Mining wireless automatic watering dust fall method, device and equipment and medium

Abstract

The invention relates to the field of mining dust falling, in particular to a mining wireless automatic watering dust falling method, device and equipment and a medium. The method comprises the steps that a water spraying track plan of a current period is obtained, operation of a water spraying device is accurately controlled based on the plan, the operation comprises a preset water spraying track, the water spraying amount at each moment and the running speed, real-time heat source data is obtained, and the water spraying amount is accurately controlled based on the real-time heat source data. Whether an original watering track plan needs to be adjusted or not can be intelligently judged, potential safety hazards possibly caused by the fact that equipment or personnel are located on a watering path are avoided, and meanwhile the maximization of the watering effect is guaranteed. And once it is determined that the water sprinkling track plan needs to be changed, the water sprinkling amount and the driving speed in the target time period are further refined, a new water sprinkling track is determined accordingly, and the water sprinkling device is controlled to operate accordingly. The continuity and the stability of water sprinkling operation are ensured, and dynamic changes in a mine can be effectively coped with.

Description

Technical Field

[0001] The present application relates to the field of dust reduction in mines, and in particular to a method, device, equipment and medium for wireless automatic water sprinkling and dust reduction in mines. Background Art

[0002] Wireless automatic water sprinkler dust reduction technology for mines plays an important role in the coal mining process. It mainly reduces the dust concentration in the air by spraying water mist, thereby improving the underground working environment and protecting the health of workers. With the continuous development of the mining industry and technological progress, the mine water sprinkler dust reduction system has gradually developed in the direction of automation and intelligence, which not only improves work efficiency, but also significantly improves safety and environmental protection performance.

[0003] At present, in order to realize the automation of mine watering and dust reduction, the commonly used method is generally to combine the GPS positioning system and the pre-set watering path, so that the watering device runs and sprinkles water according to the predetermined route. However, the above-mentioned existing technical means have certain limitations, especially in the face of complex and changeable mine environments. When there are equipment or personnel on the watering path in the mine, it is impossible to adjust the watering trajectory and watering amount in a timely and accurate manner, resulting in poor watering effects and even potential safety hazards. Therefore, how to effectively respond to dynamic changes in the mine while ensuring the efficiency of watering has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] In order to effectively respond to dynamic changes in a mine, the present application provides a mine-used wireless automatic watering and dust reduction method, device, equipment and medium.

[0005] In the first aspect, the present application provides a wireless automatic water sprinkling and dust reduction method for mining, which adopts the following technical solution: A mine-used wireless automatic watering and dust reduction method, comprising: Obtaining a watering trajectory plan for the current cycle, and controlling the operation of the watering device based on the watering trajectory plan, wherein the watering trajectory plan includes a preset watering trajectory, a preset watering amount corresponding to each moment, and a preset driving speed corresponding to each moment; Acquire heat source data corresponding to the sprinkler device in real time, wherein the heat source data includes a heat value and a heat direction of a potential heat source; Based on the heat source data, determining whether the watering trajectory plan needs to be changed; If the watering trajectory plan needs to be changed, the target watering amount corresponding to each moment in the target time period and the target driving speed corresponding to each moment are determined, and the target time period is the time period between the current moment and the end moment of the current cycle; Determining a target watering trajectory corresponding to the target time period based on the driving speed corresponding to each moment within the target time period; Based on the target watering trajectory corresponding to the target time period, the target watering volume corresponding to each moment, and the target driving speed corresponding to each moment, a new watering trajectory plan is generated, and the operation of the watering device is controlled based on the new watering trajectory plan.

[0006] By adopting the above technical solution, by obtaining the watering trajectory plan of the current cycle and accurately controlling the operation of the sprinkler device based on the plan, including the preset watering trajectory, the watering amount at each moment and the driving speed, the basic framework of the watering operation is ensured to be both efficient and orderly. By acquiring real-time heat source data, the heat source situation in the mine can be dynamically monitored. Based on the real-time heat source data, it can be intelligently determined whether the original watering trajectory plan needs to be adjusted, avoiding the potential safety hazards caused by equipment or personnel on the watering path, while also ensuring the maximization of the watering effect. Once it is determined that the watering trajectory plan needs to be changed, the watering amount and driving speed within the target time period are further refined, and the new watering trajectory is determined accordingly, and the operation of the sprinkler device is controlled accordingly. Not only does it ensure the continuity and stability of the watering operation, but it can also effectively respond to dynamic changes in the mine.

[0007] In a possible implementation, determining whether the watering trajectory plan needs to be changed based on the heat source data includes: The time period from the start time to the current time in the current cycle is taken as the current time period, and the current heat source data corresponding to each time in the current time period is obtained to generate a heat source data set; Determining the thermal activity state of the potential heat source based on the heat source data set, wherein the thermal activity state is used to characterize the static distribution and dynamic changes of the potential heat source; Determining the degree to which the thermal activity situation affects the watering trajectory plan; Based on the degree of impact, determine whether the watering trajectory plan needs to be changed.

[0008] By adopting the above technical solutions, a series of steps such as real-time collection of heat source data, analysis of thermal activity trends, assessment of impact, and intelligent adjustment of watering trajectory plans have been implemented to achieve intelligent, efficient and safe watering and dust reduction operations. This not only improves the effect and efficiency of watering operations, but also significantly enhances the safety and environmental performance of the mine operating environment.

[0009] In a possible implementation, determining the thermal activity state of the potential heat source based on the heat source data set includes: Determine the relative direction of each potential heat source at each moment based on the heat direction in the current heat source data corresponding to each moment, wherein the relative direction is the direction of the potential heat source relative to the sprinkler device; Determine the static distribution of the potential heat sources corresponding to each moment based on the relative direction of each potential heat source at each moment; Determine moving potential heat sources and stationary potential heat sources based on the relative direction, heat value and the watering trajectory plan of each potential heat source at each moment; Determining the moving direction and moving speed of the mobile potential heat source to obtain dynamic changes of the potential heat source; Based on the static distribution and dynamic changes of potential heat sources, the thermal activity status of potential heat sources is obtained.

[0010] By adopting the above technical solutions and a series of meticulous steps, we have achieved accurate analysis of the thermal activity of potential heat sources, providing a scientific basis for the intelligent adjustment of watering and dust reduction operations. This not only improves the effect and efficiency of watering operations, but also significantly enhances the safety and environmental protection performance of the mine working environment, making important contributions to mine safety production and environmental protection.

[0011] In a possible implementation, determining a target watering amount corresponding to each moment in a target time period and a target driving speed corresponding to each moment includes: Based on the thermal activity trend of the potential heat source and the sprinkler trajectory plan, predict the target distance corresponding to each moment in the target time period, the target distance being the distance between the target potential heat source and the sprinkler device, and the target potential heat source being the potential heat source closest to the sprinkler device; Determine whether there is a target whose distance is less than a first distance threshold and greater than a second distance threshold; If there is a target distance that is less than the first distance threshold and greater than the second distance threshold, determine the target distance that is less than the first distance threshold and greater than the second distance threshold as the impact distance, and determine the time corresponding to the impact distance as the impact time; Determine the impact position corresponding to the impact moment, and determine the dust reduction importance of the impact position, the impact position being the position of the sprinkler device corresponding to the impact moment; If the dust fall importance is greater than the importance threshold and the potential heat source is a stationary potential heat source, determining that the target driving speed corresponding to the impact moment is 0 and the corresponding target watering amount is 0, and generating an alarm message; If the dust reduction importance is not greater than the importance threshold and the potential heat source is a stationary potential heat source, it is determined that the driving speed corresponding to the impact moment is the corresponding preset driving speed and the corresponding watering amount is 0.

[0012] By adopting the above technical scheme, by comprehensively considering the thermal activity trends of potential heat sources, watering trajectory plans, dust reduction needs and safety factors, refined management and intelligent adjustment of watering operations are achieved, which not only improves the efficiency and safety of watering operations, but also reduces operating costs, providing strong technical support for urban environmental management.

[0013] In a possible implementation, determining a target watering trajectory corresponding to the target time period based on a target driving speed corresponding to each moment in the target time period includes: Determining a target distance corresponding to the target time period based on a target driving speed corresponding to each moment within the target time period; Determine a preset distance corresponding to the preset watering trajectory; Based on the target distance and the preset distance, a target watering trajectory corresponding to the target time period is determined.

[0014] By adopting the above technical solution, the dynamic optimization and intelligent adjustment of the watering trajectory are achieved by comprehensively considering the driving speed, preset watering trajectory and actual watering needs within the target time period. This not only improves the flexibility and efficiency of watering operations, but also helps to reduce resource waste and environmental pollution, providing a more scientific and reasonable solution for urban environmental management. At the same time, it also reflects the importance of efficient resource utilization and environmental protection in the construction of smart cities.

[0015] In a possible implementation, the method further includes: receiving a control instruction, wherein the control instruction includes a stop sub-instruction, a run sub-instruction, and a turn sub-instruction; Based on the control instruction, the sprinkler device is controlled to operate.

[0016] By adopting the above technical solution, the receiving of control instructions and the control of the sprinkler device action are incorporated into the sprinkler management solution, which greatly enhances the flexibility and controllability of the system, allowing the sprinkler operation to complete the scheduled task more accurately and efficiently. At the same time, the addition of this link also makes it possible to remotely monitor and automatically manage the sprinkler operation, providing a more scientific and reasonable solution for smart city construction and urban environmental management.

[0017] In a possible implementation, the method further includes: Obtaining a water storage level corresponding to the sprinkler device; Determining whether the water storage level is lower than a first water level threshold; If the water storage level is lower than the first water level threshold, it is determined that a water adding operation is required, and the water adding module is controlled to operate; Obtaining the current water storage level corresponding to the sprinkler device in real time; When the current water storage level is higher than a second water level threshold, the water adding module is controlled to stop running.

[0018] By adopting the above technical solution, the water storage level monitoring and water adding operation of the sprinkler device are incorporated into the sprinkler management solution, further improving the intelligence and automation level of the system. The addition of this link not only ensures the continuity and stability of the sprinkler operation, but also improves the efficiency and accuracy of the operation, reduces the operating cost and maintenance difficulty. At the same time, it also provides the possibility for intelligent management and remote monitoring of sprinkler operations, and provides a more scientific and reasonable solution for smart city construction and urban environmental management.

[0019] In the second aspect, the present application provides a wireless automatic water sprinkler and dust suppression device for mining, which adopts the following technical solution: A wireless automatic watering and dust suppression device for mines, comprising: A control module, used to obtain a watering trajectory plan of the current cycle, and control the operation of the watering device based on the watering trajectory plan, wherein the watering trajectory plan includes a preset watering trajectory, a preset watering amount corresponding to each moment, and a preset driving speed corresponding to each moment; An acquisition module, used for acquiring heat source data corresponding to the sprinkler device in real time, wherein the heat source data includes a heat value and a heat direction of a potential heat source; A first determination module, used to determine whether the watering trajectory plan needs to be changed based on the heat source data; A second determination module is used to determine the target watering amount and the target driving speed corresponding to each moment in a target time period if the watering trajectory plan needs to be changed, wherein the target time period is the time period between the current moment and the end moment of the current cycle; A third determination module is used to determine a target watering trajectory corresponding to the target time period based on the driving speed corresponding to each moment in the target time period; A generation module is used to generate a new watering trajectory plan based on the target watering trajectory corresponding to the target time period, the target watering amount corresponding to each moment, and the target driving speed corresponding to each moment, and control the operation of the sprinkler device based on the new watering trajectory plan.

[0020] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: An electronic device, comprising: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the mine wireless automatic watering and dust reduction method described in the first aspect above.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium includes: a computer program that can be loaded by a processor and execute the wireless automatic water sprinkling and dust reduction method for mining described in the first aspect.

[0022] In summary, this application includes the following beneficial technical effects: By obtaining the sprinkler trajectory plan of the current cycle and accurately controlling the operation of the sprinkler device based on the plan, including the preset sprinkler trajectory, sprinkler volume at each moment, and driving speed, the basic framework of the sprinkler operation is ensured to be both efficient and orderly. By acquiring real-time heat source data, the heat source situation in the mine can be dynamically monitored. Based on the real-time heat source data, it can intelligently determine whether the original sprinkler trajectory plan needs to be adjusted, avoiding potential safety hazards caused by equipment or personnel on the sprinkler path, while also ensuring the maximum sprinkler effect. Once it is determined that the sprinkler trajectory plan needs to be changed, the sprinkler volume and driving speed within the target time period are further refined, and the new sprinkler trajectory is determined accordingly, and the sprinkler device operation is controlled accordingly. Not only does it ensure the continuity and stability of the sprinkler operation, but it can also effectively respond to dynamic changes in the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a structural schematic diagram of a sprinkler device provided in an embodiment of the present application; Figure 2 It is a flow chart of a method for wireless automatic water sprinkling and dust reduction for mines provided in an embodiment of the present application; Figure 3 It is a block diagram of a wireless automatic watering and dust suppression device for mining provided in an embodiment of the present application; Figure 4 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following is combined with Figure 1 -Attached Figure 4 This application is described in further detail.

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] In order to facilitate understanding of the technical solution proposed in this application, several elements introduced in the description of this application are first introduced here. It should be understood that the following introduction is only for the convenience of understanding these elements, so as to understand the content of the embodiments of this application, and does not necessarily cover all possible situations.

[0027] In the underground comprehensive mining face of large coal mines, there are many coal mining equipment, conveyor belts and miners working frequently. In the scenario of large coal mines, a certain amount of dust will be generated during coal mining, coal transportation, rock crushing and drilling operations. At the same time, affected by the ventilation system, the generated dust may not be effectively diffused, resulting in excessive dust concentration in the underground air, which may affect the health of workers. Therefore, mine wireless automatic watering and dust reduction technology plays an important role in the coal mining process. At present, it mainly relies on spraying water mist to reduce the dust concentration in the air to improve the harsh working environment underground and protect the health of workers. At present, in order to achieve the goal of automated watering and dust reduction for mines, the GPS positioning system is often combined with a pre-planned watering path to drive the watering device to follow the established route and implement watering operations. However, this existing technical solution exposes obvious defects under complex and changeable mine conditions. For example, in actual mine scenarios, when a piece of equipment suddenly breaks down and is temporarily parked on the watering path, or when workers travel through the watering area due to work needs, the system cannot quickly and accurately adjust the watering trajectory and amount according to these dynamic changes, which greatly reduces the effectiveness of the watering. Not only can it not effectively suppress dust, excessive watering may also cause equipment short circuits, workers slipping and other safety accidents, burying many hidden dangers for underground operations. Therefore, on the premise of ensuring that the watering efficiency is not affected, how to cleverly deal with the dynamic changes that may occur anytime and anywhere inside the mine has become a core technical problem that urgently needs to be overcome in the current field of mine watering and dust reduction technology.

[0028] In view of this, the embodiment of the present application provides a wireless automatic watering and dust reduction method for mining, which is applied to a watering device, see Figure 1The sprinkler 10 includes a bracket 101, a control module 102, a thermoluminescence control sensor module 103, a level sensor module 104, an infrared receiving module 105, a remote control module 106 and a spraying module 107. The electronic device is connected to the control module 102 of the sprinkler 10. At the same time, the control module 102 is electrically connected to the spraying module 107, the thermoluminescence control sensor module 103, the level sensor module 104 and the infrared receiving module 105 respectively. The control module 102 can receive the data corresponding to the thermoluminescence control sensor module 103, the level sensor module 104 and the infrared receiving module 105, and send these data to the electronic device. The electronic device receives the data obtained by the sprinkler 10 and sends instructions to the control module 102. The control module 102 receives the instructions and controls the action of the sprinkler 10 or the action of the spraying module 107 according to the instructions. Among them, the control module 102 can be a ZPW12.8-Z mine intrinsically safe wireless automatic sprinkler dust suppression device controller.

[0029] Before a coal mining operation cycle begins, the electronic equipment formulates a watering trajectory plan for the current cycle based on the layout of the comprehensive mining face, equipment distribution, and previous dust generation patterns, and sends the watering trajectory plan to the control module 102. The preset watering trajectory is set along the direction of the working face, for example, starting from one end of the working face, and passing through each coal mining support area in a certain order to ensure that the dust in the entire coal mining process can be effectively covered. The preset watering volume corresponding to each moment is determined according to the dust concentration estimate and ventilation conditions of different areas. For example, in the key dust-producing areas where the coal mining machine cuts coal, the preset watering volume is large, while the preset watering volume in areas such as personnel passages is relatively small. The preset driving speed corresponding to each moment matches the advancement speed of the entire coal mining operation to ensure that the watering can keep up with the rhythm of dust generation in time.

[0030] During the operation of the sprinkler, the thermoluminescence control sensor module 103 monitors the underground environment in real time. When a potential heat source is detected in a certain area, such as when a miner approaches an area where water is being sprinkled, the thermoluminescence control sensor module 103 obtains the heat source data and sends the heat source data to the electronic device. Based on these heat source data, the electronic device determines that the sprinkler trajectory plan needs to be changed to avoid wetting the miners. For example, when a worker enters the sprinkler area, the thermoluminescence control sensor module 103 quickly detects the position and movement direction of the human body heat source, providing a key basis for subsequent adjustment of the sprinkler trajectory and sprinkler volume, avoiding safety hazards and poor sprinkler effects caused by blind sprinkler due to the inability to know the location of the personnel. Among them, the thermoluminescence control sensor module 103 can be a ZPW-3.7R mine-use intrinsically safe wireless thermoluminescence control sensor.

[0031] The level sensor module 104 can accurately monitor the water level of water storage equipment such as water tanks or water tanks, which helps to ensure sufficient water supply during the entire watering and dust reduction process. When the water level is abnormal (too high or too low), the control module 102 obtains the water level data detected by the level sensor module 104 and sends the water level data to the electronic device. The electronic device generates a corresponding instruction and sends it to the control module 102. The control module 102 controls the action of the watering module 107 based on the instruction, thereby improving the stability and reliability of the system. Among them, the level sensor module 104 can be a GUC1 mining intrinsically safe wireless level sensor.

[0032] The operator can conveniently remotely control the sprinkler device 10 in a complex underground environment through the remote control module 106. When an emergency is found (such as a temporary equipment failure and parking on the sprinkler path), an instruction can be immediately sent through the remote control module 106, and the infrared receiving module 105 receives the instruction and sends the instruction to the control module 102, so that the control module 102 can adjust the operating state of the sprinkler device 10, such as pausing, changing the spraying direction or adjusting the amount of water sprayed. This flexible control method can quickly respond to dynamic changes in the mine, improve the adaptability and controllability of the sprinkler dust reduction system, and effectively solve the problem of untimely adjustment in the face of emergencies in the prior art. Among them, the remote control module 106 can be a FYF5 mine-use intrinsically safe infrared remote control transmitter or a FYF10C mine-use magnetic control remote control transmitter.

[0033] More specifically, the control module 102 has the function of adding and setting the sensor module, adopts flexible coding technology, and supports one-key code matching operation. This unique coding method effectively avoids mutual interference between device signals and ensures the accuracy and independence of communication between each sensor module and the control module 102. At the same time, in the communication link between the control module 102 and the sensor module, the spread spectrum long-distance communication technology is used, which greatly enhances the stability of long-distance communication and effectively guarantees the anti-interference ability and reliability of the entire system communication, so that it can operate stably in a complex underground environment. For example, when the ZPW-3.7R mine intrinsically safe wireless thermoluminescence control sensor is set to be added, the spraying stop function when people pass can be realized in the man-machine tunnel, effectively ensuring the safety and comfort of personnel passage; if the GUC1 mine intrinsically safe wireless level sensor is set to be added, the belt conveyor can automatically spray when there is coal and stop spraying when there is no coal, which can realize the intelligent control, rationally use water resources and accurately respond to the needs of belt transportation operations; and the FYF10C mine magnetic control remote control transmitter is set to realize the automatic coordination function of moving frames, dropping frames, and placing coal in the comprehensive mining working face, improving the overall coordination efficiency of coal mining operations and water sprinkling and dust reduction. The control module 102 number code, timed spraying period and spray volume can all be freely set. According to the actual underground operation conditions, dust generation rules and water resource management requirements, the operator can accurately set the control module 102 number for easy identification and management, flexibly plan the timed spraying period to adapt to different production shifts and operation rhythms, and finely adjust the spray volume to achieve the best dust reduction effect and resource utilization balance.

[0034] The control module 102 has a strong signal receiving and execution capability, and can accurately receive control signals from the ZPW-3.7R mine intrinsically safe wireless thermoluminescent control sensor or the GUC1 mine intrinsically safe wireless level sensor and the FYF10C mine magnetic remote control transmitter. Once the opening signal is received, the electric ball valve is immediately driven to open and the watering process is started; and when the closing signal is received, the electric ball valve is quickly controlled to close and the watering operation is stopped, realizing accurate and automated control of the watering process, and effectively improving the response speed and control accuracy of the system.

[0035] The control module 102 also has a power-off memory capability, and can reliably memorize various parameters that have been set. Even in the event of a sudden power outage, the previously set parameter information will not be lost. When the power is restored, the control module 102 can quickly restore to the working state before the power outage based on the memorized parameters, without the need to re-perform cumbersome setting operations, which greatly improves the convenience and stability of the system and reduces the impact of power outages on underground watering and dust reduction operations.

[0036] Furthermore, the sprinkler device 10 also includes a display screen, and the control module 102 and each sensor module are equipped with a low voltage warning function. When the power supply voltage drops to a preset warning threshold, the warning state will be clearly displayed on the display screen in a timely manner. This function provides operators with sufficient preparation time to maintain or replace the power supply in a timely manner, ensure the continuous and stable operation of the system, and avoid problems such as equipment failure or control failure caused by low voltage.

[0037] The sprinkler 10 also includes a battery, which has a comprehensive protection mechanism, including overvoltage, undervoltage, overcurrent and overcharge protection functions. Whether in the charging process or during normal use, these protection functions can effectively monitor the working status of the battery, prevent damage to the battery due to abnormal conditions such as overvoltage, undervoltage, overcurrent or overcharge, extend the service life of the battery, and improve the safety and reliability of the entire device.

[0038] The present application embodiment provides a mine wireless automatic watering and dust reduction method, such as Figure 2 As shown, the method provided in the embodiment of the present application is executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application. The method includes steps S201 to S206, wherein: Step S201: Obtain a watering trajectory plan for the current cycle, and control the operation of the sprinkler device based on the watering trajectory plan.

[0039] The watering trajectory plan includes a preset watering trajectory, a preset watering amount corresponding to each moment, and a preset driving speed corresponding to each moment. Specifically, before a coal mining operation cycle begins, the electronic device will formulate a watering trajectory plan for the current cycle based on the layout of the fully mechanized working face, the distribution of equipment, and the previous dust generation rules, and store the watering trajectory plan in the database corresponding to the watering device. The preset watering trajectory is set along the direction of the working face, for example, starting from one end of the working face, and passing through each coal mining support area in a certain order to ensure that the dust in the entire coal mining process can be effectively covered. The preset watering amount corresponding to each moment is determined according to the dust concentration estimation and ventilation conditions of different areas. For example, in the key dust-producing area where the coal mining machine cuts coal, the preset watering amount is large, while the preset watering amount in areas such as personnel passages is relatively small. The preset driving speed corresponding to each moment matches the advancement speed of the entire coal mining operation to ensure that the watering can keep up with the rhythm of dust generation in time. Among them, the current cycle is one cycle among multiple cycles, and a cycle can be one day or one hour, which is not limited in the embodiments of the present application. It is worth noting that there may be multiple sprinkler devices in the underground mine. The sprinkler trajectory plan determined in this embodiment is the sprinkler trajectory plan corresponding to a certain sprinkler device, and this embodiment and any subsequent embodiments are for any sprinkler device in the underground mine.

[0040] Furthermore, the electronic device obtains the watering trajectory plan corresponding to the watering device in the current cycle from the database corresponding to the watering device, and controls the watering device according to the preset watering trajectory in the watering trajectory plan, the preset watering volume corresponding to each moment, and the preset driving speed corresponding to each moment, so that the watering device can operate and sprinkle water according to the corresponding watering trajectory plan.

[0041] Step S202: Acquire heat source data corresponding to the sprinkler device in real time.

[0042] Among them, the heat source data includes the heat value and heat direction of the potential heat source. The potential heat source is a source that is within a certain range of the sprinkler device and emits heat energy. The potential heat source may be a person or a device in working state. Specifically, the thermoluminescence control sensor module in the sprinkler device measures the heat value and the direction corresponding to the heat value, and sends the heat value and the direction corresponding to the heat value to the control module, and the electronic device receives the heat value and the direction corresponding to the heat value. Among them, a potential heat source corresponds to a heat value and a heat direction. When there are multiple heat directions, the heat value corresponding to a heat direction is determined as the heat value corresponding to a potential heat source. Exemplarily, when the thermoluminescence control sensor module detects a heat source, it sends a data frame containing a heat value of 35°C (assuming) and a heat direction of southeast to the control module. The electronic device receives the data frame sent by the module, and extracts the heat value and heat direction information according to the predetermined data parsing rules, and records it in the database corresponding to the sprinkler device.

[0043] Step S203: Determine whether the watering trajectory plan needs to be changed based on the heat source data.

[0044] Since equipment and personnel in working state will emit a certain amount of heat energy, when heat source data is detected, it means that there may be equipment or personnel near the sprinkler. When the sprinkler is running according to the sprinkler trajectory plan, the equipment or personnel may be wet, and may even endanger the safety of the personnel. Therefore, it can be determined whether to change the sprinkler trajectory plan of the sprinkler based on the heat source data. Specifically, according to the safety requirements of underground operations and the requirements for the effect of sprinkler dust reduction, the judgment thresholds and related rules of the pre-set heat value and heat direction are obtained from the data corresponding to the sprinkler. For example, when the heat value exceeds 30°C (assumed) and the heat direction is within the range of ±30° directly in front of the sprinkler (assumed), it is necessary to consider changing the sprinkler trajectory plan, because this may indicate that there are personnel or important equipment in the sprinkler area.

[0045] The heat value and heat direction in the real-time heat source data are compared with the set thresholds and rules. If the change conditions are met, it is determined that the sprinkler trajectory plan needs to be changed; otherwise, it continues to run according to the current sprinkler trajectory plan. For example, when the heat value in the received heat source data is 35°C and the heat direction is 20° straight ahead, which matches the set thresholds and rules, the electronic device determines that the sprinkler trajectory plan needs to be changed.

[0046] Step S204: If the watering trajectory plan needs to be changed, the target watering amount corresponding to each moment in the target time period and the target driving speed corresponding to each moment are determined.

[0047] The target time period is the time period between the current time and the end time of the current cycle.

[0048] When it is determined that the sprinkler trajectory plan needs to be changed, the target sprinkler volume and target driving speed corresponding to each moment in the target time period (the time period between the current moment and the end moment of the current cycle) are calculated based on the heat source data and the current operating status of the sprinkler. Specifically, when the potential heat source is not located in the target range directly in front of the sprinkler (the target range is the range that affects the operation of the sprinkler, and the target range can be within ±10°), the potential heat source will not affect the operation of the sprinkler. Therefore, based on the principle that the closer the heat source is to the sprinkler, the more the sprinkler volume is reduced, combined with the inverse proportional relationship formula between distance and sprinkler volume: , calculate the target watering volume, calculate the driving speed and watering volume corresponding to each moment in the target time period, where Q is the watering volume, k is a proportional constant (which can be set according to various factors such as the initial setting of the sprinkler device, nozzle characteristics, water pressure, etc., and is not limited to this in the embodiment of the present application), r is the watering radius corresponding to the spraying module, θ is the watering coverage angle corresponding to the spraying module, and d is the heat source distance.

[0049] More specifically, for each potential heat source, when the potential heat source is not located in the first range directly in front of the sprinkler, based on the heat direction corresponding to the potential heat source and the heat value corresponding to the potential heat source, the position where the heat value is greater than the heat threshold is determined as the heat source position corresponding to the potential heat source, and the distance between the sprinkler and the heat source position is calculated to obtain the heat source distance (the heat source distance can be calculated by the time difference between the infrared module on the sprinkler sending and receiving the outer red line in the heat direction). Similarly, based on the above method, the heat source distance corresponding to each moment during the driving process of the sprinkler can be calculated, and based on the first connecting line between the current position of the sprinkler and the heat source position, the front of the sprinkler is taken as the first decomposition direction, and the direction perpendicular to the first decomposition direction and close to the first connecting line is taken as the second decomposition direction, and the first distance corresponding to the first decomposition direction and the second distance corresponding to the second decomposition direction are calculated, and based on the preset driving speed corresponding to each moment and the first distance, the driving time period required to travel the first distance is calculated. Based on the inverse proportional relationship formula of the watering amount: , where d is the second distance, the target watering amount corresponding to each moment corresponding to the driving time period is obtained, and the preset driving speed corresponding to each moment corresponding to the driving time period is determined as the corresponding target driving speed, and the preset driving speed and preset watering amount corresponding to each moment in the target time period excluding the driving time period are determined as the corresponding target driving speed and target watering amount.

[0050] When the potential heat source is located in the target range directly in front of the sprinkler, the potential heat source is likely to affect the operation of the sprinkler, so it is necessary to stop the operation to avoid damage to the potential heat source. Specifically, when the potential heat source is located in the target range directly in front of the sprinkler, the target watering volume corresponding to each moment in the target time period and the target driving speed corresponding to each moment are determined to be 0. Further, heat source alarm information is generated and sent to the terminal of the staff corresponding to the sprinkler so that the staff can intervene.

[0051] Furthermore, when there is no need to change the watering trajectory plan of the sprinkler device, the operation of the sprinkler device is controlled based on the set watering trajectory, the preset watering amount corresponding to each moment, and the preset driving speed corresponding to each moment.

[0052] Step S205: determining a target watering trajectory corresponding to the target time period based on the driving speed corresponding to each moment in the target time period.

[0053] Specifically, the target time period is divided according to certain time intervals. For example, every 1 minute can be divided into a small time interval (the specific interval length can be set according to actual needs and accuracy requirements). For each divided small time interval, obtain the target driving speed value corresponding to the start time of the interval. Assuming that the target driving speed at the start time of a certain interval is v (the unit can be meters / minute, etc.), the time interval length is set to t (in minutes), and according to the basic principle that the distance is equal to the speed multiplied by the time, calculate the distance s within the small time interval, that is, s=vt. After calculating the distance within each small time interval in turn according to the above method, the distance of all small time intervals is accumulated to finally obtain the target distance corresponding to the target time period. For example, after calculation and accumulation of multiple time intervals, the total target distance within the target time period is meters (this is just an example value).

[0054] Further, a preset distance corresponding to the preset watering trajectory is obtained from a database corresponding to the sprinkler device, and the position of the sprinkler device on the preset watering trajectory corresponding to the current moment is obtained to obtain the current starting position, and the target distance is divided from the preset watering trajectory with the current starting position as the starting point to obtain the target watering trajectory. The preset distance corresponding to the preset watering trajectory is stored in the database corresponding to the sprinkler device.

[0055] Step S206: Generate a new watering trajectory plan based on the target watering trajectory corresponding to the target time period, the target watering volume corresponding to each moment, and the target driving speed corresponding to each moment, and control the operation of the sprinkler device based on the new watering trajectory plan.

[0056] The target watering trajectory, the target watering volume at each moment, and the target running speed at each moment are integrated together to generate a complete new watering trajectory plan. For example, the target watering trajectory, the target watering volume data, and the target running speed data are matched in chronological order and stored in a multidimensional array or a custom structure array, where each element contains the trajectory point coordinates, watering volume, and running speed information corresponding to a moment.

[0057] Furthermore, the current sprinkler control is switched to control based on the new sprinkler trajectory plan. According to the data in the new plan, control instructions are sent to each execution component of the sprinkler device in turn. For example, according to the target operating speed data in the new plan, the speed of the motor is continuously adjusted; according to the target sprinkler volume data, the power of the water pump or the opening of the solenoid valve is controlled in real time; according to the coordinate point sequence of the target sprinkler trajectory, the navigation system or motion controller of the sprinkler device is guided to make the sprinkler device run along the new trajectory. During the control process, various sensor data (such as heat source data, level sensor data, etc.) continue to be monitored in real time to detect new situations in time and adjust the sprinkler trajectory plan again.

[0058] The embodiment of the present application provides a wireless automatic watering and dust reduction method for mines, which obtains the watering trajectory plan of the current cycle and accurately controls the operation of the watering device based on the plan, including the preset watering trajectory, the watering amount at each moment, and the driving speed, thereby ensuring that the basic framework of the watering operation is both efficient and orderly. By acquiring real-time heat source data, the heat source conditions in the mine can be dynamically monitored. Based on the real-time heat source data, it can be intelligently determined whether the original watering trajectory plan needs to be adjusted, thereby avoiding safety hazards that may be caused by equipment or personnel being on the watering path, and also ensuring the maximization of the watering effect. Once it is determined that the watering trajectory plan needs to be changed, the watering amount and driving speed within the target time period are further refined, and the new watering trajectory is determined accordingly, and the operation of the watering device is controlled accordingly. Not only does it ensure the continuity and stability of the watering operation, but it can also effectively respond to dynamic changes in the mine.

[0059] A possible implementation of the embodiment of the present application is to determine whether the watering trajectory plan needs to be changed based on the heat source data in the above step S203, including: The time period from the start time to the current time in the current cycle is taken as the current time period, and the current heat source data corresponding to each time in the current time period is obtained to generate a heat source data set; Based on the heat source data set, determine the thermal activity trend of the potential heat source, which is used to characterize the static distribution and dynamic changes of the potential heat source; Determine the extent to which thermal activity patterns affect watering trajectory planning; Based on the level of impact, determine if changes to the sprinkler trajectory plan are necessary.

[0060] Among them, the thermal activity situation is used to characterize the static distribution and dynamic changes of potential heat sources. Specifically, thermal activity reflects the human or non-human activity information related to heat reflected by the heat source data, and the situation covers the static distribution of locations, the dynamic change trend reflected by the movement trajectory, and the overall state brought about by the quantity scale.

[0061] Based on the start time mark of the current cycle and the time mark of the current moment, the scope of the current time period is determined. For example, if the current cycle starts at 8 am and the current moment is 9:30 am, then the current time period is from 8 am to 9:30 am. Specifically, within the determined current time period, a data request instruction is sent to the control module 102 at a preset time interval (such as every 30 seconds), and the electronic device receives the current heat source data corresponding to each moment fed back by the control module 102. For example, at 8 am, the data sent by the sensor with a heat value of 25°C and a heat direction of northeast direction is received, and a new set of data is received at 8:30. After the heat source data collection of all planned moments in the current time period is completed, all the received heat source data are sorted and packaged to form a complete heat source data set. This heat source data set can be stored in the form of an array or list in a data structure, where each element corresponds to the heat source data of a moment and contains information such as a time mark, a heat value, and a heat direction. For example, a simple heat source dataset element can be represented as {time: "8:00", heat value: 25, heat direction: "northeast"}, and the entire dataset is an ordered set consisting of multiple such elements.

[0062] Specifically, the heat values ​​in the heat source data set are statistically analyzed to determine the static distribution of potential heat sources. For example, by drawing a spatial distribution histogram of heat values, the concentration of heat values ​​in different areas can be observed. If the heat values ​​in a particular area are generally high and relatively stable, it can be preliminarily determined that there is a potential stable heat source in the area, such as the heat generated by the operation of fixed equipment or the human body heat generated by long-term stay of personnel. For the heat direction information in the heat source data set, its change over time is analyzed to determine the dynamic change of the potential heat source. For example, by calculating the change angle difference of the heat direction at adjacent moments, if it is found that the heat direction of a heat source continues to change at a large angle over a period of time (such as gradually turning from the east direction to the south direction), it can be inferred that the heat source may be in a mobile state, which may be a person walking or a movable device in operation. Specifically, data visualization tools (such as a simple graphics drawing library) can be used to draw the change of heat direction into a curve so as to more intuitively observe the dynamic change trend. Further, combined with the static distribution analysis of heat values ​​and the dynamic change analysis results of heat direction, a comprehensive judgment of the thermal activity situation of potential heat sources is generated. For example, if an area has both high and stable heat values ​​and small fluctuations in the heat direction, it may mean that there is fixed equipment in the area and people are active near it; if the heat value in an area suddenly rises and there is an obvious movement trajectory in the heat direction, it may mean that a new mobile heat source (such as a faulty equipment that generates a lot of heat and is moving) has entered the area.

[0063] Furthermore, influence weights can be set for different thermal activity situation factors based on the location of potential heat sources and whether the heat sources are active or not. Specifically, a higher weight (such as 0.6) is set for the proximity of the location of the stable heat source to the sprinkler trajectory, because if a stable heat source (such as a fixed device) is close to the sprinkler trajectory and continues to generate heat, it may have a greater impact on the operation of the equipment or personnel; a relatively low weight (such as 0.2) is set for the speed of the moving heat source, because a slower moving heat source may have enough time for the sprinkler to make adjustments without causing too much impact; a moderate weight (such as 0.2) is set for the intensity of the heat value of the heat source, because too high a heat value may affect the sprinkler effect (such as high temperature causing rapid evaporation of water). Furthermore, based on the thermal activity situation obtained from the analysis of the heat source data set and the set weights of the influencing factors, the impact score on the sprinkler trajectory plan is calculated. For example, if there is a stable heat source in a certain area, which is close to the preset sprinkler trajectory (assuming that a distance influence factor of 0.8 is calculated based on the position relationship), the heat value intensity is moderate (assuming that the heat value influence factor is 0.5), and there is no obvious mobile heat source influence, then the impact score of the area = 0.6 × 0.8 + 0.2 × 0 + 0.2 × 0.5 = 0.58. Such an impact score is calculated for each potentially affected area or the entire sprinkler area (if evaluated as a whole), and stored in the impact data area in the memory. Furthermore, according to the calculated impact score, it is divided into different impact levels. For example, the impact score of 0-0.3 can be set as a low impact level, indicating that the thermal activity situation has basically no impact on the sprinkler trajectory plan and can continue to be executed according to the original plan; the score of 0.3-0.6 is a medium impact level, indicating that the sprinkler trajectory plan needs to be partially adjusted; the score of 0.6-1 is a high impact level, indicating that the sprinkler trajectory plan needs to be adjusted to a large extent or even replanned.

[0064] Furthermore, after obtaining the degree of influence of the thermal activity situation on the watering trajectory plan, it can be determined whether the watering trajectory plan needs to be changed. Specifically, if it is a low impact level, no change is required, and the current watering trajectory plan continues to be operated, and the relevant monitoring system or operator is notified that the current thermal activity situation has no effect on the watering trajectory; if it is a medium impact level, the local adjustment procedure of the watering trajectory plan is started, such as adjusting the amount of watering passing through the area, slightly changing the direction or speed of watering, etc., to avoid or adapt to the thermal activity situation; if it is a high impact level, the re-planning of the watering trajectory plan is triggered.

[0065] A possible implementation of the embodiment of the present application, in the above embodiment, determining the thermal activity status of a potential heat source based on a heat source data set includes: Determine the relative direction of each potential heat source at each moment based on the heat direction in the current heat source data corresponding to each moment; Determine the static distribution of the potential heat sources corresponding to each moment based on the relative direction of each potential heat source at each moment; Determine moving potential heat sources and stationary potential heat sources based on the relative direction, heat value, and sprinkler trajectory plan of each potential heat source at each moment; Determine the moving direction and moving speed of the mobile potential heat source to obtain the dynamic change of the potential heat source; Based on the static distribution and dynamic changes of potential heat sources, the thermal activity status of potential heat sources is obtained.

[0066] Among them, the relative direction is the direction of the potential heat source relative to the sprinkler. Specifically, a reference coordinate system centered on the sprinkler can be established. For example, the forward direction of the sprinkler is the positive direction of the X-axis, and the positive direction of the Y-axis is perpendicular to the forward direction and horizontal to the right (the direction of the coordinate axis can be determined based on the actual underground layout and the principle of ease of analysis). Furthermore, for the heat direction information in the current heat source data received at each moment, the relative direction of the potential heat source relative to the sprinkler is determined through corresponding angle conversion and calculation. For example, if the heat direction given in the heat source data is 30° clockwise relative to the north direction, and in the established reference coordinate system, the angle between the positive direction of the X-axis of the sprinkler and the north direction is 45°, then after calculation, the relative direction angle of the potential heat source relative to the sprinkler is 30°-45°=-15°.

[0067] According to the actual layout of the well and the working range of the sprinkler, the entire area can be divided into several small cells or blocks (for example, divided into square blocks with a side length of 5 meters according to the length and width of the tunnel), and each block is numbered or marked, and the position information of each block relative to the reference coordinate system (such as the center coordinates of the block, etc.) is recorded. Then, based on the relative direction of each potential heat source at each moment, combined with the position of the sprinkler itself, it is determined in which block the potential heat source is roughly located, so as to determine its static distribution position at that moment. Furthermore, as time goes by, the information of the block where the potential heat source is located is continuously recorded at each moment, and through statistical analysis of multiple moments, it is observed whether the potential heat source often appears in certain specific blocks, so as to further clarify its static distribution law.

[0068] The judgment threshold and rules are obtained from the database corresponding to the sprinkler device to distinguish between mobile potential heat sources and stationary potential heat sources. For example, the angle change threshold is set. If the sum of the absolute values ​​of the angle changes in the relative direction of a potential heat source exceeds a certain degree (such as 30°, which means that the direction has changed significantly) within several consecutive moments (such as 5 moments, which can be adjusted according to actual conditions), it is judged that it may be a mobile potential heat source; in addition, referring to the sprinkler trajectory plan, if the location of the potential heat source has been moving relative to the sprinkler trajectory (such as always gradually approaching or moving away from the sprinkler trajectory), it is also assisted in judging it as a mobile potential heat source. On the contrary, if the relative direction angle of a potential heat source remains basically unchanged for a long time (such as more than 10 moments) (the sum of the absolute values ​​of the angle changes is very small, within the set small angle threshold, such as within 5°), the heat value is also stable, and the relative position with the sprinkler trajectory is fixed, then it is judged to be a stationary potential heat source. Furthermore, for each potential heat source at each moment, the changes in its relative direction and heat value over time are compared and analyzed with the set thresholds and rules to determine whether it is a mobile potential heat source or a stationary potential heat source, and make corresponding marks. For example, for potential heat source A, the electronic device observes that the sum of the absolute values ​​of its relative direction angle changes in the past 6 moments has reached 40°, the heat value fluctuates within ±3°C, and its position is gradually approaching the watering trajectory. It is comprehensively judged that potential heat source A is a mobile potential heat source, and the corresponding data source in the memory is marked as "mobile"; for potential heat source B, its relative direction angle has basically remained near a fixed angle in the past 12 moments, the heat value is also very stable, and it is always located in a fixed area outside the watering trajectory plan, so it is marked as "stationary".

[0069] For those heat sources marked as mobile potential heat sources, the moving direction is determined by analyzing the relative direction angle changes at consecutive moments, and the angle change trend is observed more intuitively by drawing angle change curves or making angle change tables, so as to accurately determine the moving direction and record the moving direction information of each mobile potential heat source (for example, expressed in azimuth or angle interval, such as moving toward the southeast, the moving direction angle is between 120°-130°, etc.). On the basis of determining the moving direction, the moving speed of the mobile potential heat source is estimated. It can be estimated based on the time interval and relative position change. For example, it is known that the position of the sprinkler is fixed (or its moving trajectory is known). Through the method of determining the area block where the potential heat source is located, observe the position changes of the area block where the same mobile potential heat source is located at different times, and combine the size of the area block (assuming that the side length of each area block is 5 meters) and the time interval (such as recording the position every 1 minute), calculate the distance traveled by the potential heat source per unit time, and estimate its moving speed. For example, a mobile potential heat source moves from area block A5 to area block B7 within 10 minutes (assuming the center distance between the two area blocks is 20 meters), then its moving speed is approximately 20 meters ÷ 10 minutes = 2 meters / minute. The electronic device records the estimated moving speed corresponding to each mobile potential heat source, which together with the moving direction information constitutes a description of the dynamic changes of the mobile potential heat source.

[0070] Furthermore, the static distribution of potential heat sources obtained from the previous analysis (such as which areas have stable heat source aggregation, the density of heat source distribution in each area, etc.) and dynamic changes (which are mobile potential heat sources, their moving directions and speeds, etc.) are integrated and summarized to form a complete description of the thermal activity status of potential heat sources.

[0071] A possible implementation of the embodiment of the present application, in the above embodiment, determining the target watering amount corresponding to each moment in the target time period and the target driving speed corresponding to each moment includes: Based on the thermal activity trend of the potential heat source and the sprinkler trajectory plan, the target distance corresponding to each moment in the target time period is predicted. The target distance is the distance between the target potential heat source and the sprinkler. The target potential heat source is the potential heat source closest to the sprinkler. Determine whether there is a target whose distance is less than a first distance threshold and greater than a second distance threshold; If there is a target distance that is less than the first distance threshold and greater than the second distance threshold, the target distance that is less than the first distance threshold and greater than the second distance threshold is determined as the impact distance, and the time corresponding to the impact distance is determined as the impact time; Determine the impact position corresponding to the impact time, and determine the dust reduction importance of the impact position, the impact position is the position of the sprinkler device corresponding to the impact time; If the dust fall importance is greater than the importance threshold and the potential heat source is a stationary potential heat source, the target driving speed corresponding to the impact moment is determined to be 0 and the corresponding target watering amount is 0, and an alarm message is generated; If the dust fall importance is not greater than the importance threshold and the potential heat source is a stationary potential heat source, the driving speed corresponding to the impact moment is determined to be the corresponding preset driving speed and the corresponding watering amount is 0.

[0072] The first distance threshold is the watering radius corresponding to the watering module, and the second distance threshold can be 0 or any value smaller than the first distance threshold.

[0073] Specifically, the distance of the heat source can be calculated by the time difference between the infrared module on the sprinkler device sending and receiving the outer red line in the heat direction, and for each moment in the target time period, the distance between the sprinkler device and each potential heat source is calculated in turn, and these distance values ​​are compared to find the potential heat source closest to the sprinkler device at each moment, determine it as the target potential heat source, and record the distance between the target potential heat source and the sprinkler device at that moment as the target distance, thereby obtaining the target distance data corresponding to each moment in the target time period. Further, the target distance data corresponding to each moment in the target time period is compared with the set first distance threshold and second distance threshold.

[0074] When it is found in the comparison and judgment process that there are target distances that are less than the first distance threshold and greater than the second distance threshold, these target distances that meet the conditions are extracted and marked as impact distances, and the moments corresponding to these impact distances are recorded at the same time, which are defined as impact moments. Furthermore, according to the watering trajectory plan and each impact moment information recorded previously, the positions where the sprinkler should be located at these impact moments are found.

[0075] A method for obtaining the importance of dust reduction at the affected location from the database corresponding to the sprinkler. For example, if the affected location is in the main dust-producing area when the coal mining machine is working or near the coal transfer point of the belt transport lane, where dust is generated in large quantities and easily spreads, then its dust reduction importance is assessed as high; if it is in an area with relatively small demand for dust reduction, such as a personnel passage, then it is assessed as low. The importance level corresponding to different areas can be set (such as expressed by a value of 1-5, 5 means very important, 1 means not very important), and then the corresponding importance value can be determined according to the specific area where the affected location is located.

[0076] Furthermore, according to the overall underground operation safety and dust reduction requirements, the importance threshold is pre-set (for example, set to 4, that is, when the dust reduction importance value is greater than 4, it is considered that the dust reduction at this location is very critical) and stored in the corresponding configuration parameter area. Then, the dust reduction importance corresponding to each impact moment and the corresponding potential heat source type (previously determined to be a stationary or mobile potential heat source) are judged. When it is found that the dust reduction importance at a certain impact moment is greater than the importance threshold and the corresponding potential heat source is a stationary potential heat source, for example, the dust reduction importance at the impact location at a certain impact moment is 5, and the potential heat source corresponding to this location is stationary (such as fixed equipment heating), the corresponding processing flow is entered. Specifically, the target driving speed corresponding to the impact moment is set to 0, that is, the sprinkler stops moving at this moment, and the corresponding target watering amount is also set to 0, that is, the sprinkler operation is stopped to avoid the possible impact on the stationary potential heat source due to sprinkler. At this time, the target watering amount corresponding to each moment in the target time period and the target driving speed corresponding to each moment are both 0. In addition, it uses its own alarm function module to generate alarm information to remind operators that there is an abnormal watering situation caused by a static potential heat source, which requires attention and processing. The alarm information content can include detailed descriptions such as the impact time, impact location, and potential heat source related conditions, so that operators can quickly understand the situation.

[0077] Similarly, the dust fall importance and potential heat source type corresponding to each impact moment are first judged. When it is judged that the dust fall importance is not greater than the importance threshold (for example, the dust fall importance is 3, which is less than the set threshold 4) and the corresponding potential heat source is a stationary potential heat source, corresponding treatment measures are taken. At this time, the driving speed corresponding to the impact moment is set to the preset driving speed corresponding to the moment in the previous watering trajectory plan, that is, the sprinkler device is allowed to drive normally according to the original plan, and the corresponding watering amount is set to 0, that is, when passing through this area with a stationary potential heat source but dust fall is not very important, no watering operation is performed to avoid unnecessary impact on the stationary potential heat source, while ensuring the relative rationality and consistency of the overall watering plan. Further, when it is detected that the target distance is greater than the first distance threshold, the watering amount is determined as the corresponding preset watering amount to obtain the target watering amount and the corresponding target driving speed corresponding to each moment in the target time period.

[0078] Furthermore, when the potential heat source is a mobile potential heat source, the target driving speed corresponding to each moment in the target time period is set to 0, that is, the sprinkler device stops moving, and the corresponding target watering volume is also set to 0, that is, the sprinkler operation is stopped, so as to obtain the target watering volume corresponding to each moment in the target time period and the corresponding target driving speed.

[0079] A possible implementation of the embodiment of the present application, in the above embodiment, based on the target driving speed corresponding to each moment in the target time period, determining the target watering trajectory corresponding to the target time period includes: Determine the target distance corresponding to the target time period based on the target driving speed corresponding to each moment in the target time period; Determine the preset distance corresponding to the preset watering trajectory; Based on the target distance and the preset distance, the target watering trajectory corresponding to the target time period is determined.

[0080] Specifically, the target time period is divided according to certain time intervals. For example, every 1 minute can be divided into a small time interval (the specific interval length can be set according to actual needs and accuracy requirements). For each divided small time interval, obtain the target driving speed value corresponding to the start time of the interval. Assuming that the target driving speed at the start time of a certain interval is v (the unit can be meters / minute, etc.), the time interval length is set to t (in minutes), and according to the basic principle that the distance is equal to the speed multiplied by the time, calculate the distance s within the small time interval, that is, s=vt. After calculating the distance within each small time interval in turn according to the above method, the distance of all small time intervals is accumulated to finally obtain the target distance corresponding to the target time period. For example, after calculation and accumulation of multiple time intervals, the total target distance within the target time period is meters (this is just an example value).

[0081] Furthermore, the preset watering trajectory can be adjusted by a proportional scaling method to obtain a target watering trajectory. The preset distance corresponding to the preset watering trajectory is obtained from the database corresponding to the watering device, and the position of the watering device on the preset watering trajectory corresponding to the current moment is obtained to obtain the current starting position, and the trajectory of the target distance is divided from the preset watering trajectory with the current starting position as the starting point to obtain the target watering trajectory. The preset distance corresponding to the preset watering trajectory is stored in the database corresponding to the watering device.

[0082] A possible implementation manner of the embodiment of the present application, in the above embodiment, the method further includes: receiving a control instruction, the control instruction including a stop sub-instruction, a run sub-instruction and a turn sub-instruction; Based on the control instructions, the sprinkler device is controlled.

[0083] Among them, different instructions (stop sub-instructions, run sub-instructions, and turn sub-instructions) have corresponding specific formats. For example, the control instruction may use a fixed-length data frame format, the frame header is used to identify the start of the instruction, and the middle part uses a specific code to distinguish which sub-instruction it is (such as 01 for stop sub-instructions, 02 for run sub-instructions, 03 for turn sub-instructions, etc.), and it may also carry some parameter information (such as the running speed parameter corresponding to the run sub-instruction, the steering angle parameter corresponding to the turn sub-instruction, etc.), and the frame tail is used to verify data integrity. Specifically, after the electronic device receives the instruction from the remote control module, it parses the data according to this preset format and extracts valid control instruction information from it.

[0084] When the electronic device recognizes that the received sub-instruction is a stop sub-instruction, the electronic device will send a stop signal to the control module of the sprinkler device. Specifically, the electronic device sends an electrical signal representing a stop to the control module through the control module connected thereto, so that the motor stops running, thereby stopping the movement of the sprinkler device. At the same time, the control module will also send a stop signal to the spraying module of the sprinkler device, such as shutting off the power supply circuit of the water pump or controlling the solenoid valve to close, so that the spraying operation stops.

[0085] When the received sub-instruction is an operation sub-instruction, the electronic device first extracts the relevant parameter information such as the operation speed carried in the instruction, then generates an operation instruction based on these parameters, and sends the operation instruction to the control module of the sprinkler device, so that the control module controls the sprinkler device to operate according to the operation instruction.

[0086] When a steering sub-instruction is received, the electronic device will parse out the parameter information such as the steering angle contained therein, then generate a steering instruction based on these parameters, and send the steering instruction to the control module of the sprinkler device so that the control module controls the sprinkler device to operate according to the steering instruction.

[0087] A possible implementation manner of the embodiment of the present application, in the above embodiment, the method further includes: Get the water storage level corresponding to the sprinkler device; determining whether the water storage level is lower than a first water level threshold; If the water storage level is lower than the first water level threshold, it is determined that water addition operation is required, and the water addition module is controlled to operate; Get the current water storage level corresponding to the sprinkler device in real time; When the current water storage level is higher than the second water level threshold, the water adding module is controlled to stop running.

[0088] Specifically, the electronic device receives the water storage level measured by the level sensor module on the sprinkler device, and pre-sets a first water level threshold based on factors such as the normal working requirements of the sprinkler device, the water tank capacity, and the water consumption of the sprinkler operation, and stores it in an internal configuration parameter area (for example, it can be stored in a configuration file of the electronic device or a specific variable storage area, assuming that the first water level threshold is set to a water level height corresponding to 20% of the total height of the water tank, and the specific value is determined based on the actual water tank size, etc.).

[0089] Furthermore, the current water level value is taken out from the previously acquired and stored water storage level information, and compared with the set first water level threshold. By comparing the magnitude relationship between the two, it is determined whether the current water storage level is lower than the first water level threshold. When the water storage level is lower than the first water level threshold, it is determined that a water adding operation is currently required to ensure that the sprinkler device has enough water to continue to perform the sprinkler task. The electronic device sends a start control signal to the control module so that the control module controls the water adding module to add water, thereby realizing the start of the water adding process.

[0090] Furthermore, during the operation of the water adding module, the electronic device continuously receives the water level measured by the level sensor module to track the dynamic changes of the water level in real time. At the same time, the water level changes can be simply recorded (such as recording the water level values ​​at different times to form a water level change curve, etc., if the electronic device has the corresponding data processing and visualization functions).

[0091] The electronic device takes out the latest water level value from the current water storage level data acquired and updated in real time, and compares it with the set second water level threshold. When it is found that the current water storage level is higher than the second water level threshold, in order to avoid overflow of the water tank, the electronic device will immediately send a stop control signal to the control module, so that the control module controls the water adding module to stop adding water, thereby realizing the start of the water adding process. Among them, the second water level threshold can be set according to multiple considerations such as the optimal water storage level of the sprinkler device, preventing water overflow, and saving water.

[0092] The above embodiment introduces a mine-used wireless automatic watering and dust suppression method from the perspective of the method flow, and the following embodiment introduces a mine-used wireless automatic watering and dust suppression device from the perspective of a virtual module or a virtual unit. For details, please refer to the following embodiment.

[0093] See also Figure 3 The wireless automatic water sprinkler and dust suppression device 30 for mining may specifically include: a control module 301, an acquisition module 302, a first determination module 303, a second determination module 304, a third determination module 305 and a generation module 306, wherein: A wireless automatic watering and dust suppression device 30 for mining, comprising: The control module 301 is used to obtain a watering trajectory plan of the current cycle and control the operation of the watering device based on the watering trajectory plan, wherein the watering trajectory plan includes a preset watering trajectory, a preset watering amount corresponding to each moment, and a preset driving speed corresponding to each moment; An acquisition module 302 is used to acquire heat source data corresponding to the sprinkler in real time, the heat source data including the heat value and heat direction of the potential heat source; A first determination module 303 is used to determine whether the watering trajectory plan needs to be changed based on the heat source data; The second determination module 304 is used to determine the target watering amount and the target driving speed corresponding to each moment in the target time period if the watering trajectory plan needs to be changed, and the target time period is the time period between the current moment and the end moment of the current cycle; The third determination module 305 is used to determine the target watering trajectory corresponding to the target time period based on the driving speed corresponding to each moment in the target time period; The generation module 306 is used to generate a new watering trajectory plan based on the target watering trajectory corresponding to the target time period, the target watering amount corresponding to each moment, and the target driving speed corresponding to each moment, and control the operation of the sprinkler device based on the new watering trajectory plan.

[0094] In a possible implementation of the embodiment of the present application, when the first determination module 303 determines whether the watering trajectory plan needs to be changed based on the heat source data, it can be specifically used to: The time period from the start time to the current time in the current cycle is taken as the current time period, and the current heat source data corresponding to each time in the current time period is obtained to generate a heat source data set; Based on the heat source data set, determine the thermal activity trend of the potential heat source, which is used to characterize the static distribution and dynamic changes of the potential heat source; Determine the extent to which thermal activity patterns affect watering trajectory planning; Based on the level of impact, determine if changes to the sprinkler trajectory plan are necessary.

[0095] In a possible implementation of the embodiment of the present application, when the first determination module 303 determines the thermal activity status of the potential heat source based on the heat source data set, it can be specifically used to: Determine the relative direction of each potential heat source at each moment based on the heat direction in the current heat source data corresponding to each moment, the relative direction being the direction of the potential heat source relative to the sprinkler device; Determine the static distribution of the potential heat sources corresponding to each moment based on the relative direction of each potential heat source at each moment; Determine moving potential heat sources and stationary potential heat sources based on the relative direction, heat value, and sprinkler trajectory plan of each potential heat source at each moment; Determine the moving direction and moving speed of the mobile potential heat source to obtain the dynamic change of the potential heat source; Based on the static distribution and dynamic changes of potential heat sources, the thermal activity status of potential heat sources is obtained.

[0096] In a possible implementation of the embodiment of the present application, when the second determination module 304 determines the target watering amount corresponding to each moment in the target time period and the target driving speed corresponding to each moment, it can be specifically used to: Based on the thermal activity trend of the potential heat source and the sprinkler trajectory plan, the target distance corresponding to each moment in the target time period is predicted. The target distance is the distance between the target potential heat source and the sprinkler. The target potential heat source is the potential heat source closest to the sprinkler. Determine whether there is a target whose distance is less than a first distance threshold and greater than a second distance threshold; If there is a target distance that is less than the first distance threshold and greater than the second distance threshold, the target distance that is less than the first distance threshold and greater than the second distance threshold is determined as the impact distance, and the time corresponding to the impact distance is determined as the impact time; Determine the impact position corresponding to the impact time, and determine the dust reduction importance of the impact position, the impact position is the position of the sprinkler device corresponding to the impact time; If the dust fall importance is greater than the importance threshold and the potential heat source is a stationary potential heat source, the target driving speed corresponding to the impact moment is determined to be 0 and the corresponding target watering amount is 0, and an alarm message is generated; If the dust fall importance is not greater than the importance threshold and the potential heat source is a stationary potential heat source, the driving speed corresponding to the impact moment is determined to be the corresponding preset driving speed and the corresponding watering amount is 0.

[0097] In a possible implementation of the embodiment of the present application, when the third determination module 305 determines the target watering trajectory corresponding to the target time period based on the target driving speed corresponding to each moment in the target time period, it can be specifically used to: Determine the target distance corresponding to the target time period based on the target driving speed corresponding to each moment in the target time period; Determine the preset distance corresponding to the preset watering trajectory; Based on the target distance and the preset distance, the target watering trajectory corresponding to the target time period is determined.

[0098] In a possible implementation of the embodiment of the present application, the wireless automatic watering and dust suppression device 30 for mining may also include: A receiving module, used for receiving control instructions, the control instructions including a stop sub-instruction, a run sub-instruction and a turn sub-instruction; The action control module is used to control the action of the sprinkler device based on the control instructions.

[0099] In a possible implementation of the embodiment of the present application, the wireless automatic watering and dust suppression device 30 for mining may also include: A water level acquisition module is used to obtain the water storage level corresponding to the sprinkler device; A fourth determination module, used to determine whether the water storage level is lower than the first water level threshold; A fifth determination module, used for determining that a water adding operation is required if the water storage level is lower than the first water level threshold, and controlling the operation of the water adding module; A real-time acquisition module is used to obtain the current water storage level corresponding to the sprinkler device in real time; The operation control module is used to control the water adding module to stop operating when the current water storage level is higher than the second water level threshold.

[0100] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0101] See also Figure 4 , the embodiment of the present application also introduces an electronic device from the perspective of a physical device, such as Figure 4 As shown, Figure 4 The electronic device 400 shown includes: a processor 401 and a memory 403. The processor 401 and the memory 403 are connected, such as through a bus 402. Optionally, the electronic device 400 may also include a transceiver 404. It should be noted that in actual applications, the transceiver 404 is not limited to one, and the structure of the electronic device 400 does not constitute a limitation on the embodiments of the present application.

[0102] Processor 401 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 401 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0103] The bus 402 may include a path to transmit information between the above components. The bus 402 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 402 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0104] The memory 403 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0105] The memory 403 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 401. The processor 401 is used to execute the application code stored in the memory 403 to implement the contents shown in the above method embodiment.

[0106] The electronic devices include but are not limited to: mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc., and can also be servers, etc. Figure 4 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0107] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding content in the aforementioned method embodiment.

[0108] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0109] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A wireless automatic watering and dust reduction method for mines, characterized in that: include: Obtaining a watering trajectory plan for the current cycle, and controlling the operation of the watering device based on the watering trajectory plan, wherein the watering trajectory plan includes a preset watering trajectory, a preset watering amount corresponding to each moment, and a preset driving speed corresponding to each moment; Acquire heat source data corresponding to the sprinkler device in real time, wherein the heat source data includes a heat value and a heat direction of a potential heat source; Based on the heat source data, determining whether the watering trajectory plan needs to be changed; If the watering trajectory plan needs to be changed, the target watering amount corresponding to each moment in the target time period and the target driving speed corresponding to each moment are determined, and the target time period is the time period between the current moment and the end moment of the current cycle; Determining a target watering trajectory corresponding to the target time period based on the driving speed corresponding to each moment within the target time period; Based on the target watering trajectory corresponding to the target time period, the target watering volume corresponding to each moment, and the target driving speed corresponding to each moment, a new watering trajectory plan is generated, and the operation of the watering device is controlled based on the new watering trajectory plan.

2. The mine wireless automatic watering and dust reduction method according to claim 1 is characterized in that: The step of determining whether the watering trajectory plan needs to be changed based on the heat source data includes: The time period from the start time to the current time in the current cycle is taken as the current time period, and the current heat source data corresponding to each time in the current time period is obtained to generate a heat source data set; Determining the thermal activity state of the potential heat source based on the heat source data set, wherein the thermal activity state is used to characterize the static distribution and dynamic changes of the potential heat source; Determining the degree to which the thermal activity situation affects the watering trajectory plan; Based on the degree of impact, determine whether the watering trajectory plan needs to be changed.

3. The mine wireless automatic watering and dust reduction method according to claim 2 is characterized in that: Determining the thermal activity status of the potential heat source based on the heat source data set includes: Determine the relative direction of each potential heat source at each moment based on the heat direction in the current heat source data corresponding to each moment, wherein the relative direction is the direction of the potential heat source relative to the sprinkler device; Determine the static distribution of the potential heat sources corresponding to each moment based on the relative direction of each potential heat source at each moment; Determine moving potential heat sources and stationary potential heat sources based on the relative direction, heat value and the watering trajectory plan of each potential heat source at each moment; Determining the moving direction and moving speed of the mobile potential heat source to obtain dynamic changes of the potential heat source; Based on the static distribution and dynamic changes of potential heat sources, the thermal activity status of potential heat sources is obtained.

4. The mine wireless automatic watering and dust reduction method according to claim 3 is characterized in that: The step of determining a target watering amount corresponding to each moment in the target time period and a target driving speed corresponding to each moment includes: Based on the thermal activity trend of the potential heat source and the sprinkler trajectory plan, predict the target distance corresponding to each moment in the target time period, the target distance being the distance between the target potential heat source and the sprinkler device, and the target potential heat source being the potential heat source closest to the sprinkler device; Determine whether there is a target whose distance is less than a first distance threshold and greater than a second distance threshold; If there is a target distance that is less than the first distance threshold and greater than the second distance threshold, determine the target distance that is less than the first distance threshold and greater than the second distance threshold as the impact distance, and determine the time corresponding to the impact distance as the impact time; Determine the impact position corresponding to the impact moment, and determine the dust reduction importance of the impact position, the impact position being the position of the sprinkler device corresponding to the impact moment; If the dust fall importance is greater than the importance threshold and the potential heat source is a stationary potential heat source, determining that the target driving speed corresponding to the impact moment is 0 and the corresponding target watering amount is 0, and generating an alarm message; If the dust reduction importance is not greater than the importance threshold and the potential heat source is a stationary potential heat source, it is determined that the driving speed corresponding to the impact moment is the corresponding preset driving speed and the corresponding watering amount is 0.

5. The mine wireless automatic watering and dust reduction method according to claim 4 is characterized in that: The step of determining a target watering trajectory corresponding to the target time period based on the target driving speed corresponding to each moment within the target time period includes: Determining a target distance corresponding to the target time period based on a target driving speed corresponding to each moment within the target time period; Determine a preset distance corresponding to the preset watering trajectory; Based on the target distance and the preset distance, a target watering trajectory corresponding to the target time period is determined.

6. The mine wireless automatic watering and dust reduction method according to any one of claims 1 to 5, characterized in that: The method further comprises: receiving a control instruction, wherein the control instruction includes a stop sub-instruction, a run sub-instruction, and a turn sub-instruction; Based on the control instruction, the sprinkler device is controlled to operate.

7. The wireless automatic watering and dust reduction method for mines according to any one of claims 1 to 5, characterized in that: The method further comprises: Obtaining the water storage level corresponding to the sprinkler device; Determining whether the water storage level is lower than a first water level threshold; If the water storage level is lower than the first water level threshold, it is determined that a water adding operation is required, and the water adding module is controlled to operate; Obtaining the current water storage level corresponding to the sprinkler device in real time; When the current water storage level is higher than a second water level threshold, the water adding module is controlled to stop running.

8. A wireless automatic water sprinkler and dust suppression device for mines, characterized in that: include: A control module, used to obtain a watering trajectory plan of the current cycle, and control the operation of the watering device based on the watering trajectory plan, wherein the watering trajectory plan includes a preset watering trajectory, a preset watering amount corresponding to each moment, and a preset driving speed corresponding to each moment; An acquisition module, used for acquiring heat source data corresponding to the sprinkler device in real time, wherein the heat source data includes a heat value and a heat direction of a potential heat source; A first determination module, used to determine whether the watering trajectory plan needs to be changed based on the heat source data; A second determination module is used to determine the target watering amount and the target driving speed corresponding to each moment in a target time period if the watering trajectory plan needs to be changed, wherein the target time period is the time period between the current moment and the end moment of the current cycle; A third determination module is used to determine a target watering trajectory corresponding to the target time period based on the driving speed corresponding to each moment in the target time period; A generation module is used to generate a new watering trajectory plan based on the target watering trajectory corresponding to the target time period, the target watering amount corresponding to each moment, and the target driving speed corresponding to each moment, and control the operation of the sprinkler device based on the new watering trajectory plan.

9. An electronic device, characterized in that: The electronic device includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the mine wireless automatic watering and dust reduction method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the wireless automatic water sprinkling and dust reduction method for mining as described in any one of claims 1 to 7.

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