A remote intelligent control system for mining machinery

Abstract

The invention discloses a remote intelligent control system for mining machinery, comprising a data acquisition module, an equipment control and analysis module and an intelligent control module. The data acquisition module is used to collect dust monitoring data during the operation of the mining machinery. The equipment control and analysis module is used to analyze and determine the timing of controlling the equipment to sprinkle water and reduce dust in the underground mine tunnel. The intelligent control module is used to intelligently control the optimal opening and closing of the water sprinkling and dust reduction equipment. The data acquisition module and the intelligent control module are both connected to the equipment control and analysis module network. The data acquisition module comprises a dust monitoring unit, an operating equipment transmission module and a thermal imaging detection unit. The dust monitoring unit is used to monitor the dust concentration in the air at the corresponding position of the underground mine tunnel. The operating equipment transmission module is used to establish a transmission channel to obtain data and operating data of the mining operating equipment. The invention has the characteristics of high efficiency and good economic benefits.

Description

Technical Field

[0001] The present invention relates to the technical field of mining machinery, and in particular to a remote intelligent control system for mining machinery. Background Art

[0002] The mining machinery industry is one of the important basic industries that provides equipment for the mining and processing of solid raw materials, materials and fuels. It serves important basic industrial sectors such as ferrous and non-ferrous metallurgy, coal, building materials, chemical industry, nuclear industry, etc. Its products are also widely used in the basic construction of basic sectors such as transportation, railways, construction, water conservancy and hydropower.

[0003] Existing underground mine tunnels will generate a lot of dust during the excavation process, which not only seriously endangers the health of workers, but also poses great safety hazards. In particular, the dust generated during the mining of flammable minerals such as coal is very likely to cause explosions or combustion accidents. The common method of reducing dust concentration generally adopts the method of sprinkling water to reduce dust. The existing dust removal device is generally manually controlled by relevant personnel, and the spraying time is determined based on the work experience of the personnel. When the personnel find that the dust concentration at a certain location in the tunnel is too high, the personnel enter and open the corresponding dust removal device for dust reduction, which is extremely harmful to the health of the personnel entering the tunnel. In addition, the personnel spend a lot of time walking back and forth in the tunnel, and the dust removal device cannot be opened in time for dust reduction. When the dust concentration at that location in the tunnel is reduced, the dust removal system cannot be closed in time. Therefore, it is necessary to design a remote intelligent control system for mining machinery with high efficiency and good economic benefits. Summary of the invention

[0004] The purpose of the present invention is to provide a remote intelligent control system for mining machinery to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a remote intelligent control system for mining machinery, comprising a data acquisition module, an equipment control and analysis module and an intelligent control module, wherein the data acquisition module is used to collect dust monitoring data during the operation of the mining machinery, the equipment control and analysis module is used to analyze and determine the timing for controlling the equipment to sprinkle water to reduce dust in underground mine tunnels, and the intelligent control module is used to intelligently control the optimal opening and closing of the water sprinkling and dust reduction equipment, and the data acquisition module and the intelligent control module are both connected to the equipment control and analysis module network.

[0006] According to the above technical solution, the data acquisition module includes a dust monitoring unit, an operating equipment transmission module and a thermal imaging detection unit. The dust monitoring unit is used to monitor the dust concentration in the air at the corresponding position of the underground mine tunnel, the operating equipment transmission module is used to establish a transmission channel to obtain the data operation data of the mine operating equipment, and the thermal imaging detection unit is used to monitor the thermal imaging images of personnel activities in the underground mine tunnel.

[0007] According to the above technical solution, the equipment control and analysis module includes a tunnel model establishment module, a dust concentration prediction module, a trajectory tracking module and a dust reduction timing calculation module. The tunnel model establishment module is used to fit and establish a three-dimensional spatial model of the mine tunnel. The dust concentration prediction module is used to analyze and predict the dust concentration inside the mine tunnel after a stage time. The trajectory tracking module is used to track and record the activity trajectory of people in the tunnel. The dust reduction timing calculation module is used to calculate the timing for the dust reduction equipment to start dust reduction.

[0008] According to the above technical solution, the intelligent control module includes a start-up unit control module and a shutdown timing judgment module. The start-up unit control module is used to control the start-up of the equipment and sprinkle water to reduce dust in the coverage area. The shutdown timing judgment module is used to judge according to the dust concentration monitoring value. When the dust concentration monitoring value is less than U min The control device stops running.

[0009] According to the above technical solution, the dust concentration prediction module further includes a monitoring data sorting submodule and a wave-type extrapolation submodule. The monitoring data sorting submodule is used to sort and list all dust monitoring data in the tunnel, and the wave-type extrapolation submodule is used to predict the dust concentration in each area in the tunnel by wave-type extrapolation.

[0010] According to the above technical solution, the operation method of the data acquisition module includes the following steps:

[0011] Step S1: Dust monitoring units are evenly distributed in underground mine tunnels, and water sprinkler and dust reduction equipment are installed at the same time, and the spray ports of the water sprinkler and dust reduction equipment correspond to the dust monitoring units one by one;

[0012] Step S2: Establish a communication transmission channel, and collect the operation data of the mechanical equipment running in the mine tunnel in real time through the data acquisition module, wherein the mechanical equipment operation data includes the equipment working status, equipment identification code, and equipment location;

[0013] Step S3: further deploying and setting up a thermal imaging unit to collect thermal imaging data of personnel in the lane;

[0014] Step S4: Input the collected data into the system.

[0015] According to the above technical solution, the operation method of the device control analysis module includes the following steps:

[0016] Step A1: Establish a three-dimensional model of the underground mine tunnel based on actual survey;

[0017] Step A2: In the three-dimensional model, according to the actual layout positions of the dust monitoring units, the three-dimensional model is restored in proportion, and the positions of the various monitoring units in the three-dimensional model are marked;

[0018] Step A3: Based on the information transmitted by the operating equipment, when there are mechanical equipment in operation in the underground mine, the actual positioning is synchronously visualized in the three-dimensional model;

[0019] Step A4: further obtain thermal imaging data of personnel in the tunnel, and after continuous capture, visualize and display the activity trajectory of personnel within the retention period T in the three-dimensional model;

[0020] Step A5: Display the dust concentration value U monitored by the corresponding monitoring unit in real time at each monitoring unit mark of the three-dimensional model. s ;

[0021] Step A6: Combine the information transmitted by the operating equipment and the activity trajectory of personnel to sort out the changes in all monitored dust concentration values, and analyze and predict the dust concentration values ​​in the corresponding areas of the tunnel;

[0022] Step A7: Comprehensively analyze and output the best time to control the sprinkler dust reduction equipment to reduce dust.

[0023] According to the above technical solution, step A6 further includes:

[0024] Step A61: retrieve the historical monitoring data of the dust concentration value monitored by a dust monitoring unit and the operation record of the watering and dust reduction equipment in the area where the dust monitoring unit is located;

[0025] Step A62: Take the time when each watering is completed as the starting point of the time axis, the time axis where it is located as the horizontal axis, and the monitored dust concentration value as the vertical axis, count the time after the completion of the previous watering cycle, record the monitoring value corresponding to each time point, establish the dust concentration monitoring chart of the monitoring area, and connect all the recording points;

[0026] Step A63: setting the interval of the connecting line slope k value to three levels, namely, level one k∈(-∞, r), level two k∈[r, 2r], and level three k∈(r, +∞), where r is a constant value greater than 0;

[0027] Step A64: Test the slope values ​​k of all the lines on the graph 1 , k 2 , …, k nCompare and classify with the three-level interval;

[0028] Step A65: Calculate the slope values ​​of the same level using the summation and average formula to obtain the average slopes of the three-level intervals of the same type.

[0029] Step A66: Lock the activity trajectory of the personnel, and predict the personnel's route and speed according to the personnel's activity trajectory within the period T, so as to calculate the prediction period t according to the distance l from the route to the area where the dust monitoring unit is located and the speed v. 0 <t<1.5t 0 When t is the prediction period, the dust concentration value U in the area after t time is predicted based on the current time H, where U = k·t+U 0 , where k is taken as or U 0 is the dust concentration monitoring value at the current time H, t 0 To collect statistics on the average time from the start to the stop of historical water sprinkling and dust suppression equipment;

[0030] Step A67: Repeat steps A61-A67 to analyze and predict the dust concentration values ​​in all areas of the tunnel.

[0031] According to the above technical solution, the A7 further comprises:

[0032] When there is a predicted human activity trajectory arriving at the corresponding monitoring area after the prediction period t, and t 0 <t<1.5t 0 , the dust concentration prediction module of the corresponding monitoring area outputs the dust concentration prediction value U, when U>U max When the current time is output, it is the best time to control the sprinkler dust reduction equipment to reduce dust;

[0033] When the human activity trajectory cannot be predicted or the predicted human activity trajectory arrives at the corresponding monitoring area after the prediction period t, and t>1.5t 0 When the dust concentration value U monitored by the corresponding monitoring unit is displayed in real time s For comparison, when U s >U max When the current time is output, it is the best time to control the sprinkler dust reduction equipment to reduce dust;

[0034] When there is a predicted human activity trajectory arriving at the corresponding monitoring area after the prediction period t, and t <t 0 When , there is no optimal time for direct output;

[0035] When mechanical equipment is in operation in an underground mine, the water sprinkler and dust reduction equipment in the area is directly controlled based on the actual positioning to output the current moment as the best time for dust reduction.

[0036] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention achieves a high degree of automation, reduces manual operation, avoids the effects of errors and delays caused by manual operation, and reduces dust concentration in a timely and effective manner through intelligent control of water sprinkling and dust reduction equipment, thereby ensuring the health and safety of workers. At the same time, the timing of water sprinkling and dust reduction is accurately controlled, water resources and labor costs are saved, and work efficiency is improved. Using three-dimensional models and thermal imaging technology, the system can operate effectively in complex mining environments, provide precise dust control, and based on historical data and real-time monitoring, the system can make scientific and reasonable dust reduction decisions to ensure the scientificity and effectiveness of dust reduction operations. It achieves efficient management of mine dust, improves the safety and efficiency of mine operations, and provides innovative solutions for the mining machinery industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0038] Figure 1 It is a schematic diagram of the system module composition of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] See also Figure 1The present invention provides a technical solution: a remote intelligent control system for mining machinery, including a data acquisition module, an equipment control and analysis module and an intelligent control module. The data acquisition module is used to collect dust monitoring data during the operation of mining machinery. The equipment control and analysis module is used to analyze and judge the timing of controlling the equipment to sprinkle water and reduce dust in the underground mine tunnel. The intelligent control module is used to intelligently control the optimal opening and closing of the water sprinkling and dust reduction equipment. The data acquisition module and the intelligent control module are connected to the equipment control and analysis module network. The system has a high degree of automation, reduces manual operation, avoids errors and delays caused by manual operation, and effectively reduces dust concentration through intelligent control of water sprinkling and dust reduction equipment to ensure the health and safety of workers. At the same time, the timing of water sprinkling and dust reduction is accurately controlled, water resources and labor costs are saved, and operation efficiency is improved. Using three-dimensional models and thermal imaging technology, the system can operate effectively in complex mining environments and provide accurate dust control. Based on historical data and real-time monitoring, the system can make scientific and reasonable dust reduction decisions to ensure the scientificity and effectiveness of dust reduction operations. The system realizes efficient management of mine dust, improves the safety and efficiency of mine operations, and provides innovative solutions for the mining machinery industry.

[0041] The data acquisition module includes a dust monitoring unit, an operating equipment transmission module and a thermal imaging detection unit. The dust monitoring unit is used to monitor the dust concentration in the air at the corresponding position of the underground mine tunnel. The operating equipment transmission module is used to establish a transmission channel to obtain the data operation data of the mining operating equipment. The thermal imaging detection unit is used to monitor the thermal imaging images of personnel activities in the underground mine tunnel.

[0042] The equipment control and analysis module includes a tunnel model building module, a dust concentration prediction module, a trajectory tracking module and a dust reduction timing calculation module. The tunnel model building module is used to fit and establish a three-dimensional spatial model of the mine tunnel. The dust concentration prediction module is used to analyze and predict the dust concentration inside the mine tunnel after a stage of time. The trajectory tracking module is used to track and record the trajectory of personnel activities in the tunnel. The dust reduction timing calculation module is used to calculate the timing for the dust reduction equipment to start dust reduction.

[0043] The intelligent control module includes a start-up unit control module and a shutdown timing judgment module. The start-up unit control module is used to control the start-up of the equipment and sprinkle water to reduce dust in the coverage area. The shutdown timing judgment module is used to judge according to the dust concentration monitoring value. When the dust concentration monitoring value is less than U min The control device stops running.

[0044] The dust concentration prediction module further includes a monitoring data sorting submodule and a wave-type extrapolation submodule. The monitoring data sorting submodule is used to sort and list all dust monitoring data in the tunnel, and the wave-type extrapolation submodule is used to predict the dust concentration in each area of ​​the tunnel by wave-type extrapolation.

[0045] The operation method of the data acquisition module includes the following steps:

[0046] Step S1: Dust monitoring units are evenly distributed in underground mine tunnels, and water sprinkler and dust reduction equipment are installed at the same time, and the spray ports of the water sprinkler and dust reduction equipment correspond to the dust monitoring units one by one;

[0047] Step S2: Establish a communication transmission channel, and collect the operation data of the mechanical equipment running in the mine tunnel in real time through the data acquisition module, wherein the mechanical equipment operation data includes the equipment working status, equipment identification code, and equipment location;

[0048] Step S3: further deploying and setting up a thermal imaging unit to collect thermal imaging data of personnel in the lane;

[0049] Step S4: Input the collected data into the system.

[0050] The operation method of the device control analysis module includes the following steps:

[0051] Step A1: Establish a three-dimensional model of the underground mine tunnel based on actual survey;

[0052] Step A2: In the three-dimensional model, according to the actual layout positions of the dust monitoring units, the three-dimensional model is restored in proportion, and the positions of the various monitoring units in the three-dimensional model are marked;

[0053] Step A3: Based on the information transmitted by the operating equipment, when there are mechanical equipment in operation in the underground mine, the actual positioning is synchronously visualized in the three-dimensional model;

[0054] Step A4: further obtain thermal imaging data of personnel in the tunnel, and after continuous capture, visualize and display the activity trajectory of personnel within the retention period T in the three-dimensional model;

[0055] Step A5: Display the dust concentration value U monitored by the corresponding monitoring unit in real time at each monitoring unit mark of the three-dimensional model. s ;

[0056] Step A6: Combine the information transmitted by the operating equipment and the activity trajectory of personnel to sort out the changes in all monitored dust concentration values, and analyze and predict the dust concentration values ​​in the corresponding areas of the tunnel;

[0057] Step A7: Comprehensively analyze and output the best time to control the sprinkler dust reduction equipment to reduce dust.

[0058] Step A6 further comprises:

[0059] Step A61: retrieve the historical monitoring data of the dust concentration value monitored by a dust monitoring unit and the operation record of the watering and dust reduction equipment in the area where the dust monitoring unit is located;

[0060] Step A62: Take the time when each watering is completed as the starting point of the time axis, the time axis where it is located as the horizontal axis, and the monitored dust concentration value as the vertical axis, count the time after the completion of the previous watering cycle, record the monitoring value corresponding to each time point, establish the dust concentration monitoring chart of the monitoring area, and connect all the recording points;

[0061] Step A63: setting the interval of the connecting line slope k value to three levels, namely, level one k∈(-∞, r), level two k∈[r, 2r], and level three k∈(r, +∞), where r is a constant value greater than 0;

[0062] Step A64: Test the slope values ​​k of all the lines on the graph 1 , k 2 , …, k n Compare and classify with the three-level interval;

[0063] Step A65: Calculate the slope values ​​of the same level using the summation and average formula to obtain the average slopes of the three-level intervals of the same type.

[0064] Step A66: Lock the activity trajectory of the personnel, and predict the personnel's route and speed according to the personnel's activity trajectory within the period T, so as to calculate the prediction period t according to the distance l from the route to the area where the dust monitoring unit is located and the speed v. 0 <t<1.5t 0 When t is the prediction period, the dust concentration value U in the area after t time is predicted based on the current time H, where U = k·t+U 0 , where k is taken as or U 0 is the dust concentration monitoring value at the current time H, t 0 To collect statistics on the average time from the start to the stop of historical water sprinkling and dust suppression equipment;

[0065] Step A67: Repeat steps A61-A67 to analyze and predict the dust concentration values ​​in all areas of the tunnel.

[0066] A7 further includes:

[0067] When there is a predicted human activity trajectory arriving at the corresponding monitoring area after the prediction period t, and t 0 <t<1.5t 0 , the dust concentration prediction module of the corresponding monitoring area outputs the dust concentration prediction value U, when U>U max When the current time is output, it is the best time to control the sprinkler dust reduction equipment to reduce dust;

[0068] When the human activity trajectory cannot be predicted or the predicted human activity trajectory arrives at the corresponding monitoring area after the prediction period t, and t>1.5t 0 When the dust concentration value U monitored by the corresponding monitoring unit is displayed in real time s For comparison, when U s >U max When the current time is output, it is the best time to control the sprinkler dust reduction equipment to reduce dust;

[0069] When there is a predicted human activity trajectory arriving at the corresponding monitoring area after the prediction period t, and t <t 0 When , there is no optimal time for direct output;

[0070] When mechanical equipment is in operation in an underground mine, the water sprinkler and dust reduction equipment in the area is directly controlled based on the actual positioning to output the current moment as the best time for dust reduction.

[0071] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0072] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A remote intelligent control system for mining machinery, comprising a data acquisition module, an equipment control and analysis module and an intelligent control module, characterized in that: The data acquisition module is used to collect dust monitoring data during the operation of mining machinery, the equipment control and analysis module is used to analyze and determine the timing of controlling the equipment to sprinkle water and reduce dust in underground mine tunnels, and the intelligent control module is used to intelligently control the optimal opening and closing of the water sprinkling and dust reduction equipment. The data acquisition module and the intelligent control module are both connected to the equipment control and analysis module network; The data acquisition module includes a dust monitoring unit, an operating equipment transmission module and a thermal imaging detection unit. The dust monitoring unit is used to monitor the dust concentration in the air at the corresponding position of the underground mine tunnel. The operating equipment transmission module is used to establish a transmission channel to obtain the data of the mine operating equipment. The thermal imaging detection unit is used to monitor the thermal imaging screen of personnel activities in the underground mine tunnel. The equipment control and analysis module includes a tunnel model building module, a dust concentration prediction module, a trajectory tracking module and a dust reduction timing calculation module. The tunnel model building module is used to fit and establish a three-dimensional spatial model of the mine tunnel. The dust concentration prediction module is used to analyze and predict the dust concentration after a stage time inside the mine tunnel. The trajectory tracking module is used to track and record the activity trajectory of personnel in the tunnel. The dust reduction timing calculation module is used to calculate the timing of the dust reduction equipment to start dust reduction; The intelligent control module includes a start-up unit control module and a shutdown timing judgment module. The start-up unit control module is used to control the start-up of the equipment and sprinkle water to reduce dust in the coverage area. The shutdown timing judgment module is used to judge according to the dust concentration monitoring value. When the dust concentration monitoring value is less than U min When the control equipment stops running; The dust concentration prediction module further includes a monitoring data sorting submodule and a wave-type extrapolation submodule, wherein the monitoring data sorting submodule is used to sort and list all dust monitoring data in the tunnel, and the wave-type extrapolation submodule is used to wave-type extrapolation to predict the dust concentration in each area of ​​the tunnel; The operation method of the data acquisition module comprises the following steps: Step S1: Dust monitoring units are evenly distributed in underground mine tunnels, and water sprinkler and dust reduction equipment are installed at the same time, and the spray ports of the water sprinkler and dust reduction equipment correspond to the dust monitoring units one by one; Step S2: Establish a communication transmission channel, and collect the operation data of the mechanical equipment running in the mine tunnel in real time through the data acquisition module, wherein the mechanical equipment operation data includes the equipment working status, equipment identification code, and equipment location; Step S3: further deploying and setting up a thermal imaging unit to collect thermal imaging data of personnel in the lane; Step S4: input the collected data into the system; The operation method of the device control analysis module comprises the following steps: Step A1: Establish a three-dimensional model of the underground mine tunnel based on actual survey; Step A2: In the three-dimensional model, according to the actual layout positions of the dust monitoring units, the three-dimensional model is restored in proportion, and the positions of the various monitoring units in the three-dimensional model are marked; Step A3: Based on the information transmitted by the operating equipment, when there are mechanical equipment in operation in the underground mine, the actual positioning is synchronously visualized in the three-dimensional model; Step A4: further obtain thermal imaging data of personnel in the tunnel, and after continuous capture, visualize and display the activity trajectory of personnel within the retention period T in the three-dimensional model; Step A5: Display the dust concentration value U monitored by the corresponding monitoring unit in real time at each monitoring unit mark of the three-dimensional model. s ; Step A6: Combine the information transmitted by the operating equipment and the activity trajectory of personnel to sort out the changes in all monitored dust concentration values, and analyze and predict the dust concentration values ​​in the corresponding areas of the tunnel; Step A7: Comprehensive analysis to output the optimal timing for controlling the dust suppression equipment to suppress dust; The said Step A6 further includes: Step A61: Retrieve the historical monitoring data of the monitored dust concentration value of a dust monitoring unit and the operation records of the dust suppression equipment in the area where the dust monitoring unit is located; Step A62: Taking the completion moment of each sprinkling as the starting point of the time axis, with the time axis where it is located as the horizontal axis and the monitored dust concentration value as the vertical axis, time the time after the completion of the previous cycle of sprinkling, record the monitored values corresponding to each time point, establish a dust concentration monitoring chart for this monitoring area, and connect all the recorded points; Step A63: Set the interval of the connection line slope k value into three levels, namely, the first level k ∈ (-∞, r), the second level k ∈ [r, 2r], and the third level k ∈ (2r, +∞), where r is a constant value greater than 0; Step A64: Test all the line slope values ​​k1, k2, ..., k n Compare and classify with the three-level interval; Step A65: Calculate the slope values ​​of the same level using the summation and average formula to obtain the average slopes of the three-level intervals of the same type. Step A66: Lock the personnel activity track, predict the personnel's travel route and travel speed based on the personnel activity track within the period T, and then calculate the predicted period t according to the distance l from the route to the area where the dust monitoring unit is located and the travel speed v. When t0 < t < 1.5t0, use t as the predicted period, and predict the regional dust concentration value U after t time with the current moment H, where U = k·t + U0, and k takes values according to the interval it falls into as or U0 is the on-site dust concentration monitoring value at the current moment H, and t0 is the average time value for the statistical history of the sprinkler dust suppression equipment from startup to shutdown; Step A67: Repeat Steps A61 - A67 to analyze and predict the dust concentration values in all areas of the roadway; The said A7 further includes: When there is a predicted personnel activity trajectory reaching the corresponding monitoring area after a prediction period of t time, and t0 < t < 1.5t0, the dust concentration prediction module in the corresponding monitoring area outputs a predicted dust concentration value U. When U > U max , it outputs that the current moment is the best time to control the dust suppression equipment to reduce dust; When the human activity trajectory cannot be predicted or the predicted human activity trajectory arrives at the corresponding monitoring area after the prediction period t, and t>1.5t0, the dust concentration value U monitored by the corresponding monitoring unit will be displayed in real time. s For comparison, when U s >U max When the current time is output, it is the best time to control the sprinkler dust reduction equipment to reduce dust; When there is a predicted personnel activity trajectory reaching the corresponding monitoring area after a predicted period t of time and t < t0, then directly output that there is no optimal timing; When mechanical equipment in the underground mine is running, directly control the dust suppression equipment in the located area according to the actual positioning, and output the current moment as the optimal dust suppression timing.

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