阅读说明：本技术 一种矿井车辆位置精准跟踪及智能调度系统及方法 (Mine vehicle position accurate tracking and intelligent scheduling system and method ) 是由 刘世森 郭江涛 刘亚辉 胡宇 赵光绪 张翼 王飞 张金豪 胡英杰 温贤培 田军 于 2021-08-10 设计创作，主要内容包括：本发明涉及一种矿井车辆位置精准跟踪及智能调度系统及方法,属于矿井技术领域。该系统包括车辆标识卡、车辆调度基站、基站、信号灯和服务器。车辆标识卡安装于矿井车辆上,车辆调度基站和基站均采用双无线射频模块进行设计,车辆标识卡与车辆调度基站或基站采用UWB无线方式进行信息交互,车辆标识卡主动发起广播,采用对称双边两路测距算法依次与四个基站定位,从定位结果中选取最小值,以获取车辆标识卡相对于基站的位置信息,从而控制信号灯状态,车辆根据信号灯状态行驶,服务器对车辆运行状态和信号灯状态进行实时显示。本发明提高了定位精度,采用分布式调度方法不依赖于主干网络,可靠性好。(The invention relates to a system and a method for accurately tracking and intelligently scheduling positions of mine vehicles, and belongs to the technical field of mines. The system comprises a vehicle identification card, a vehicle scheduling base station, a signal lamp and a server. The vehicle identification card is installed on a mine vehicle, the vehicle dispatching base station and the base station are designed by adopting double wireless radio frequency modules, the vehicle identification card and the vehicle dispatching base station or the base station carry out information interaction in a UWB wireless mode, the vehicle identification card actively initiates broadcasting, the vehicle identification card is sequentially positioned with the four base stations by adopting a symmetrical bilateral two-path ranging algorithm, the minimum value is selected from positioning results to obtain the position information of the vehicle identification card relative to the base stations, the state of a signal lamp is controlled, the vehicle runs according to the state of the signal lamp, and the server displays the running state of the vehicle and the state of the signal lamp in real time. The invention improves the positioning precision, and the distributed scheduling method is independent of the backbone network and has good reliability.)

1. The utility model provides an accurate tracking in mine vehicle position and intelligent scheduling system which characterized in that: the system comprises a vehicle identification card, a vehicle scheduling base station, four base stations, a signal lamp and a server;

the vehicle identification card is arranged on a mine vehicle, and the vehicle scheduling base station and the four base stations are designed by adopting double wireless radio frequency modules;

the vehicle identification card and a vehicle dispatching base station or a base station adopt a UWB wireless mode for information interaction, the vehicle identification card actively initiates broadcasting, the four base stations sequentially wait for replying the broadcasting one by one, after the vehicle identification card obtains a base station address, the vehicle identification card is sequentially positioned with the four base stations by adopting a symmetrical bilateral two-way ranging algorithm, the minimum value is selected from positioning results to obtain the position information of the vehicle identification card relative to the base stations, the vehicle dispatching base station realizes a distributed dispatching rule based on time response according to the position information of the vehicle identification card, thereby controlling the state of a signal lamp, a vehicle runs according to the state of the signal lamp, and a server displays the running state of the vehicle and the state of the signal lamp in real time.

2. The mine vehicle position accurate tracking and intelligent scheduling system of claim 1, wherein: the base station and the vehicle dispatching base station respectively comprise a UWB main radio frequency module, a UWB auxiliary radio frequency module, a protocol communication module, a base station microcontroller, a photoelectric conversion microcontroller, an industrial switch processor, an optical module, an electric module and a power supply module;

the industrial switch processor is sequentially connected with the photoelectric conversion microcontroller and the base station microcontroller;

the base station microcontroller is respectively connected with the UWB main radio frequency module, the UWB auxiliary radio frequency module and the protocol communication module;

the photoelectric conversion microcontroller is connected with the base station microcontroller;

and the industrial switch processor is respectively connected with the optical module and the electric module.

3. The mine vehicle position accurate tracking and intelligent scheduling system of claim 2, wherein: the base station microcontroller selects an ARM series CPU as a control core to control peripheral equipment to perform logic operation;

the photoelectric conversion microcontroller selects an ARM series CPU as a control core and controls an industrial switch processor to perform logic operation;

the industrial switch processor selects an 8/6 port 10/100M Ethernet switch controller.

4. The mine vehicle position accurate tracking and intelligent scheduling system of claim 3, wherein: the vehicle identification card comprises a UWB positioning module, a charging module, a three-axis acceleration sensor and a vehicle identification card microcontroller;

and the vehicle identification card microcontroller is respectively connected with the UWB positioning module, the charging module and the three-axis acceleration sensor.

5. The mine vehicle position accurate tracking and intelligent scheduling system of claim 4, wherein: the four base stations and the signal lamps are respectively arranged at two sides of the dispatching cave, the positive direction of the base stations faces the middle of the control section, and the negative antenna of the base station faces the dispatching cave;

(1) in an initial state, the signal lamps default to green lamps, and if a certain base station detects that a vehicle enters a control road section for the first time, namely a positive distance value is detected for the first time, adjacent signal lamps are controlled to red lamps;

(2) when the trackless rubber-tyred vehicle is positioned again by the current base station on the control section and the positioning result is a positive value, the state of the signal lamp is not changed;

(3) when the trackless rubber-tyred vehicle is positioned by the adjacent base station and the positioning result is a negative value, the trackless rubber-tyred vehicle is considered to be out of the control road section, and the state of the signal lamp is changed from a red lamp to a green lamp.

6. The mine vehicle position accurate tracking and intelligent scheduling system of claim 5, wherein: the operation of the vehicle identification card and the base station is as follows:

the method comprises the steps that a vehicle identification card sends broadcast packets, base stations 1#, 2#, 3#, and 4# reply the broadcast packets one by one, the vehicle identification card firstly positions and measures distance with the base station 1# after obtaining the address of the base station, and the base station 1# calculates a distance measurement result and then sends the positioning result to the vehicle identification card; the vehicle identification card and the 2# base station are positioned and measured, and after the 2# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; the vehicle identification card and the 3# base station are positioned and measured, and after the 3# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; the vehicle identification card and the 4# base station are positioned and measured, and after the 4# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; and the vehicle identification card processes the ranging results of the four times, selects the minimum positioning result to be used for judging which direction the vehicle enters the control road section, and then sends the control road section to the corresponding base station to perform scheduling processing.

7. The mine vehicle position accurate tracking and intelligent scheduling method based on the system of any one of claims 1-6 is characterized in that: the vehicle identification card and a vehicle dispatching base station or a base station adopt a UWB wireless mode for information interaction, the vehicle identification card actively initiates broadcasting, the four base stations sequentially wait for replying the broadcasting one by one, after the vehicle identification card obtains a base station address, the vehicle identification card is sequentially positioned with the four base stations by adopting a symmetrical bilateral two-path ranging algorithm, the minimum value is selected from a positioning result so as to obtain the position information of the vehicle identification card relative to the base stations, the vehicle dispatching base station realizes a distributed dispatching rule based on time response according to the position information of the vehicle identification card, thereby controlling the state of a signal lamp, a vehicle runs according to the state of the signal lamp, and a server displays the running state of the vehicle and the state of the signal lamp in real time.

8. The mine vehicle position accurate tracking and intelligent scheduling method of claim 7, wherein: the four base stations and the signal lamps are respectively arranged at two sides of the dispatching cave, the positive direction of the base stations faces the middle of the control section, and the negative antenna of the base station faces the dispatching cave;

(1) in an initial state, the signal lamps default to green lamps, and if a certain base station detects that a vehicle enters a control road section for the first time, namely a positive distance value is detected for the first time, adjacent signal lamps are controlled to red lamps;

(2) when the trackless rubber-tyred vehicle is positioned again by the current base station on the control section and the positioning result is a positive value, the state of the signal lamp is not changed;

(3) when the trackless rubber-tyred vehicle is positioned by the adjacent base station and the positioning result is a negative value, the trackless rubber-tyred vehicle is considered to be out of the control road section, and the state of the signal lamp is changed from a red lamp to a green lamp.

9. The mine vehicle position accurate tracking and intelligent scheduling method of claim 8, wherein: the operation of the vehicle identification card and the base station is as follows:

the method comprises the steps that a vehicle identification card sends broadcast packets, base stations 1#, 2#, 3#, and 4# reply the broadcast packets one by one, the vehicle identification card firstly positions and measures distance with the base station 1# after obtaining the address of the base station, and the base station 1# calculates a distance measurement result and then sends the positioning result to the vehicle identification card; the vehicle identification card and the 2# base station are positioned and measured, and after the 2# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; the vehicle identification card and the 3# base station are positioned and measured, and after the 3# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; the vehicle identification card and the 4# base station are positioned and measured, and after the 4# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; and the vehicle identification card processes the ranging results of the four times, selects the minimum positioning result to be used for judging which direction the vehicle enters the control road section, and then sends the control road section to the corresponding base station to perform scheduling processing.

10. The mine vehicle position accurate tracking and intelligent scheduling method of claim 9, wherein: the distance values between the vehicle identification card and the main radio frequency and the auxiliary radio frequency of the base station are s1 and s2 respectively, the value of s is 1 meter, and the distance values are calculated by adopting a symmetrical bilateral two-way ranging SDS-TWR algorithm;

the direction determination mechanism of the vehicle identification card relative to the base station is as follows:

s1-s2> s, the positioning card is positioned at the right side of the base station and is at a distance of s2 meters;

s1-s2< s, the locator card is at the left of the base station, at a distance of s2 meters;

s1< s and s2< s, the locator card is to the left of the location base station, a distance of s2 meters.

Technical Field

The invention belongs to the technical field of mines, and relates to a system and a method for accurately tracking and intelligently scheduling positions of mine vehicles.

Background

The existing mine vehicle positioning mode is concentrated on the RFID and Zigbee technology, the positioning precision is inaccurate, the dispatching mode needs to model the whole transportation roadway, the system complexity is high, the dispatching mode is inflexible, manual intervention is needed, and the reliability is poor.

Disclosure of Invention

In view of this, the present invention provides a system and a method for accurately tracking and intelligently scheduling mine vehicle positions.

In order to achieve the purpose, the invention provides the following technical scheme:

a mine vehicle position accurate tracking and intelligent scheduling system comprises a vehicle identification card, a vehicle scheduling base station, four base stations, a signal lamp and a server;

the vehicle identification card is arranged on a mine vehicle, and the vehicle scheduling base station and the four base stations are designed by adopting double wireless radio frequency modules;

the vehicle identification card and a vehicle dispatching base station or a base station adopt a UWB wireless mode for information interaction, the vehicle identification card actively initiates broadcasting, sequentially waits for the four base stations to reply the broadcasting one by one, after the vehicle identification card obtains a base station address, the vehicle identification card is sequentially positioned with the four base stations by adopting a symmetrical bilateral two-way ranging algorithm, the minimum value is selected from a positioning result so as to obtain the position information of the vehicle identification card relative to the base stations, the vehicle dispatching base station controls the state of a signal lamp according to the position information of the vehicle identification card, and a server displays the running state of the vehicle and the state of the signal lamp in real time.

Optionally, the base station and the vehicle scheduling base station each include a UWB main radio frequency module, a UWB auxiliary radio frequency module, a protocol communication module, a base station microcontroller, a photoelectric conversion microcontroller, an industrial switch processor, an optical module, an electrical module, and a power supply module;

the industrial switch processor is sequentially connected with the photoelectric conversion microcontroller and the base station microcontroller;

the base station microcontroller is respectively connected with the UWB main radio frequency module, the UWB auxiliary radio frequency module and the protocol communication module;

the photoelectric conversion microcontroller is connected with the base station microcontroller;

and the industrial switch processor is respectively connected with the optical module and the electric module.

Optionally, the base station microcontroller selects an ARM series CPU as a control core to control peripheral equipment to perform logic operation;

the photoelectric conversion microcontroller selects an ARM series CPU as a control core and controls an industrial exchange price processor to carry out logic operation;

the industrial switch processor selects an 8/6 port 10/100M Ethernet switch controller.

Optionally, the vehicle identification card includes a UWB positioning module, a charging module, a three-axis acceleration sensor, and a vehicle identification card microcontroller;

and the vehicle identification card microcontroller is respectively connected with the UWB positioning module, the charging module and the three-axis acceleration sensor.

Optionally, the four base stations and the signal lamps are respectively arranged at two sides of the dispatching cave, the positive direction of the base station faces the middle of the control path section, and the negative antenna of the base station faces the dispatching cave;

(1) in an initial state, the signal lamps default to green lamps, and if a certain base station detects that a vehicle enters a control road section for the first time, namely a positive distance value is detected for the first time, adjacent signal lamps are controlled to red lamps;

(2) when the trackless rubber-tyred vehicle is positioned again by the current base station on the control section and the positioning result is a positive value, the state of the signal lamp is not changed;

(3) when the trackless rubber-tyred vehicle is positioned by the adjacent base station and the positioning result is a negative value, the trackless rubber-tyred vehicle is considered to be out of the control road section, and the state of the signal lamp is changed from a red lamp to a green lamp.

Optionally, the vehicle identification card and the base station operate as follows:

the method comprises the steps that a vehicle identification card sends broadcast packets, base stations 1#, 2#, 3#, and 4# reply the broadcast packets one by one, the vehicle identification card firstly positions and measures distance with the base station 1# after obtaining the address of the base station, and the base station 1# calculates a distance measurement result and then sends the positioning result to the vehicle identification card; the vehicle identification card then locates and measures distance with the 2# base station, and after the 2# base station calculates the distance measurement result, the location result is sent to the vehicle identification card; the vehicle identification card and the 3# base station are positioned and measured, and after the 3# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; the vehicle identification card and the 4# base station are positioned and measured, and after the 4# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; and the vehicle identification card processes the ranging results of the four times, selects the minimum positioning result to be used for judging which direction the vehicle enters the control road section, and then sends the control road section to the corresponding base station to perform scheduling processing.

The mine vehicle position accurate tracking and intelligent scheduling method based on the system is characterized in that a vehicle identification card and a vehicle scheduling base station or base station carry out information interaction in a UWB wireless mode, the vehicle identification card actively initiates broadcasting, the broadcasting is sequentially waited for the four base stations to repeatedly broadcast one by one, after the vehicle identification card obtains a base station address, the vehicle identification card is sequentially positioned with the four base stations by adopting a symmetrical bilateral two-path distance measurement algorithm, the minimum value is selected from positioning results to obtain the position information of the vehicle identification card relative to the base stations, the vehicle scheduling base station controls the state of a signal lamp according to the position information of the vehicle identification card, and a server displays the running state of the vehicle and the state of the signal lamp in real time.

Optionally, the four base stations and the signal lamps are respectively arranged at two sides of the dispatching cave, the positive direction of the base station faces the middle of the control path section, and the negative antenna of the base station faces the dispatching cave;

(1) in an initial state, the signal lamps default to green lamps, and if a certain base station detects that a vehicle enters a control road section for the first time, namely a positive distance value is detected for the first time, adjacent signal lamps are controlled to red lamps;

(2) when the trackless rubber-tyred vehicle is positioned again by the current base station on the control section and the positioning result is a positive value, the state of the signal lamp is not changed;

(3) when the trackless rubber-tyred vehicle is positioned by the adjacent base station and the positioning result is a negative value, the trackless rubber-tyred vehicle is considered to be out of the control road section, and the state of the signal lamp is changed from a red lamp to a green lamp.

Optionally, the vehicle identification card and the base station operate as follows:

the method comprises the steps that a vehicle identification card sends broadcast packets, base stations 1#, 2#, 3#, and 4# reply the broadcast packets one by one, the vehicle identification card firstly positions and measures distance with the base station 1# after obtaining the address of the base station, and the base station 1# calculates a distance measurement result and then sends the positioning result to the vehicle identification card; the vehicle identification card then locates and measures distance with the 2# base station, and after the 2# base station calculates the distance measurement result, the location result is sent to the vehicle identification card; the vehicle identification card and the 3# base station are positioned and measured, and after the 3# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; the vehicle identification card and the 4# base station are positioned and measured, and after the 4# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; and the vehicle identification card processes the ranging results of the four times, selects the minimum positioning result to be used for judging which direction the vehicle enters the control road section, and then sends the control road section to the corresponding base station to perform scheduling processing.

Optionally, the distance values between the vehicle identification card and the base station main radio frequency and the auxiliary radio frequency are s1 and s2 respectively, the value of s is 1 meter, and the distance values are calculated by adopting a symmetrical bilateral two-way ranging SDS-TWR algorithm;

the direction determination mechanism of the vehicle identification card relative to the base station is as follows:

s1-s2> s, the positioning card is positioned at the right side of the base station and is at a distance of s2 meters;

s1-s2< s, the locator card is at the left of the base station, at a distance of s2 meters;

s1< s and s2< s, the locator card is to the left of the location base station, a distance of s2 meters.

The invention has the beneficial effects that: the system is a mine vehicle accurate positioning tracking and intelligent scheduling system based on UWB technology, has high positioning accuracy, adopts a distributed scheduling algorithm, does not depend on a backbone network, has high reliability, and has simple system network architecture, convenient deployment and lower cost.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.

Drawings

For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic diagram of the present invention;

FIG. 2 is a functional block diagram of a base station;

FIG. 3 is a functional block diagram of a vehicle identification card;

FIG. 4 is a vehicle identification card and base station work flow diagram;

FIG. 5 is a diagram of a base station location process;

FIG. 6 is a scheduling schematic;

fig. 7 is a diagram of a direction determination mechanism for a vehicle identification card relative to a base station.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.

Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.

As shown in fig. 1, the system and method for accurately tracking and intelligently scheduling mine vehicle positions includes a vehicle identification card, a vehicle scheduling base station, a signal lamp and a server. The vehicle identification card is installed on a mine vehicle, the vehicle dispatching base station and the base station are designed by adopting double radio frequency modules, the vehicle identification card and the vehicle dispatching base station or the base station carry out information interaction in a UWB wireless mode, the vehicle identification card actively initiates broadcasting, sequentially waits for 4 base stations to reply the broadcasting one by one, after the vehicle identification card obtains the base station address, the vehicle identification card is sequentially positioned with the four base stations by adopting a symmetrical bilateral two-way ranging (SDS-TWR) ranging algorithm, a minimum value is selected from a positioning result to obtain the position information of the vehicle identification card relative to the base stations, the vehicle dispatching base station realizes a distributed dispatching rule based on time response according to the position information of the vehicle identification card, so that the state of a signal lamp is controlled, the vehicle runs according to the state of the signal lamp, and a server displays the running state of the vehicle and the state of the signal lamp in real time. The system has simple network architecture, convenient deployment and lower cost, greatly improves the positioning precision, adopts a distributed scheduling method without depending on a backbone network, and has better safety and reliability.

The base station or the vehicle dispatching base station comprises a UWB main radio frequency module, a UWB auxiliary radio frequency module, a protocol communication module, a base station micro controller, a photoelectric conversion micro controller, an industrial switch processor, an optical module, an electrical module and a power supply module, as shown in fig. 2.

(1) Base station microcontroller

An ARM series CPU is selected as a control core to control peripheral equipment to carry out logic operation.

(2) Primary and secondary radio frequencies

DW1000 chips or DW3000 chips of Decawave company are selected, the positioning accuracy can reach centimeter level, TOA ranging and TDOA accurate positioning are supported, countless data receiving and transmitting can be completed, and the communication with the microcontroller is realized in an SPI mode.

(3) Protocol communication module

And completing data storage conversion.

(4) Photoelectric conversion microcontroller

An ARM series CPU is selected as a control core to control an industrial exchange price processor to carry out logic operation.

(5) Industrial switch processor

8/6 port 10/100M Ethernet switch controller with ultra-low power consumption

(6) Power supply module

And (4) finishing power supply of the base station, and designing by adopting the intrinsic safety circuit.

The vehicle identification card includes a UWB location module, a charging module, a vibration sensor, and a vehicle identification card microcontroller, as shown in fig. 3.

Vehicle identification card and base station workflow: the vehicle identification card sends a broadcast packet, the base stations of 1#, 2#, 3#, and 4# reply the broadcast packet one by one, after the vehicle identification card obtains the address of the base station, the vehicle identification card firstly locates and measures the distance with the base station of 1# and after the base station of 1# calculates the distance measurement result, the location result is sent to the vehicle identification card; the vehicle identification card and the 2# base station are positioned and measured, and after the 2# base station calculates the distance measurement result, the positioning result is sent to the vehicle identification card; the vehicle identification card then locates and measures distance with the 3# base station, and after the 3# base station calculates the distance measurement result, the location result is sent to the vehicle identification card; and the vehicle identification card is then positioned and measured with the 4# base station, and the 4# base station sends the positioning result to the vehicle identification card after calculating the distance measurement result. The vehicle identification card processes the ranging results of the four times, selects the minimum positioning result (which can be used for judging the direction from which the vehicle enters the control road section), and then sends the positioning result to the corresponding base station for scheduling.

As shown in fig. 4 to 6, the scheduling principle is: and base stations and signal lamps are respectively arranged on two sides of the dispatching cave, the positive direction of each base station faces to the middle of the control section, and the negative antenna of each base station faces to the dispatching cave.

(1) In an initial state, the signal lamps default to green lamps, and if a certain base station detects that a vehicle enters a control road section for the first time, namely a positive distance value is detected for the first time, adjacent signal lamps are controlled to red lamps;

(2) when the trackless rubber-tyred vehicle is positioned again by the current base station on the control section and the positioning result is a positive value, the state of the signal lamp is not changed;

(3) when the trackless rubber-tyred vehicle is positioned by the adjacent base station and the positioning result is a negative value, the trackless rubber-tyred vehicle is considered to be out of the control road section, and the state of the signal lamp is changed from a red lamp to a green lamp.

As shown in fig. 7, the mine tunnel is generally in a long and narrow state, the width and the height of the mine tunnel are relatively small, the mine tunnel can be regarded as a one-dimensional linear space, the distance values s1 and s2 between the vehicle identification card and the main radio frequency and the auxiliary radio frequency of the base station are calculated by adopting a symmetric bilateral two-way ranging (SDS-TWR) algorithm, the value of s is 1 meter, and the direction determination mechanism of the vehicle identification card relative to the base station is as follows:

s1-s2> s, the positioning card is positioned at the right side of the base station and is at a distance of s2 meters;

s1-s2< s, the locator card is at the left of the base station, at a distance of s2 meters;

s1< s and s2< s, the locator card is to the left of the location base station, a distance of s2 meters.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.