, fig. 5 is a schematic structural diagram of a coplanar waveguide antenna provided according to the present embodiment, and as shown in fig. 5, the coplanar waveguide antenna includes a substrate 1, and a ground patch 2 and an elliptical feed patch 4 are disposed on one surface of the substrate 1; the grounding patch 2 is provided with an elliptical groove 3 and a gap 5 communicated with the elliptical groove 3; the feed patch 4 is positioned in the elliptical groove 3, and part of the feed patch 4 extends to the notch 5; the long axis of the feed patch 4 and the long axis of the elliptical groove 3 coincide with the central axis of the ground patch 2. By adopting the coplanar waveguide antenna provided in the implementation, the elliptical feed patch 4 increases the resonant frequency, thereby improving the bandwidth; and the grounding patch 2 provided with the elliptical groove 3 can effectively reduce the loss caused by surface waves, thereby reducing the return loss and improving the gain.

Preferably, the coplanar waveguide antenna in this embodiment operates at a predetermined frequency, such as 2GHz-8 GHz. Fig. 6 is a radiation pattern of the coplanar waveguide antenna provided according to the embodiment of the present invention at an operating frequency of 4GHz, wherein the gain of the coplanar waveguide antenna in the positive and negative directions along the y-axis is 5dB, and the gain of the coplanar waveguide antenna in the positive and negative directions along the x-axis is-5.8 dB, and the coplanar waveguide antenna has good dual-directionality. Referring to fig. 6, it can be seen that the coplanar waveguide antenna provided in the embodiment of the present invention has good signal transceiving performance in the X-axis direction (i.e., the tunneling direction) during tunnel positioning, and has low signal sensitivity in the Y-axis direction, so that the reflection interference generated by the positioning signal passing through the tunnel wall can be effectively reduced, and the positioning accuracy is further improved.

For a common UWB antenna and a base station, the effective signal distance is only about 30 meters to 50 meters, while the effective signal distance in the positive and negative directions of the X axis can reach 150 meters to 300 meters due to the one-dimensional positioning of the coplanar waveguide antenna in the tunnel, so that the use number of T1 is effectively reduced, and the moving frequency of T1 along with the tunnel excavation direction is reduced; in addition, due to the fact that the number of the reference labels T1 is reduced and the moving frequency of the T1 is reduced, the layout density of the positioning base stations in the tunnel can be effectively reduced, the complexity of the tunnel positioning base station layout engineering is reduced, and more accurate attendance records are obtained by improving the positioning accuracy of target nodes in the tunnel.

According to the embodiment, compared with the Positioning technology based on the Global Positioning System (Global Positioning System), the Positioning System based on the UWB can realize high-precision local Positioning, and the precision can reach 10 cm. Therefore, as a core device of the UWB local positioning system, the UWB positioning system provided by the embodiment of the application is applicable to a long and narrow indoor space, for example, positioning an operator in a tunnel to ensure the safety of the operator.

In an exemplary scenario, as shown in fig. 7, fig. 7 is a top view of a first layout of base stations in a tunnel according to an embodiment of the present application, two fixed coordinate base stations B1 and B2 (i.e. the at least two first UWB positioning base stations) are installed at a tunnel entrance, and a reference tag T1 (i.e. the first preset tag) is placed at a distance to the right of the fixed base stations in the horizontal direction (the distance depends on the distance range in which the base stations and the tag can communicate). Two base stations B3, B4 (i.e. the above-mentioned at least two second UWB positioning base stations) are mounted on the trolley, wherein the line connecting B3, B4 is perpendicular to the extending direction of the tunnel.

Preferably, the one-dimensional positioning of the constructor in the tunnel comprises a plurality of ways.

In a first mode

In the early stage of tunneling, the reference tag T1 may communicate with B1 and B2, after deployment according to this scheme, the program starts to receive network data of base stations, may receive ranging (distance between a base station and a communicable tag is given in ranging data) data sent by a base station, calculates the position of the reference tag T1 (i.e. the third position information) using ranging information of T1 and B1, T1 and B2, selects an origin based on a connection line of B1 and B2 as an X coordinate axis, and establishes a coordinate system with a vertical direction of the connection line of B1 and B2 as a Y coordinate axis, such as the coordinate system shown in fig. 7 (the obtained coordinates in this embodiment are all relative to the origin O in fig. 7), and optionally, makes the coordinates of B1, B2 and reference T1 on the Y axis equal and constant, so that their position relationships in the coordinate system can be obtained according to ranging.

Assuming that B1 coordinates are (B1x, B1y), the distance between T1 and B1 is B1 range finding, B2 coordinates are (B2x, B2y), and the distance between T1 and B2 is B2 range finding, T1(T1x, T1y) is calculated by the following formula:

t1x ═ ((B1x + B1 rangefinder) + (B2x + B2 rangefinder))/2;

T1y＝B1y＝B2y；

further, using ranging information of B3, B4, and T1, wherein B4 ranging represents a horizontal distance of B4 to T1, by the following formula:

b4x ═ T1x + B4 ranging;

B4y＝T1y；

B3x＝B4x；

b3y ═ B4y + fixed distance L;

wherein, the y-axis distance between the base stations B3 and B4 is known as a fixed distance L.

Further, the exact coordinates of the base stations B3, B4 are calculated, and then the coordinates of the base stations B3, B4 are updated, so that the one-dimensional positioning is performed on the tags T2, T3, … Tn (i.e., the constructors) on the right side of the trolley.

Preferably, in order to make the calculated value more accurate, the algorithm scheme is adopted as follows: after B1 and T1, B2 and T1 distance measurement data are collected for a certain threshold number of times (the distance measurement times are configurable, for example, default 10 times), a mode of removing the maximum value and the minimum value distance measurement is adopted, then the remaining distance measurement data are averaged and used as the final distance measurement data of B1 and T1, and B2 and T1 to calculate the coordinate of the reference label T1. Since T1 is fixed relative to B3 and B4, obtaining accurate T1 coordinates will result in more accurate coordinates of B3 and B4, and thus more accurate position coordinates of the constructor.

Mode two

According to the application scenario, during tunneling, the reference tag T1 moves away from B1 and B2 along the tunneling direction, and T1 cannot communicate with B1 and B2 for ranging.

When the trolley moves forwards along with the heading of the tunnel face, if the distance between the reference tag T1 and the base stations B3 and B4 on the trolley exceeds the distance between the base stations and the tags, the reference tag T1 moves rightwards to reach the distance between the base stations and the tags, and the distance can be communicated with B3 and B4; further, the reference tag T1 may measure the precise coordinates of the reference tag using a laser range finder every time it moves in the tunneling direction, and update the coordinates of the reference tag T1 in the positioning system.

In this embodiment, obtaining the coordinates of the reference tag includes the following two cases:

1a) if the absolute coordinates of tags T2, T3, … Tn are not of interest in the tunnel, and only the relative location of the tags on the right side of the cart is of interest, reference tag T1 may be provided with a fixed coordinate (i.e., the third location information described above), with the location of tags T2, T3, … Tn being located relative to reference tag T1.

2b) If the absolute coordinates of the tags T2, T3, … Tn in the tunnel are of interest, the coordinates of T1 (i.e., the third positional information described above) can be measured using a laser rangefinder.

Further, the coordinates of the base stations B3 and B4 are updated according to the scheme of calculating the coordinates of B3 and B4 (i.e., the fourth position information) according to the reference tag T1 in the first mode.

Optionally, the reference tag T1 provided in the embodiment of the present application includes a coplanar waveguide antenna, and the signal transceiving performance in the X-axis direction (i.e., the tunneling direction) in the tunnel positioning is good, and the signal sensitivity in the Y-axis direction is low, so that the reflection interference generated by the positioning signal through the tunnel wall can be effectively reduced, and the accuracy of distance measurement between T1 and B1 and B2 is ensured. Specifically, in the tunneling process, the reference label T1 moves rightward along the X axis and is equal to the coordinates of B1 and B2 on the Y axis, so that the position of the reference standard T1 relative to B1 and B2 can be updated through ranging, and the positioning accuracy and the attendance accuracy of the target are improved.

In a preferred implementation manner, fig. 8 is a schematic diagram of a one-dimensional positioning process provided according to an embodiment of the present application, and as shown in fig. 8, a specific process of UWB-implemented positioning is that a tag actively transmits a pulse signal to perform ranging communication with a base station, as shown in a first step in fig. 8: the flight time of the electromagnetic wave between the tag (such as the target node, the tag carrying the UWB module) and the base station (the UWB positioning base station) is T2-T1 (where T1 is the time of sending the pulse wave, and T2 is the time of receiving the pulse wave); the distance D between the two points is C (speed of light) × (T2-T1) (time of flight of electromagnetic waves), thus realizing one-dimensional positioning of the target node.

Preferably, if two UWB base stations are newly added to a trolley (such as a tunneling trolley) and a connecting line of the two newly added UWB base stations is also perpendicular to an extending direction of a tunnel, two-dimensional positioning can be performed on constructors around the trolley according to 4 UWB base stations on the trolley; if a trolley is added at the face (a plurality of UWB positioning base stations are arranged on the trolley), two-dimensional positioning can be carried out on constructors between the two trolleys. But is not limited thereto.

In another application scenario of the present disclosure, fig. 9 is a top view of a second layout manner of base stations in a tunnel according to an embodiment of the present disclosure, as shown in fig. 9, two fixed coordinate base stations B1 and B2 (i.e., the at least two first UWB positioning base stations) are installed at a tunnel portal, a reference tag T1 (i.e., the first preset tag) is placed at a certain distance from the right side of the fixed base station in the horizontal direction (the distance depends on the distance range in which the base station can communicate with the tag), 3 trolleys are installed in front of the tunnel, a second village trolley, a waterproof trolley and a tunneling trolley are sequentially installed, wherein the second village trolley is installed with base stations B3 and B4, and a connection line of B3 and B4 is perpendicular to the extending direction of the tunnel, constructors T2 and T3 … … are installed between the second village trolley and the waterproof trolley, and the waterproof trolley is installed with base stations B5, B6, B7, B8, B5, B6, and B7 on both sides of the waterproof trolley, The connecting lines of the B8 are all perpendicular to the extending direction of the tunnel, constructors T5, T6, … and Tn between the waterproof trolley and the tunneling trolley are arranged on the tunneling trolley, and base stations B9, B10 and the like are arranged on the tunneling trolley. Furthermore, the distance between B3 and B4, the distance between B5 and B6, the distance between B7 and B8, and the distance between B9 and B10 are known.

The two-dimensional positioning of the target node is realized by the following steps:

1) in the early stage of tunneling, T1 can measure distance with B1 and B2

After deployment according to this scheme, the program starts to receive network data of base stations, and may receive ranging data (ranging data indicates the distance between the base station and the communicable tag) sent by the base station, and by referring to the coordinate system shown in fig. 9 (the coordinates obtained in this embodiment are all relative to the coordinate origin O in fig. 9), using the ranging information of T1 and B1, and T1 and B2, the following formula is used:

t1x ═ ((B1x + B1 rangefinder) + (B2x + B2 rangefinder))/2;

T1y＝B1y＝B2y；

the exact coordinates of tag T1 can be calculated.

Further, using the ranging information of B3 to B10 and T1, the algorithm in the above-mentioned manner one is used to calculate the accurate coordinates of base stations B3 to B10, and then to update the coordinates of base stations B3 to B10. At this time, the wireless positioning system in this embodiment can perform two-dimensional positioning on the two-lining trolley and the waterproof trolley, and constructors T2, T3, and … Tn between the waterproof trolley and the heading trolley.

2) In the tunneling process, T1 cannot measure distance with B1 and B2

When the trolley is advancing in the positive X-axis direction (i.e., the extending direction of the tunnel), if the distance between the reference tag T1 and the base stations B9 and B10 on the tunneling trolley exceeds the distance that the base stations can communicate with the reference tag, the reference tag T1 is moved to the right by a certain distance, so that the reference tag T1 can communicate with the base stations B9 and B10.

In this embodiment, obtaining the position coordinates of the reference tag includes the following two cases:

1a) if the absolute coordinates of the tags T2, T3, and … Tn in the tunnel are not concerned, only the relative positions of the tags between the trolleys are concerned, a fixed coordinate (i.e. the third position information) is set for the reference tag T1, the positions of the located tags T2, T3, and … Tn are the coordinates relative to the reference tag T1, the subsequent procedure is the same as the previous one, and the coordinates of the base stations B3 to B10 are automatically updated, which is not described herein again in this embodiment.

2a) If the absolute coordinates of the tags T2, T3, and … Tn in the tunnel are concerned, the coordinates of T1 (i.e., the third location information) can be tested by using a laser range finder, and the subsequent procedure is the same as before to automatically update the coordinates of the base stations B3 to B10, which is not described herein again.

In both cases, the coordinate position set by the reference tag T1 needs to ensure that T1 can communicate with the base stations B3 to B10, so as to realize two-dimensional positioning of the target node through at least 3 positioning base stations (the 3 positioning base stations are not collinear on the horizontal plane).

In an alternative embodiment, fig. 10 is a schematic diagram of a two-dimensional positioning process provided according to an embodiment of the present application, as shown in fig. 10, at least 3 UWB positioning base stations are selected to be responsible for positioning an area, the position of each base station is known, for example, as 3 base stations B3, B4, B5 in fig. 9, the coordinates are (x1, y1), (x2, y2) (x3, y3), the tag is measured from each base station to obtain D1, D2, D3, as shown in the second step in fig. 10: the position of the label (i.e. the target node) can be obtained through a classical three-point positioning algorithm:

suppose, the tag coordinates (x)₀，y₀)，

(x₁-x₀)²+(y₁-y₀)²＝D₁ ²；

(x₂-x₀)²+(y2-y₀)²＝D₂ ²；

(x₃-x₀)²+(y₃-y₀)²＝D₃ ²；

Therefore, the label coordinate is calculated according to the three-point positioning algorithm.

Therefore, through the implementation steps, the coordinates of the base stations B3 to B10 in the tunnel can be accurately obtained, and further, the constructors T2, T3 and … Tn are two-dimensionally located according to the coordinates of the base stations B3 to B10.

In an optional embodiment of the present disclosure, at least two third UWB positioning base stations are fixedly disposed on the second mobile device, a connection line of at least two UWB positioning base stations of the at least two third UWB positioning base stations is perpendicular to an extending direction of the elongated space, the second mobile device is located between the first preset reference tag and the first mobile device, and the second mobile device is further provided with a second preset reference tag, and after calculating at least two fourth position information of the at least two second UWB positioning base stations according to the third position information, the method further includes: calculating at least two fifth position information of at least two third UWB positioning base stations according to the third position information; calculating sixth position information of a second preset reference tag according to the at least two fifth position information, wherein the second preset reference tag comprises a UWB positioning module, and a coplanar waveguide antenna is arranged in the UWB positioning module; calculating at least two seventh position information of the at least two first UWB positioning base stations according to the sixth position information; and updating at least two fourth position information according to the at least two seventh position information.

According to the above embodiment, as shown in fig. 9, since the distance from the reference tag T1 to the bs B5 to B10 is a little longer, in order to make the coordinate update of the bs B5 to B10 more accurate, a checking algorithm scheme is adopted: a calibration tag Ta (i.e., the second preset reference tag) is placed at a fixed position on the second carriage (i.e., the second mobile device), the coordinates of Ta are fixed with respect to the base stations B3 and B4, and the coordinates of the calibration tag Ta (i.e., the sixth position information) are calculated by the base stations B3 and B4. Then, according to a method of updating coordinates of base stations B3 to B10 by using a reference tag T1, coordinates of base stations B5 to B8 are updated by using a calibration tag Ta, namely, a relay is arranged between a reference tag and the mobile equipment, so that the positioning precision of the target node is improved, and the entering and exiting conditions of constructors in the tunnel are accurately obtained.

Preferably, calibration tags Tb are placed at the waterproof trolley fixing positions, the logic of base stations B5 to B8 is calibrated according to Ta, and Tb is used for calibrating the coordinates of base stations B9 to B10 to achieve higher precision, and the accuracy of the coordinates of base stations B9 to B10 is further improved.

According to the embodiment, in an application scene of the scheme, such as a subway, a tunnel and the like, the situation that the position of the positioning base station changes along with the advance of engineering construction can be met, and due to the fact that a plurality of mobile devices move forwards at different speeds in the tunnel, the position coordinates of the base stations on the plurality of mobile devices are slowly updated or inaccurate, at the moment, if the coordinates of the positioning base station are only measured and updated manually, a large labor cost is introduced, the coordinates of the base station acquired by a server side are inaccurate, and other technical problems can be caused. In order to solve the problem that the obtained base station coordinates are inaccurate due to the fact that a plurality of mobile devices move at different speeds in a tunnel, a technical scheme for automatically updating the base station coordinates in the tunnel is provided.

The following is further illustrated by a specific example:

fig. 11 is a plan view of a third layout manner of base stations in a tunnel according to an embodiment of the present application, as shown in fig. 11, the right side is a tunneling direction of the tunnel (i.e., an extending direction of the tunnel), the No. 1 and No. 2 base stations and the No. 3 and No. 4 base stations are respectively mounted on a two-lining trolley and a waterproof trolley, a connection line of the No. 1 base station and the No. 2 base station is perpendicular to the tunneling direction, a connection line of the No. 3 base station and the No. 4 base station is perpendicular to the tunneling direction, and a distance between the No. 1 base station and the No. 2 base station and a distance between the No. 3 base station and the No. 4; the two lining trolleys and the waterproof trolley can move forwards at different speeds, in order to ensure that the positions of constructors who construct the two lining trolleys and the waterproof trolley can be accurately positioned, the relative positions among the No. 1, the No. 2, the No. 3 and the No. 4 base stations are firstly calculated, and the method comprises the following steps:

step S401, establishing a coordinate system based on the base stations No. 1, No. 2, No. 3 and No. 4.

Preferably, fig. 12 is a schematic coordinate diagram of automatic updating of coordinates of a base station provided in the embodiment of the present application, and as shown in fig. 12, a coordinate system is established with the base station No. 2 as an origin, a connection line between the base station No. 1 and the base station No. 2 as Y, and a heading direction as an X-axis direction; wherein, the distance L12 between the base station No. 1 and the base station No. 2 and the distance L34 between the base station No. 3 and the base station No. 4 are selected, and L12 and L34 are fixed and known, and in order to be closer to the actual use situation, a certain angle is formed between the base stations, namely L12 is not equal to L34.

Step S403, calculating the distance between the base station No. 1 and the base station No. 3 to be L13, and the distance between the base station No. 2 and the base station No. 4 to be L24;

preferably, L13 and L24 can be obtained by a method of performing ranging through a communication process between the base station and the tag.

Step S405, calculating included angles a and b;

optionally, the included angles a and b are calculated by using an AOA (angle of arrival) angle-of-arrival positioning method, where the AOA can measure an incident angle of an electromagnetic wave from an unknown point to a reference point, and is usually obtained by detecting a source direction of a signal energy peak through an antenna array, or is obtained by detecting a phase difference of signals through the antenna array. FIG. 13 is a schematic diagram of positioning based on AOA principle provided by an embodiment of the present invention, as shown in FIG. 13, measuring an incident angle θ of electromagnetic waves from an unknown point (i.e. the above positioning tag) to a reference point (i.e. a base station)_iWhere i represents the number of base stations, which is usually obtained by the receiver detecting the direction of the source of the signal energy peak through the antenna array, or by the antenna array detecting the phase difference of the signal. The number of reference points is set as M, and the coordinates are respectively (x)_i,y_i) Coordinates of unknown points are (x, y), AOA estimated value theta of each reference point_iIndependently of each other, according to (x)_i,y_i) And theta_iThe distance of the target is calculated as shown in fig. 13. The adoption of the arrival angle has higher precision in line-of-sight propagation and is obviously reduced in non-line-of-sight propagation.

Step S407, calculating the relative positions from the base station No. 1, the base station No. 2 to the base station No. 3 and the base station No. 4;

as shown in fig. 12, the coordinates of base station No. 2 are (0, 0), and the coordinates of base station No. 1 are (0, L12), based on the right triangle mathematical formula, as follows:

l1＝L13sina；

D13＝L13cosa；

l2＝L24sinb；

D24＝L24cosb；

the relative positions of the base station No. 1, the base station No. 2, the base station No. 3 and the base station No. 4 can be known by obtaining D13 (the horizontal distance between the base station No. 1 and the base station No. 3), D24 (the horizontal distance between the base station No. 2 and the base station No. 4), l1 (the vertical distance between the base station No. 1 and the base station No. 3) and l2 (the vertical distance between the base station No. 2 and the base station No. 4) in fig. 12.

Further, regarding the base station coordinate No. 2 as the (0, 0) point, the base station coordinate No. 1 is (0, L12), the base station coordinate No. 3 is (D24, L34-L2), and the base station coordinate No. 4 is (D24-L2).

After the coordinates of the positioning base stations are obtained, the positions (namely the target nodes) of positioning tags (provided with UWB positioning modules and power supply modules) in the areas covered by the four base stations can be calculated through a three-point positioning algorithm.

Through the embodiment, 1) the relative position coordinates between the positioning base stations can be automatically updated; 2) the method is realized only by communication ranging and software algorithm between the prior base stations without other additional equipment; 3) the key dangerous area target positioning in the dynamic area can be realized by utilizing an automatic coordinate updating method, such as the scenes of tunnels, subways, pipe galleries and the like in the construction period; the realization of automatic coordinate updating can meet the personnel positioning requirement of a specific area on one hand; meanwhile, maintenance work caused by dynamic change of coordinates of the base station can be avoided.

In an optional embodiment, generating the attendance record for the target node based on the first location information and the attendance region in the elongate space comprises: generating a movement track of the target node based on the first position information; selecting a first position entering an attendance checking area for the first time and a second position leaving the attendance checking area for the last time in the moving track; acquiring first time and second time when a target node respectively resides at a first position and a second position; and determining the first time and the second time as the on-duty time and the off-duty time in the attendance record of the target node.

Optionally, based on the movement track of the constructor, the first time when the constructor enters a pre-defined attendance checking area and the second time when the constructor leaves the attendance checking area are selected, the first time and the second time are respectively used as the on-duty time and the off-duty time and are used as the attendance checking result of the constructor, then the attendance checking result is sent to the user management terminal and is displayed on the display interface of the user management terminal, and therefore remote checking is facilitated.

According to the above embodiment, before generating the attendance record of the target node from the first location information and the attendance region in the long and narrow space, the method further includes: acquiring a locatable area of a plurality of ultra wide band UWB locating base stations in a long and narrow space; setting an active area of the target node according to the geographical structures of the locatable area and the long and narrow space; and compressing the movable area in parallel to the extending direction of the long and narrow space for a preset distance to obtain an area serving as an attendance checking area.

Taking a tunnel as an example, fig. 14 is a schematic diagram illustrating division of an attendance area in the tunnel according to an embodiment of the present application, as shown in fig. 14, the attendance area (for example, an area defined by setting an electronic fence) covers most of a constructor activity area (i.e., an area in which a result of target positioning is restricted, and when the result exceeds the area, a positioning position is no longer output for a previous layer), and an area range with the best positioning effect in a base station coverage area is determined, so as to ensure that areas where tags can be positioned all account for attendance; the attendance checking area is an area defined on software according to tunnel terrain, and the attendance checking area and the activity area can not be completely overlapped to judge whether the target enters or leaves the attendance checking area. In one example, at the entrance to the cave, the attendance area is moved a preset distance (e.g., about 10 meters) behind the active area to ensure that the tag is clear of the attendance area, and the positioning system can remove the tag from the attendance results.

In a preferred example, if the target node is actually in an active area a, and the positioning result values measured by the server do not all fall in the area a, some values are outside the area a; at the moment, a reliable numerical value is determined according to historical position data of the target node, the reliability of ranging data provided by the positioning base station and the like, an unreliable data value is discarded, the position of the target node is restricted in a positioning area, and the attendance record is updated. In this embodiment, if only ranging data provided by one positioning base station (or reference tag) is reliable, it is determined whether the target node is on the left side or the right side of the positioning base station according to the historical position of the target node and the current ranging data, so as to achieve one-dimensional positioning of the target node.

In another alternative example, a first locatable region of a plurality of UWB positioning base stations at an entrance of an elongated space is acquired, wherein positions of the plurality of UWB positioning base stations are fixed; and/or acquiring a second locatable area of a plurality of UWB positioning base stations at the target working face of the elongated space, wherein the positions of the plurality of UWB positioning base stations are relatively fixed. The attendance checking area is determined only by determining the activity area of the long and narrow space inlet and the activity area of the target operation surface, and a base station is not needed in the middle area, so that the positioning cost is greatly reduced.

Through the embodiment, the plurality of UWB base stations are arranged in the long and narrow space to position the constructors in the long and narrow space, so that the positioning information is obtained, the attendance records of the constructors are generated, the attendance states of the constructors are presented, and the problem that whether the constructors in the long and narrow space enter or leave an attendance area cannot be accurately judged due to poor signals in the long and narrow space is solved.

Another method for generating an attendance record is further provided in an embodiment of the present application, and fig. 15 is a flowchart of a method for generating an attendance record according to an embodiment of the present application, and as shown in fig. 15, the flowchart includes the following steps:

step S1502, sending a request instruction to a server, wherein the request instruction is used for requesting to acquire an attendance record of a target node in a long and narrow space, the server is used for acquiring first position information of the target node through ultra-wideband UWB communication, generating the attendance record of the target node according to the first position information and an attendance area in the long and narrow space, and sending the attendance record to a user management terminal based on the request instruction;

preferably, the user management terminal in this embodiment is installed with a front-end operating system, and may receive an input instruction of a user through the front-end operating system, so as to obtain the request instruction.

Step S1504, receiving an attendance record;

preferably, the front-end operating system is configured to receive an attendance record of the target node, and store the attendance record.

And step S1506, displaying the attendance record.

Preferably, the received attendance record is displayed on the front-end operating system for viewing, recording, counting, etc. by the user.

The execution subject may be, but is not limited to, a mobile terminal, a computer terminal, and the like.

Through the steps, a request instruction for requesting to acquire the attendance record of the target node in the tunnel is sent to the server, after the server receives the request instruction, the target node in the long and narrow space (such as the tunnel) is positioned through ultra-wideband UWB communication, the attendance record of the target node is generated based on the position information of the target node and the attendance area set in the tunnel, and the attendance record of the target node is returned to the user management terminal for displaying, so that the attendance can be accurately performed on the target node in the tunnel, and the technical problem that the attendance of the target in the tunnel cannot be performed due to the signal difference in the tunnel in the related technology is solved.

Example 2

In this embodiment, a device for generating an attendance record is further provided, which is used to implement the foregoing embodiments and preferred embodiments, and the descriptions already given are omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.

Fig. 16 is a block diagram of another attendance record generation apparatus according to an embodiment of the present application, and as shown in fig. 16, the apparatus includes: the receiving module 160 is configured to receive a request instruction sent by a user management terminal, where the request instruction is used to request to obtain an attendance record of a target node in the elongated space, and the user management terminal is configured to receive the attendance record of the target node based on the request instruction and display the attendance record; a first obtaining module 162, connected to the receiving module 160, for obtaining first location information of the target node through ultra wideband UWB communication; a generating module 164, connected to the first obtaining module 162, for generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space; and a sending module 166 connected to the generating module 164 and configured to send the attendance record to the user management terminal.

Optionally, at least two first ultra wide band UWB positioning base stations are fixedly disposed at an entrance of the elongated space, the at least two first ultra wide band UWB positioning base stations are sequentially arranged along an extending direction of the elongated space, and the first obtaining module 162 includes: the first acquisition unit is used for acquiring first positioning information for positioning a target node through at least two first UWB positioning base stations; and the first calculating unit is used for calculating the first position information of the target node according to the first position information and at least two second position information of at least two first UWB positioning base stations, wherein the at least two second position information are known.

Optionally, at least two second UWB positioning base stations are fixedly disposed on the first mobile device, a connection line of at least two UWB positioning base stations in the at least two second UWB positioning base stations is perpendicular to an extending direction of the long and narrow space, the first mobile device is located at a target working plane of the long and narrow space, and the first obtaining module 162 includes: the second acquisition unit is used for acquiring third position information of a first preset reference label in a long and narrow space and acquiring second positioning information for positioning a target node through at least two second UWB positioning base stations, wherein the first preset reference label comprises an inner part, a coplanar waveguide antenna is arranged in the UWB positioning module, and the first preset reference label can be communicated with the at least two second UWB positioning base stations; the second calculation unit is used for calculating at least two fourth position information of at least two second UWB positioning base stations according to the third position information; and the third calculating unit is used for calculating the first position information of the target node according to the at least two fourth position information and the second positioning information.

Optionally, the generating module 164 includes: a generation unit configured to generate a movement trajectory of the target node based on the first position information; the selection unit is used for selecting a first position entering the attendance checking area for the first time and a second position leaving the attendance checking area for the last time in the moving track; a third obtaining unit, configured to obtain a first time and a second time when the target node resides at the first location and the second location, respectively; and the determining unit is used for determining the first time and the second time as the on-duty time and the off-duty time in the attendance record of the target node.

Optionally, the apparatus further comprises: the second acquisition module is used for acquiring the locatable areas of the ultra-wideband UWB locating base stations in the elongated space before generating the attendance record of the target node according to the first position information and the attendance area in the elongated space; the setting module is used for setting the active area of the target node according to the geographical structures of the locatable area and the long and narrow space; and the determining module is used for parallelly compressing the activity area to the extension direction of the long and narrow space for a preset distance to obtain an area as an attendance checking area.

Fig. 17 is a block diagram of a device for generating an attendance record according to an embodiment of the present application, and as shown in fig. 17, the device includes: the sending module 170 is configured to send a request instruction to a server, where the request instruction is used to request to obtain an attendance record of a target node in the long and narrow space, and the server is configured to obtain first position information of the target node through ultra-wideband UWB communication, generate an attendance record of the target node according to the first position information and an attendance area in the long and narrow space, and send the attendance record to the user management terminal based on the request instruction; a receiving module 172 connected to the sending module 170 for receiving the attendance record; the display module 174 is connected to the receiving module 172. The attendance record display device is used for displaying the attendance record.

It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.

Example 3

In this embodiment, a system for generating an attendance record is further provided, which is used to implement the foregoing embodiments and preferred embodiments, and is not described again after having been described. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.

Fig. 18 is a block diagram of a structure of a system for generating attendance records according to an embodiment of the present application, and as shown in fig. 18, the system at least includes: a user management terminal 180, a server 182 and a plurality of ultra-wideband UWB positioning base stations 184, wherein the user management terminal 180 comprises: a sending module, configured to send a request instruction to the server 182, where the request instruction is used to request to obtain an attendance record of a target node in the long and narrow space; the receiving module is used for receiving the attendance record sent by the server 182; the display module is used for displaying the attendance record; the server 182 includes: a receiving module, configured to receive a request instruction sent by the user management terminal 180; the acquisition module is used for acquiring first position information of a target node through ultra-wideband UWB communication; the generating module is used for generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space; the sending module is used for sending the attendance record to the user management terminal 180; a plurality of ultra-wideband UWB positioning base stations 184 (including the base station 1841, the base station 1842, the base station 1843, and the base station … …, the base station 184n) being in communication connection with the server 182 for positioning a target node, wherein the plurality of ultra-wideband UWB positioning base stations 184 at least includes at least two first UWB positioning base stations and at least two second UWB positioning base stations, wherein the at least two first UWB positioning base stations are fixedly arranged at an entrance of the elongated space, and the at least two first UWB positioning base stations are sequentially arranged along an extending direction of the elongated space; at least two second UWB positioning base stations are fixedly arranged on the first mobile equipment, the first mobile equipment is positioned at the target operation surface of the long and narrow space, and the connecting line of at least two UWB positioning base stations in the at least two second UWB positioning base stations is vertical to the extending direction of the long and narrow space.

Optionally, the system further includes: the first preset reference tag is positioned between at least two first UWB positioning base stations and at least two second UWB positioning base stations and used for positioning the at least two second UWB positioning base stations, wherein the first preset reference tag comprises a UWB positioning module, a coplanar waveguide antenna is arranged in the UWB positioning module, and the first preset reference tag can communicate with the at least two second UWB positioning base stations.

Example 4

Embodiments of the present application further provide a storage medium having a computer program stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:

s1, receiving a request instruction sent by a user management terminal, wherein the request instruction is used for requesting to acquire an attendance record of a target node in a long and narrow space, and the user management terminal is used for receiving the attendance record of the target node based on the request instruction and displaying the attendance record;

s2, acquiring first position information of the target node through ultra wideband UWB communication;

s3, generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space;

and S4, sending the attendance record to the user management terminal.

Optionally, in this embodiment, the storage medium may be further configured to store a computer program for executing the following steps:

s1, sending a request instruction to a server, wherein the request instruction is used for requesting to acquire an attendance record of a target node in a long and narrow space, the server is used for acquiring first position information of the target node through ultra-wideband UWB communication, generating the attendance record of the target node according to the first position information and an attendance area in the long and narrow space, and sending the attendance record to a user management terminal based on the request instruction;

s2, receiving the attendance record;

and S3, displaying the attendance record.

Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

Embodiments of the present application further provide an electronic device comprising a memory having a computer program stored therein and a processor configured to execute the computer program to perform the steps of any of the above method embodiments.

Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:

and S4, sending the attendance record to the user management terminal.

s2, receiving the attendance record;

and S3, displaying the attendance record.

Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A method for generating attendance records is characterized by comprising the following steps:

receiving a request instruction sent by a user management terminal, wherein the request instruction is used for requesting to acquire an attendance record of a target node in a long and narrow space, and the user management terminal is used for receiving the attendance record of the target node based on the request instruction and displaying the attendance record;

acquiring first position information of the target node through ultra-wideband UWB communication;

generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space;

and sending the attendance record to the user management terminal.

2. The method of claim 1, wherein at least two first ultra-wideband UWB positioning base stations are fixedly disposed at an entrance of the elongated space, the at least two first UWB positioning base stations being arranged in sequence along an extending direction of the elongated space, and the acquiring the first position information of the target node through ultra-wideband UWB communication comprises:

acquiring first positioning information for positioning the target node through the at least two first UWB positioning base stations;

calculating first location information of the target node from the first location information and at least two second location information of the at least two first UWB positioning base stations, wherein the at least two second location information are known.

3. The method according to claim 1, wherein at least two second UWB positioning base stations are fixedly disposed on a first mobile device, a connection line of at least two UWB positioning base stations of the at least two second UWB positioning base stations is perpendicular to an extending direction of the elongated space, the first mobile device is located on a target working plane of the elongated space, and the acquiring the first position information of the target node through ultra wide band UWB communication comprises:

acquiring third position information of a first preset reference tag in the elongated space and second positioning information for positioning the target node through the at least two second UWB positioning base stations, wherein the first preset reference tag comprises a UWB positioning module, a coplanar waveguide antenna is arranged in the UWB positioning module, and the first preset reference tag can communicate with the at least two second UWB positioning base stations;

calculating at least two fourth position information of the at least two second UWB positioning base stations according to the third position information;

and calculating first position information of the target node according to the at least two pieces of fourth position information and the second positioning information.

4. The method of claim 1, wherein generating an attendance record for the target node from the first location information and an attendance region in the elongate space comprises:

generating a movement track of the target node based on the first position information;

selecting a first position for entering the attendance area for the first time and a second position for leaving the attendance area for the last time in the movement track;

acquiring first time and second time when the target node respectively resides at the first position and the second position;

and determining the first time and the second time as the working time and the working time in the attendance record of the target node.

5. The method of claim 1, wherein prior to generating an attendance record for the target node from the first location information and an attendance region in the elongate space, the method further comprises:

acquiring a locatable area of a plurality of Ultra Wide Band (UWB) location base stations in the long and narrow space;

setting an active area of the target node according to the locatable area and the geographical structure of the elongate space;

and compressing the movable area in parallel for a preset distance in the extending direction of the long and narrow space to obtain an area serving as the attendance checking area.

6. A method for generating attendance records is characterized by comprising the following steps:

sending a request instruction to a server, wherein the request instruction is used for requesting to acquire an attendance record of a target node in an elongated space, the server is used for acquiring first position information of the target node through ultra-wideband UWB communication, generating the attendance record of the target node according to the first position information and an attendance area in the elongated space, and sending the attendance record to a user management terminal based on the request instruction;

receiving the attendance record;

and displaying the attendance record.

7. An attendance record generation device, comprising:

the system comprises a receiving module, a sending module and a processing module, wherein the receiving module is used for receiving a request instruction sent by a user management terminal, the request instruction is used for requesting to acquire the attendance record of a target node in a long and narrow space, and the user management terminal is used for receiving the attendance record of the target node based on the request instruction and displaying the attendance record;

the acquisition module is used for acquiring first position information of the target node through ultra-wideband UWB communication;

the generating module is used for generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space;

and the sending module is used for sending the attendance record to the user management terminal.

8. An attendance record generation device, comprising:

the system comprises a sending module, a server and a user management terminal, wherein the sending module is used for sending a request instruction to the server, the request instruction is used for requesting to acquire an attendance record of a target node in a long and narrow space, the server is used for acquiring first position information of the target node through ultra-wideband UWB communication, generating the attendance record of the target node according to the first position information and an attendance area in the long and narrow space, and sending the attendance record to the user management terminal based on the request instruction;

the receiving module is used for receiving the attendance record;

and the display module is used for displaying the attendance record.

9. A system for generating attendance records is characterized by at least comprising: a user management terminal, a server and a plurality of ultra-wideband UWB positioning base stations, wherein,

the user management terminal includes: the system comprises a sending module, a sending module and a sending module, wherein the sending module is used for sending a request instruction to a server, and the request instruction is used for requesting to acquire the attendance record of a target node in a long and narrow space; the receiving module is used for receiving the attendance record sent by the server; the display module is used for displaying the attendance record;

the server includes: the receiving module is used for receiving a request instruction sent by the user management terminal; the acquisition module is used for acquiring first position information of the target node through ultra-wideband UWB communication; the generating module is used for generating an attendance record of the target node according to the first position information and the attendance area in the long and narrow space; the sending module is used for sending the attendance record to the user management terminal;

the plurality of ultra-wideband UWB positioning base stations are in communication connection with the server and used for positioning the target node, wherein the plurality of ultra-wideband UWB positioning base stations at least comprise at least two first UWB positioning base stations and at least two second UWB positioning base stations, the at least two first UWB positioning base stations are fixedly arranged at the entrance of the elongated space, and the at least two first UWB positioning base stations are sequentially arranged along the extending direction of the elongated space; the at least two second UWB positioning base stations are fixedly arranged on a first mobile device, the first mobile device is located at a target operation surface of the long and narrow space, and a connecting line of the at least two UWB positioning base stations in the at least two second UWB positioning base stations is perpendicular to the extending direction of the long and narrow space.

10. The system of claim 9, further comprising: a first pre-set reference tag, wherein,

the first preset reference tag is positioned between the at least two first UWB positioning base stations and the at least two second UWB positioning base stations and used for positioning the at least two second UWB positioning base stations, wherein the first preset reference tag comprises a UWB positioning module, a coplanar waveguide antenna is arranged in the UWB positioning module, and the first preset reference tag can communicate with the at least two second UWB positioning base stations.