Mining digital program control scheduling communication method and system

Abstract

The invention provides a mining digital program control scheduling communication method and system, the system comprises a scheduling host at the bottom of a main roadway and static communication positioning base stations in auxiliary roadways, firstly, an underground three-dimensional environment map is created, and secondly, a carry-on communicator of a miner transmits voice information to a nearby communication base station; the latter identifies the speaker identity and the content as requesting communication or non-requesting communication. If the communication is request communication, the system converts the content into digital information and transmits the digital information to the digital stored program control exchange through the ring network exchange to realize effective communication above and below the well; and if the communication is not requested, activating the adjacent positioning base station, measuring the distance and transmitting the information to the scheduling host. And the dispatching host positions the accurate position of the speaker on the three-dimensional map according to the distance information of the two base stations, and outputs a result to the main control center. The system not only effectively improves the intelligent management and scheduling capability, but also enhances the safety and emergency response capability of a mine, and provides a solid foundation for the modern development of coal mine operation.

Description

Technical Field

[0001] The invention belongs to the technical field of underground dispatching communication in coal mines, and in particular relates to a digital program-controlled dispatching communication method and system for mines. Background Art

[0002] The digital program-controlled dispatching communication system for mines is a system that integrates modern communication and dispatching management technologies. It is designed specifically for mine environments. Its main functions include real-time personnel positioning, environmental monitoring, and information transmission to ensure the safety of miners and improve work efficiency.

[0003] Existing mine dispatching and communication systems mostly rely on traditional wired and wireless technologies, which have significant limitations. Although cameras are used for monitoring during underground construction in coal mines, their coverage is limited and all-round monitoring is not possible. At the same time, there are signal blind spots and weak signal areas underground, especially in new mining areas. The communication signal coverage is insufficient, resulting in low positioning accuracy of personnel, which is not conducive to safe dispatching and emergency handling, and increases the risk of accidents. The common problems faced by current technologies include: insufficient real-time communication capabilities, slow response to environmental changes, and imperfect emergency handling systems, which result in the inability to fully implement the safety of miners in emergency situations. These deficiencies show that the coal mine dispatching and communication system is in urgent need of technical improvements to improve the overall safety management level and ensure the life safety and health of miners. Summary of the invention

[0004] In view of the defects and problems existing in the prior art, the present invention provides a digital program-controlled dispatching communication method and system for mining, aiming to build an efficient and safe digital program-controlled dispatching communication system for mining, which improves the safety and communication efficiency of mine operations through intelligent positioning, voice recognition and data monitoring technology, realizes real-time positioning and emergency management of underground personnel, and ensures the life safety of miners.

[0005] The solution of the present invention to solve the technical problem is: adopt a digital program-controlled dispatching communication method for mining, including a digital program-controlled dispatching communication system for mining, the system includes a dispatching host located at the bottom of the main tunnel and a static communication positioning base station located in each auxiliary tunnel, the dispatching host includes a digital program-controlled switch, and the static communication positioning base station includes a communication base station and a positioning base station.

[0006] S1: Use robot SLAM technology to locate and scan each tunnel in the coal mine, realize the robot's self-positioning and build a three-dimensional map of the surrounding environment, and transmit the data information of the three-dimensional map to the dispatching host and / or the main control center.

[0007] S2: Use the portable communicator of each underground worker to transmit the voice information of the corresponding underground worker to the communication base station, and the communication base station will identify the voice information, first determine the identity of the speaker, and then determine whether the voice is a "communication request voice" or a "non-request voice".

[0008] S3: If it is determined to be a "communication request voice", the specific content of the language information of the "communication request voice" is converted into digital information, and then the language digital information and the identity of the speaker are transmitted to the digital program-controlled switch through the ring network switch. The digital program-controlled switch dispatches the language information to the main control center or other communication base stations to realize language communication above or below the coal mine.

[0009] S4: If it is judged to be "unsolicited voice", the communication base station does not transmit the specific content of the language information, but wakes up the current positioning base station and an adjacent positioning base station at the same time. The two positioning base stations respectively measure the distances r1 and r2 of the corresponding positioning card holders, and transmit the distance information and the identity of the speaker to the dispatch host.

[0010] S5: The dispatch host draws spheres on the underground three-dimensional map with the coordinates of the two positioning base stations as the center points and r1 and r2 as the radius respectively, and calculates the circular ring line O where the two spheres intersect and overlap, and then continues to calculate the intersection point of the circular ring line O and the axis line L of the adjacent three-dimensional map laneway, and uses the coordinates of the intersection point as the position coordinates of the cardholder of the corresponding positioning card, and outputs the recognition results and position coordinate information to the main control center or other relevant personnel for subsequent scheduling and management.

[0011] Preferably, voiceprint samples of underground personnel are collected in advance through recording equipment, and the collected voiceprint samples are preprocessed and feature extracted. The feature vectors are compared and matched using a voiceprint recognition algorithm to establish a voiceprint model; the sampling period is determined according to the Nyquist sampling theorem, and the on-site analog voice signal is converted into a digital signal through sampling; the input digital voice signal is pre-emphasized to remove the influence of non-lip noise and increase the high-frequency resolution of the voice; in a multi-speaker scenario, the voice signals of different target speakers are extracted through voice separation technology and processed separately; characteristic parameters in the voice signal are extracted, and voiceprint features are extracted for the separated voice segments, which are compared with the voiceprints in the human database, and the speaker is identified by calculating similarity metrics such as cosine distance.

[0012] The present invention also provides a digital program-controlled dispatching communication system for mines based on the method, comprising a main control center, a static communication positioning base station, a positioning card and a portable communicator, wherein the main control center is located in a ground dispatching room; a dispatching host is arranged at the bottom of the main tunnel, the dispatching host comprises a digital program-controlled switch, and the main control center and the dispatching host communicate via optical fiber or cable; the digital program-controlled switch is responsible for connecting the main control center with a plurality of communication positioning base stations located in each auxiliary tunnel to establish a calling function, a switching function, a dispatching function and a networking function; the digital program-controlled switch is configured according to the instructions issued by the main control center; and a SLAM robot is also included, which uses the robot SLAM technology to monitor various underground coal mines. The tunnel is positioned and scanned to achieve self-positioning and construction of a three-dimensional map of the surrounding environment, and the data information of the three-dimensional map is transmitted to the dispatch host and the main control center; the static communication positioning base station includes a mine-used intrinsically safe telephone, a communication base station and a positioning base station; the mine-used intrinsically safe telephone is used for communication underground in the coal mine, and the communication information is transmitted to the digital program-controlled switch; the communication base station is used to receive voice information from the portable communicator of the underground personnel, and transmit it to the digital program-controlled switch through the ring network switch; the positioning base station communicates with the positioning cards of the underground personnel, measures the distance between each positioning card and the positioning base station, and transmits the distance information between the positioning base station and the positioning card to the dispatch host through a wired or wireless network.

[0013] Preferably, it also includes a dynamic communication and positioning base station, which includes a mobile robot, and a vehicle-mounted communication base station and a vehicle-mounted positioning base station are installed on the mobile robot. The vehicle-mounted communication base station is wirelessly connected to the dispatching host, and the dispatching host controls each dynamic communication and positioning base station to execute instructions such as movement, communication and positioning; the dispatching host controls each dynamic communication and positioning base station to move into a signal blind spot or a weak spot to receive voice information and location information from the portable communicators of underground personnel. The dynamic communication and positioning base station transmits the voice information of the portable communicators of the underground personnel directly to the digital programmable switch through the wireless network, and transmits the distance information between the mobile robot and the underground personnel positioning card directly to the dispatching host through the wireless network.

[0014] Preferably, the dynamic communication positioning base station also includes a device installed on the mobile robot for real-time three-dimensional mapping, which includes a panoramic camera and a three-dimensional laser scanner. The panoramic camera and the three-dimensional laser scanner are used as main sensors. The panoramic camera extracts local environmental information and landmark group features in real time, generates a two-dimensional map, and uses the three-dimensional laser scanner to provide accurate robot positioning information. The three-dimensional point cloud obtained by the three-dimensional laser scanner is aligned, and this process is repeated until the local three-dimensional map is obtained, which is directly transmitted to the scheduling host or the main control center via the wireless network. The scheduling host or the main control center merges the newly acquired local maps of each mobile robot with the global map to achieve continuous environmental modeling.

[0015] Preferably, the newly acquired local three-dimensional map information is registered with the original three-dimensional map through an iterative closest point algorithm to determine the spatial relationship between them, and after the registration is completed, the point cloud data of the local map is fused into the global map.

[0016] Preferably, when multiple mobile robots work simultaneously, a map fusion algorithm is used to directly calculate the transformation between the robot reference coordinate systems using the images and position information obtained by the panoramic camera and the three-dimensional laser scanner, and the local maps generated by different robots are fused into a global map.

[0017] Preferably, a positioning information generating module is also provided in the portable communicator, and the module communicates with the positioning base station at regular intervals. The positioning base station measures the distance between the portable communicator and the positioning base station according to the position confirmation information actively sent by the positioning module, and transmits the distance information between the positioning base station and the portable communicator to the dispatching host via a wired or wireless network.

[0018] Preferably, a time threshold for distance change is set. When the dispatch host detects that the static time of any portable communicator is greater than the time threshold, a warning ring is sent to the intrinsically safe telephone of the nearby communication base station underground. If the intrinsically safe telephone does not respond for a long time, an alarm signal is sent through the emergency broadcast system.

[0019] Preferably, the communication positioning base station also includes a data monitoring system for real-time monitoring of gas, temperature and other parameters of the underground environment, and feeding back the data to the dispatching host. The signal input end of the data monitoring system is connected to gas sensors, temperature and humidity sensors, etc., and the signal output end of the data monitoring system is connected to the dispatching host through a wired or wireless network. When the signal data of each sensor exceeds the critical value, the dispatching host sends an alarm signal through the emergency broadcast system.

[0020] Based on the above-mentioned digital program-controlled dispatching communication system and method for mines, the safety, communication efficiency and emergency handling capabilities of mines can be significantly improved, which is helpful to promote the intelligent management and operation of mine operations. Its beneficial effects are mainly reflected in the following aspects: 1. Improve safety: The system monitors the location of underground personnel through real-time positioning technology, allowing dispatchers to promptly discover and deal with potential safety hazards. When the portable communicator is stationary for a long time, the alarm mechanism is automatically triggered to ensure a quick response in an emergency, improving the overall safety of the mine.

[0021] 2. Enhanced communication efficiency: With digital program-controlled switches and intelligent voice recognition technology, the system can quickly identify and distinguish requests from different miners, improving the accuracy and timeliness of information transmission. At the same time, it supports multiple communication methods, providing flexibility for safe communication within the mine.

[0022] 3. Intelligent environmental monitoring: The monitoring system integrated with gas, temperature and humidity sensors can monitor the underground environment in real time and provide timely feedback on abnormal data. This mechanism can quickly detect dangers such as gas leaks and take necessary preventive measures to ensure the environmental safety of mine operations.

[0023] 4. Efficient data processing and scheduling: The real-time three-dimensional map constructed by SLAM technology enables rapid response to changes in the mine environment. The system can perform accurate environmental modeling and integration, improve the dispatch center's ability to control the mine conditions, and facilitate scientific decision-making and scheduling management.

[0024] 5. Strong emergency response capability: The system design takes into account the rapid response needs in emergency situations, real-time monitoring and timely alarm functions, ensuring that effective personnel evacuation and rescue can be carried out quickly in emergencies, providing important protection for the life safety of miners. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the networking relationship of the digital program-controlled dispatching communication system for mining of the present invention; Figure 2 It is a block diagram of the digital program-controlled dispatching communication system for mines; Figure 3 It is a flow chart of the communication base station processing the voice requesting communication; Figure 4 It is a schematic diagram of the process of positioning a base station to perform distance measurement; Figure 5 It is a flowchart of the scheduling host positioning calculation.

[0026] Numbers in the figure: 1-main control center; 2-dispatching host; 3-digital program-controlled switch; 4-special ring network switch for coal mines; 5-static communication positioning base station; 6-dynamic communication positioning base station; 7-wireless transmission module; 8-communication base station; 9-positioning base station; 10-mine intrinsically safe telephone; 11-underground personnel; 12-portable communicator; 13-identification card; 14-intrinsically safe power supply; 15-sensor group. DETAILED DESCRIPTION

[0027] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0028] Embodiment 1: A digital program-controlled dispatching communication system for mining, such as Figure 1 As shown, it mainly includes a main control center 1, a dispatching host 2, a digital program-controlled switch 3, a communication and positioning base station 8, a SLAM robot, a positioning card and a portable communicator 12, and a mining intrinsically safe power supply 14, etc.

[0029] 1. The main control center 1 is located in the ground dispatch room and is the control and management center of the entire system. The dispatch host 2 (mother machine) is located at the bottom of the main lane. The dispatch host 2 includes a digital program-controlled switch 3. The main control center 1 and the dispatch host 2 build a transmission network through optical fiber or cable (such as MHYV type communication cable or optical cable). The dispatch host 2 not only has the rich dispatching functions of the digital program-controlled dispatch machine, but also has the management function of the digital program-controlled switch 3 and each communication positioning base station 8. The dispatch host 2 is also connected to a full-channel recording system to record any call line in the entire system for subsequent inquiry and monitoring. Automatic recording function (can be saved for more than 1 year), communication history record inquiry.

[0030] 2. The digital program-controlled switch 3 is responsible for connecting the main control center 1 with multiple communication positioning base stations 8 located in each secondary lane, establishing calling functions, switching functions, dispatching functions and networking functions; the digital program-controlled switch 3 is configured according to the instructions issued by the main control center 1. The digital program-controlled switch 3 has digital voice two-way non-blocking communication capabilities, and supports one-key in-place (inside or outside), group call, full call, selective call, forced removal, forced insertion, monitoring and other functions. The digital program-controlled switch 3 establishes wired communication with multiple static communication positioning base stations 5 through optical fiber or cable, and wireless communication is carried out with multiple dynamic communication positioning base stations 6.

[0031] 3. The communication and positioning base station 8 includes a static communication and positioning base station 5 and a dynamic communication and positioning base station 6.

[0032] 3.1 The communication and positioning base station 8 comprises a static communication and positioning base station 5, which comprises a mine-used intrinsically safe telephone 10, a communication base station 8 and a positioning base station 9.

[0033] 3.11 The intrinsically safe telephone 10 for use in mines: an intrinsically safe telephone for use underground, including telephones, intercoms, etc., which facilitates workers to communicate at any time and ensures safe use in the special environment of coal mines. The intrinsically safe telephone 10 for use in mines is used for communication underground in coal mines, and transmits communication information to the digital program-controlled exchange 3.

[0034] 3.12 The communication base station 8 is used to receive voice information from the portable communicator 12 of the underground personnel, and transmit it to the digital program-controlled switch 3 through the coal mine dedicated ring network switch 4; such as the intrinsically safe telephone 10 and the communication base station 8 respectively communicate with the digital program-controlled switch 3 through the KTG127 optical terminal or the mine communication optical cable.

[0035] 3.13 The positioning base station 9 communicates with the identification cards 13 of the underground personnel through ZigBee technology, measures the distance between each identification card 13 and the positioning base station 9, and transmits the distance information between the positioning base station 9 and the identification card 13 to the dispatching host 2 through a wired or wireless network, which is used to locate the underground personnel and facilitate dispatch and emergency rescue.

[0036] 3.2 The dynamic communication and positioning base station 6 (sub-machine) includes a mobile robot, on which a vehicle-mounted communication base station 8 and a vehicle-mounted positioning base station 9 are installed. The vehicle-mounted communication base station 8 is wirelessly connected to the dispatching host 2 (master machine), and the dispatching host 2 controls each dynamic communication and positioning base station 6 (sub-machine) to execute instructions such as movement, communication and positioning. The dispatching host 2 controls each dynamic communication and positioning base station 6 to move into a signal blind area or weak area, and is used to receive the voice information and location information of the portable communicator 12 of the underground personnel. The dynamic communication and positioning base station 6 transmits the voice information of the portable communicator 12 of the underground personnel directly to the digital program-controlled switch 3 through the wireless network, and transmits the distance information between the mobile robot and the underground personnel positioning card directly to the dispatching host 2 through the wireless network. Setting up the dynamic communication and positioning base station 6 can not only cover the signal blind area or weak area or the new excavation area, realize the dynamic expansion function, but also have disaster recovery redundancy capability. A modular assembly design is adopted between multiple dynamic communication and positioning base stations 6 and the dispatching host 2 to form an independent wireless communication and positioning system, which is combined with the static communication and positioning base station 5 to support the network-level redundancy capability of the dual system and ensure the normal operation of the system.

[0037] 3.21 The dynamic communication positioning base station 6 also includes a device installed on the mobile robot for real-time three-dimensional mapping. The device includes a panoramic camera and a three-dimensional laser scanner. The panoramic camera and the three-dimensional laser scanner are used as the main sensors. The panoramic camera extracts local (signal blind area or weak area or newly excavated area) environmental information and landmark group features in real time, generates a two-dimensional map, and uses the three-dimensional laser scanner to provide accurate robot positioning information. The three-dimensional point cloud obtained by the three-dimensional laser scanner is aligned, and this process is repeated until the local three-dimensional map is obtained, and it is directly transmitted to the scheduling host 2 or the main control center 1 through the wireless network. The scheduling host 2 or the main control center 1 merges the newly acquired local map of each mobile robot with the global map to achieve continuous environmental modeling. Through the iterative closest point (ICP) algorithm, the newly acquired local three-dimensional map information (point cloud data) is aligned with the original three-dimensional map to determine the spatial relationship between them. After the alignment is completed, the point cloud data of the local map is merged into the global map, and the LM method is used to optimize the local map and the BoVW method is used to optimize the global consistency map to improve the accuracy and consistency of the three-dimensional map. When multiple mobile robots work at the same time, the map fusion algorithm uses the images and position information obtained by the panoramic camera and the three-dimensional laser scanner to directly calculate the transformation between the robot reference coordinate systems, and fuses the local maps generated by different robots into a global map. After the dynamic communication and positioning base station 6 is set up, there is a coexistence of wired and wireless network communications, which can achieve complementary advantages. The dynamic communication and positioning base station 6 can effectively ensure the stability and reliability of the entire communication system. At this time, the dispatch host 2, as a relay station for wireless signals, can significantly enhance the transmission strength of communication and positioning signals between the dynamic communication and positioning base station 6 and the main control center 1, and reduce signal attenuation or loss caused by the complex environment of the secondary lane. The dynamic communication and positioning base station 6 also has wireless expansion capabilities, which can provide mature PHS, Wi-Fi, and WCDMA wireless access capabilities to solve the worries of enterprises.

[0038] 3.22 also includes setting a positioning information generating module in the portable communicator 12, which performs timed communication with the positioning base station 9 through ZigBee technology. The positioning base station 9 measures the distance between the portable communicator 12 and the positioning base station 9 according to the position confirmation information actively sent by the positioning module, and transmits the distance information between the positioning base station 9 and the portable communicator 12 to the scheduling host 2 through a wired or wireless network.

[0039] 3.23 When the underground personnel do not wear the portable communicator 12, their portable communicator 12 will be in a fixed position for a long time. Even if the positioning information is actively sent, the actual accurate position of the underground personnel cannot be confirmed. For this reason, a time threshold for distance change is set. When the dispatching host 2 detects that the static time of any portable communicator 12 is greater than the time threshold, a warning ring is sent to the mine-used intrinsically safe telephone 10 of the nearby communication base station 8 underground. If the mine-used intrinsically safe telephone 10 does not respond for a long time, an alarm signal is sent through the emergency broadcast system. Emergency broadcast system: used for emergency broadcasts of emergencies to quickly convey important information to various areas. Emergency broadcasts and emergency calls have sound and light flash alarm functions, including direct telephone functions such as 1 to 1 or 1 to many, extensions initiate emergency calls, full calls and voice broadcasts, etc.

[0040] 3.24 In addition, the communication positioning base station 8 also includes a data monitoring system for real-time monitoring of gas, temperature and other parameters of the underground environment, and feeding back the data to the dispatch host 2. The signal input end of the data monitoring system is connected to gas sensors, temperature and humidity sensors, and harmful gas sensors, etc. The signal output end of the data monitoring system is connected to the dispatch host 2 through a wired or wireless network. When the signal data of each sensor exceeds the critical value, the dispatch host 2 sends an alarm signal through the emergency broadcast system. Through the underground robot carrying a variety of sensors, the environmental conditions in the secondary tunnel can be monitored in real time, potential safety hazards can be discovered in time, and corresponding preventive measures can be taken. It is a unique function of the new command emergency dispatch of coal mines and mines.

[0041] 4. A digital program-controlled dispatching communication method for mines based on the above system, such as Figure 2-Figure 5 As shown, the following steps are included.

[0042] 1.4 The robot SLAM technology is used to locate and scan each tunnel in the coal mine, so as to realize the robot's self-positioning and build a three-dimensional map of the surrounding environment. The data information of the three-dimensional map is transmitted to the dispatching host 2 and / or the main control center 1.

[0043] 4.2 During the underground working process, the portable communicator 12 of each underground worker is used to transmit the voice information of the corresponding underground worker to the communication base station 8, and the communication base station 8 identifies the voice information, first determines the identity of the speaker, and then determines whether the voice is "requesting communication voice" or "unrequested voice". Among them, the communication base station 8 identifies the voice information (identifies different speakers and their speech content among a large number of people) method: collects voice information through the portable communicator 12 of each underground worker, performs noise reduction and enhancement processing on the collected voice signal to improve the accuracy of recognition, uses voiceprint recognition technology to extract key features in the voice signal, such as Mel frequency cepstral coefficient (MFCC), etc., compares the extracted features with the features in the voiceprint library, identifies the identity of the speaker, and further analyzes the recognized voice content to determine whether it is "requesting communication voice" or "unrequested voice".

[0044] 4.21 The communication base station 8 identifies the voice information (identifies different speakers and their speech content among a large number of people), including the following.

[0045] First, establish a voiceprint library: collect voiceprint samples of underground personnel in advance through recording equipment, preprocess and extract features of the collected voiceprint samples, use voiceprint recognition algorithm to compare and match feature vectors, and establish a voiceprint model. When applied, collect voice signals on site: determine the sampling period according to the Nyquist sampling theorem (to avoid frequency domain aliasing distortion), and convert analog voice signals into digital signals through sampling. The sampling frequency range of voice signals is 300~3400Hz, and the sampling rate is 8KHz, including normal conversations, talking to oneself or coughing, and almost any voice sounds from underground personnel.

[0046] Pre-emphasis and denoising of the collected signal: The input digital voice signal is pre-emphasized in order to emphasize the high-frequency part of the voice, remove the influence of non-lip noise, and increase the high-frequency resolution of the voice. Due to the high ambient noise in the mine, the voice signal needs to be denoised to improve the quality of the voice signal. This can be achieved through voice enhancement technology, which aims to extract useful voice signals from mixed signals and suppress background noise. Voice separation: In a multi-speaker scenario, voice separation technology (such as using the pyannote.audio library for voice separation and speaker recognition) is used to extract the voice signals of different target speakers and process them separately. Feature extraction: After preprocessing, feature parameters are extracted from the voice signal, such as voice recognition and speaker recognition. The main feature parameters include short-time energy, average amplitude, zero-crossing rate, autocorrelation function, and average amplitude difference function. Voiceprint feature extraction and comparison: For the separated voice segments, voiceprint features are extracted and compared with the voiceprints in the human database. The speaker is identified by calculating similarity metrics such as cosine distance. Through the above steps, the mining digital program-controlled dispatching communication system can effectively pre-process the voice signal to improve the clarity and reliability of voice communication.

[0047] 4.22 If it is determined to be a "communication request voice", the specific content of the language information of the "communication request voice" is converted into digital information, and then the language digital information and the speaker's identity are transmitted to the digital program-controlled switch 3 through the ring network switch 4. The digital program-controlled switch 3 dispatches the language information to the main control center 1 or other communication base stations 8 to achieve language communication above or below the coal mine. In this process, language information conversion: if it is a "communication request voice", the voice content is converted into digital information; information transmission: the speaker's digital information and identity information are transmitted to the digital program-controlled switch 3 through the ring network switch 4; dispatch communication: the digital program-controlled switch 3 dispatches the language information to the main control center 1 or other communication base stations 8 to achieve communication.

[0048] 4.23 If it is determined to be an "unsolicited voice", the communication base station 8 does not transmit the specific content of the language information, but wakes up the current positioning base station 9 and an adjacent positioning base station 9 at the same time. The two positioning base stations 9 measure the distances r1 and r2 of the corresponding positioning card 13 holders respectively, and transmit the distance information and the identity of the speaker to the dispatch host 2. In this process, wake up the positioning base station 9: if it is an "unsolicited voice", wake up the current positioning base station 9 and an adjacent positioning base station 9; distance measurement: the two positioning base stations 9 measure the distances r1 and r2 of the positioning card 13 holders respectively; information transmission: the distance information and the identity of the speaker are transmitted to the dispatch host 2.

[0049] 4.3 The dispatching host 2 uses the coordinates of the two positioning base stations 9 as the center point and r1 and r2 as the radius to draw a sphere on the underground three-dimensional map, and calculates the circular ring line O of the intersection and overlap of the two spheres, and then continues to calculate the intersection point of the circular ring line O and the adjacent three-dimensional map lane axis line L, and uses the intersection point coordinates as the cardholder position coordinates of the corresponding positioning card 13. Specifically, draw a sphere: the dispatching host 2 uses the coordinates of the two positioning base stations 9 as the center point and r1 and r2 as the radius to draw a sphere on the underground three-dimensional map; calculate the circular ring line: calculate the circular ring line O of the intersection and overlap of the two spheres. Find the intersection point: find the intersection point of the circular ring line O and the adjacent three-dimensional map lane axis line L; determine the position coordinates: use the intersection point coordinates as the cardholder position coordinates of the corresponding positioning card 13. The identification results and location coordinate information are output to the main control center 1 or other relevant personnel for subsequent scheduling and management, to achieve the connection of personnel positioning, wireless communication, office telephone and other systems, and to achieve seamless upgrade and unified scheduling of the entire network.

[0050] 5. Based on the above-mentioned mining digital program-controlled dispatching communication method and system, the specific application process includes the following steps.

[0051] 5.1 System initialization and equipment inspection: Before the mine starts working, the dispatching host and each communication base station and dynamic communication positioning base station will first perform system initialization to ensure the normal operation of the software and hardware environment, including the inspection of signal strength, water level monitoring and other equipment. This ensures that the system operates in the optimal state, detects and eliminates faults in a timely manner, avoids technical problems in actual operation, and improves overall safety and reliability.

[0052] 5.2 Personnel positioning and communication equipment distribution: After entering the mine, each miner wears a portable communicator to confirm the location. The system automatically identifies and records the identity and location of each miner through ZigBee technology. Real-time collection of miners' location information effectively prevents personnel from getting lost or missing, improves the safety of miners, and ensures accurate tracking of each miner.

[0053] 5.3 Environmental monitoring and data collection: Gas sensors, temperature and humidity sensors installed in the mine begin to monitor environmental parameters in real time, and the data is fed back to the dispatch host. By monitoring the underground gas and temperature changes, potential dangers can be detected in time, providing environmental safety protection for mine operations and ensuring the health and safety of miners.

[0054] 5.4 Voice communication and request processing: During work, miners initiate communication requests through portable communicators, and voice information is transmitted to the nearest communication base station. The base station uses voiceprint recognition technology to identify the speaker and determine the nature of the request. This ensures the accuracy and immediacy of communication, allowing the dispatch host to quickly obtain and process the requests issued by miners, improving work efficiency and safety response speed.

[0055] 5.5 Emergency response and alarm mechanism: If the portable communicator is inactive within the specified time threshold, the system will automatically sound an alarm and the dispatch host will push the information to the adjacent base station at the same time. Rapid response to emergencies ensures that rescue forces can be called in time in an emergency, reducing the risk of loss when an accident occurs.

[0056] 5.6 Dynamic map construction and environmental modeling: Use SLAM robots to move in the mine, obtain environmental data in real time and build a three-dimensional map, and transmit the data to the dispatch host and the main control center through the wireless network. Realize the dynamic update of the complex environment of the mine, improve the scientific nature of on-site management and dispatch, and make the structure and environmental changes of the mine visible in real time.

[0057] 5.7 Information integration and decision support: After receiving all communication, environmental monitoring and positioning data, the dispatch host conducts comprehensive analysis and outputs clear dispatch instructions and alarms. It provides comprehensive and real-time information support for dispatchers, ensures fast and accurate decision-making, and improves overall mine management efficiency.

[0058] 5.8. Subsequent data archiving and analysis: The system archives all communication records, environmental monitoring data and positioning information for subsequent query and analysis. Establishing a complete data history record can conduct safety review and improvement work, enhance the safety management system of the mine, and promote intelligent evolution.

[0059] Through the above steps, the digital program-controlled dispatching communication system for mining can efficiently coordinate various functions to ensure the safety of mine operations, the real-time nature of communications, and the controllability of the environment, and provide a safe working platform for miners. The above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention.

Claims

1. A digital program-controlled dispatching communication method for mines, comprising a digital program-controlled dispatching communication system for mines, characterized in that: The system includes a dispatching host located at the bottom of the main lane and a static communication positioning base station located in each secondary lane, the dispatching host includes a digital program-controlled switch, and the static communication positioning base station includes a communication base station and a positioning base station; S1: Use robot SLAM technology to locate and scan each tunnel in the coal mine, realize the robot's self-positioning and build a three-dimensional map of the surrounding environment, and transmit the data information of the three-dimensional map to the dispatching host and / or the main control center; S2: Using the portable communicator of each underground worker, the voice information of the corresponding underground worker is transmitted to the communication base station, and the communication base station identifies the voice information, first determines the identity of the speaker, and then determines whether the voice is a "communication request voice" or a "non-request voice"; S3: If it is determined to be a "communication request voice", the specific content of the language information of the "communication request voice" is converted into digital information, and then the language digital information and the identity of the speaker are transmitted to the digital program-controlled switch through the ring network switch. The digital program-controlled switch dispatches the language information to the main control center or other communication base stations to realize language communication above or below the coal mine; S4: If it is determined to be "unsolicited voice", the communication base station does not transmit the specific content of the language information, but wakes up the positioning base station and an adjacent positioning base station at the same time. The two positioning base stations measure the distances r1 and r2 of the corresponding positioning card holders respectively, and transmit the distance information and the identity of the speaker to the dispatch host; S5: The dispatch host draws spheres on the underground three-dimensional map with the coordinates of the two positioning base stations as the center points and r1 and r2 as the radius respectively, and calculates the circular ring line O where the two spheres intersect and overlap, and then continues to calculate the intersection point of the circular ring line O and the axis line L of the adjacent three-dimensional map laneway, and uses the coordinates of the intersection point as the position coordinates of the cardholder of the corresponding positioning card, and outputs the recognition results and position coordinate information to the main control center or other relevant personnel for subsequent scheduling and management.

2. The digital program-controlled dispatching communication method for mines according to claim 1 is characterized in that: Method for identifying voice information by communication base station: voiceprint samples of underground personnel are collected in advance through recording equipment, preprocessing and feature extraction are performed on the collected voiceprint samples, and feature vectors are compared and matched using voiceprint recognition algorithm to establish a voiceprint model; the sampling period is determined according to the Nyquist sampling theorem, and the on-site analog voice signal is converted into a digital signal through sampling; the input digital voice signal is pre-emphasized to remove the influence of non-lip noise and increase the high-frequency resolution of the voice; in a multi-speaker scenario, the voice signals of different target speakers are extracted through voice separation technology and processed separately; characteristic parameters in the voice signal are extracted, voiceprint features are extracted for the separated voice fragments, and compared with the voiceprints in the human database, and the speaker is identified by calculating similarity metrics such as cosine distance.

3. A digital program-controlled dispatching communication system for mining used in the method of claim 1, comprising a main control center, a static communication positioning base station, a positioning card and a portable communicator, characterized in that: The main control center is located in the ground dispatching room; a dispatching host is set at the bottom of the main tunnel, and the dispatching host includes a digital program-controlled switch. The main control center and the dispatching host communicate through optical fiber or cable; the digital program-controlled switch is responsible for connecting the main control center with multiple communication positioning base stations located in each auxiliary tunnel to establish call function, exchange function, dispatch function and networking function; the digital program-controlled switch is configured according to the instructions issued by the main control center; and a SLAM robot is also included, which uses the robot SLAM technology to locate and scan each tunnel in the coal mine, realize self-positioning and build a three-dimensional map of the surrounding environment, The data information of the three-dimensional map is transmitted to the dispatching host and the main control center; the static communication positioning base station includes a mine-used intrinsically safe telephone, a communication base station and a positioning base station; the mine-used intrinsically safe telephone is used for communication underground in the coal mine, and the communication information is transmitted to the digital program-controlled switch; the communication base station is used to receive the voice information of the portable communicator of the underground personnel, and transmit it to the digital program-controlled switch through the ring network switch; the positioning base station communicates with the positioning cards of the underground personnel, measures the distance between each positioning card and the positioning base station, and transmits the distance information between the positioning base station and the positioning card to the dispatching host through a wired or wireless network.

4. The digital program-controlled dispatching communication system for mining according to claim 1 or 3, characterized in that: It also includes a dynamic communication and positioning base station, which includes a mobile robot. A vehicle-mounted communication base station and a vehicle-mounted positioning base station are installed on the mobile robot. The vehicle-mounted communication base station is wirelessly connected to the dispatching host. The dispatching host controls each dynamic communication and positioning base station to execute instructions such as movement, communication and positioning; the dispatching host controls the movement of each dynamic communication and positioning base station to enter a signal blind spot or a weak spot to receive voice information and location information from the portable communicators of underground personnel. The dynamic communication and positioning base station transmits the voice information from the portable communicators of the underground personnel directly to the digital program-controlled switch through the wireless network, and transmits the distance information between the mobile robot and the positioning card of the underground personnel directly to the dispatching host through the wireless network.

5. The digital program-controlled dispatching communication system for mining according to claim 4 is characterized in that: The dynamic communication positioning base station also includes a device installed on the mobile robot for real-time three-dimensional mapping, which includes a panoramic camera and a three-dimensional laser scanner. The panoramic camera and the three-dimensional laser scanner are used as main sensors. The panoramic camera extracts local environmental information and landmark group features in real time, generates a two-dimensional map, and uses the three-dimensional laser scanner to provide accurate robot positioning information. The three-dimensional point cloud obtained by the three-dimensional laser scanner is aligned, and this process is repeated until the local three-dimensional map is obtained, which is directly transmitted to the scheduling host or the main control center via the wireless network. The scheduling host or the main control center merges the newly acquired local maps of each mobile robot with the global map to achieve continuous environmental modeling.

6. The digital program-controlled dispatching communication system for mining according to claim 4 is characterized in that: The newly acquired local 3D map information is registered with the original 3D map through the iterative closest point algorithm to determine the spatial relationship between them. After the registration is completed, the point cloud data of the local map is fused into the global map.

7. The digital program-controlled dispatching communication system for mining according to claim 4 is characterized in that: When multiple mobile robots work simultaneously, the map fusion algorithm uses the images and position information obtained by the panoramic camera and 3D laser scanner to directly calculate the transformation between the robot reference coordinate systems, and fuses the local maps generated by different robots into a global map.

8. The digital program-controlled dispatching communication system for mining according to claim 1 is characterized in that: It also includes setting a positioning information generating module in the portable communicator, and the module communicates with the positioning base station at a regular interval. The positioning base station measures the distance between the portable communicator and the positioning base station according to the position confirmation information actively sent by the positioning module, and transmits the distance information between the positioning base station and the portable communicator to the dispatch host through a wired or wireless network.

9. The digital program-controlled dispatching communication system for mining according to claim 8, characterized in that: Set a time threshold for distance change. When the dispatch host detects that the idle time of any portable communicator is greater than the time threshold, a warning ring will be sent to the intrinsically safe telephone of the nearby communication base station underground. If the intrinsically safe telephone does not answer for a long time, an alarm signal will be sent through the emergency broadcast system.

10. The digital program-controlled dispatching communication system for mining according to claim 1, characterized in that: The communication and positioning base station also includes a data monitoring system, which is used to monitor the gas, temperature and other parameters of the underground environment in real time and feed the data back to the dispatch host. The signal input end of the data monitoring system is connected to gas sensors, temperature and humidity sensors, etc. The signal output end of the data monitoring system is connected to the dispatch host through a wired or wireless network. When the signal data of each sensor exceeds the critical value, the dispatch host sends an alarm signal through the emergency broadcast system.

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