Satellite-based mining terminal control method and device, electronic equipment and medium

Abstract

The invention provides a satellite-based mining terminal control method and device, electronic equipment and a medium, and relates to the technical field of satellite communication. The satellite-based mining terminal control method provided by the invention comprises the following steps: acquiring the relative position and equipment information of a controlled mining terminal, and determining the information quality of control information corresponding to the controlled mining terminal; determining the communication switching duration of the current satellite based on the relative position and the information quality; and determining pre-control information corresponding to the controlled mining terminal based on the communication switching duration and the equipment information, and controlling the controlled mining terminal according to the pre-control information in the communication switching process of the current satellite. The remote control reliability and safety of the controlled mining terminal can be improved.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a control method, device, electronic equipment and medium for a satellite-based mining terminal. Background Art

[0002] With the continuous development of satellite technology, satellite communication technology has been used in more and more fields. For example, in the field of mining generation technology, satellites can be used to perform real-time positioning of operating equipment in mining areas. Low-orbit satellite communication technology can also be used to remotely control operating equipment in mining areas by taking advantage of the wide coverage, low latency, fast deployment, and low cost of low-orbit satellites.

[0003] However, the inventors of the present application discovered that, due to the high speed of low-orbit satellites, low-orbit satellites need to be frequently switched to ensure communication services with the controlled mining terminals; subsequently, during the communication switching process of the low-orbit satellites, the communication quality deteriorates or is even interrupted, resulting in the control information used to control the operation of the controlled mining terminal being unable to be forwarded to the controlled mining terminal in a timely and effective manner, thereby reducing the reliability and security of remote control of the controlled mining terminal. Summary of the invention

[0004] In order to improve the reliability and safety of remote control of a controlled mining terminal, the present application provides a control method, device, electronic device and medium for a satellite-based mining terminal.

[0005] The present application provides a satellite-based mining terminal control method, which adopts the following technical solutions:

[0006] A control method for a satellite-based mining terminal, comprising:

[0007] Obtaining the relative position and equipment information of the controlled mining terminal, and determining the information quality of the control information corresponding to the controlled mining terminal;

[0008] Determine the communication switching duration of the current satellite based on the relative position and information quality;

[0009] Based on the communication switching duration and device information, the pre-control information corresponding to the controlled mining terminal is determined, and during the current satellite communication switching process, the controlled mining terminal is controlled by the pre-control information.

[0010] According to some embodiments, the above-mentioned control information is control information generated by the main control terminal and has not been sent to the current satellite; determining the information quality of the control information corresponding to the controlled mining terminal includes: obtaining the initial control information generated by the main control terminal, and determining the first control information contained in the initial control information; determining the second control information contained in the control information; comparing the first control information and the second control information to determine the bit error rate of the control information, and based on the bit error rate of the control information, determining the information quality corresponding to the control information.

[0011] According to some embodiments, the above-mentioned determination of the communication switching duration of the current satellite based on the relative position and the information quality includes: when the relative position reaches a preset relative position and the information quality reaches a preset information quality, determining the communication switching duration of the current satellite; or when the relative position reaches a preset relative position and the information quality does not reach the preset information quality, determining the communication switching duration of the current satellite; or when the relative position does not reach the preset relative position and the information quality does not reach the preset information quality, determining the communication switching duration of the current satellite.

[0012] According to some embodiments, the above-mentioned relative position is the relative position between the first communication coverage range of the current satellite and the position of the controlled mining terminal; the above-mentioned determination of the communication switching duration of the current satellite based on the relative position and information quality includes: when the relative position and information quality meet the preset conditions, obtaining the preset position point and running speed of the second communication coverage range of the target satellite; determining the communication switching duration based on the relative position, the preset position point and the running speed.

[0013] According to some embodiments, the above-mentioned determination of pre-control information corresponding to the controlled mining terminal based on the communication switching duration and device information includes: determining the operating task and operating status of the controlled mining terminal based on the device information; predicting the pre-action information of the controlled mining terminal within the communication switching duration based on the operating task and the operating status; determining the pre-control information corresponding to the controlled mining terminal based on the pre-action information.

[0014] According to some embodiments, the above-mentioned operation task includes multiple operation stages of the equipment, operation standards corresponding to the multiple operation stages, and operation durations corresponding to the multiple operation stages; the above-mentioned prediction of the pre-action information of the controlled mining terminal within the communication switching duration based on the operation task and the operation status includes: based on the operation status, determining the current operation stage corresponding to the controlled mining terminal and the current operation duration of the controlled mining terminal in the current operation stage at the current moment; determining the target operation stage corresponding to the current operation stage from multiple operation stages; determining the remaining operation duration corresponding to the controlled mining terminal based on the current operation duration and the operation duration corresponding to the target operation stage; determining the pre-action information based on the remaining operation duration and the operation standard corresponding to the target operation stage.

[0015] According to some embodiments, the above-mentioned pre-control information includes multiple sub-pre-control information, and there is a time sorting relationship between the multiple sub-pre-control information; the above-mentioned control of the controlled mining terminal with the pre-control information during the current satellite communication switching process includes: during the current satellite communication switching process, determining the preset delay time periods corresponding to the multiple sub-pre-control information respectively, and when each sub-pre-control information is sent to the controlled mining terminal according to the time sorting relationship, the corresponding preset time period starts timing; during the timing of the preset delay time period, when the controlled termination information is obtained, a controlled stop instruction is generated, and the controlled stop instruction is sent to the controlled mining terminal to control the controlled mining terminal to stop running.

[0016] The present application provides a satellite-based mining terminal control device, which adopts the following technical solutions:

[0017] A control device for a satellite-based mining terminal includes: an information quality determination module, a communication switching duration determination module, and a control module, wherein:

[0018] An information quality determination module, used to obtain the relative position and equipment information of the controlled mining terminal, and determine the information quality of the control information corresponding to the controlled mining terminal;

[0019] A communication switching duration determination module is used to determine the communication switching duration of the current satellite based on the relative position and information quality;

[0020] The control module is used to determine the pre-control information corresponding to the controlled mining terminal based on the communication switching duration and equipment information, and control the controlled mining terminal with the pre-control information during the current satellite communication switching process.

[0021] According to some embodiments, the above-mentioned control information is control information generated by the main control terminal and has not been sent to the current satellite; the above-mentioned information quality determination module is specifically used to: obtain the initial control information generated by the main control terminal, and determine the first control information contained in the initial control information; determine the second control information contained in the control information; compare the first control information and the second control information to determine the bit error rate of the control information, and determine the information quality corresponding to the control information based on the bit error rate of the control information.

[0022] According to some embodiments, the above-mentioned communication switching duration determination module is specifically used to: determine the communication switching duration of the current satellite when the relative position reaches a preset relative position and the information quality reaches a preset information quality; or determine the communication switching duration of the current satellite when the relative position reaches a preset relative position and the information quality does not reach the preset information quality; or determine the communication switching duration of the current satellite when the relative position does not reach the preset relative position and the information quality does not reach the preset information quality.

[0023] According to some embodiments, the above-mentioned relative position is the relative position between the first communication coverage range of the current satellite and the position of the controlled mining terminal; the above-mentioned communication switching duration determination module is specifically used to: when the relative position and information quality meet the preset conditions, obtain the preset position point and running speed of the second communication coverage range of the target satellite; determine the communication switching duration based on the relative position, the preset position point and the running speed.

[0024] According to some embodiments, the above-mentioned control module is specifically used to: determine the operating tasks and operating status of the controlled mining terminal based on the equipment information; predict the pre-action information of the controlled mining terminal within the communication switching duration based on the operating tasks and operating status; and determine the pre-control information corresponding to the controlled mining terminal based on the pre-action information.

[0025] According to some embodiments, the above-mentioned operation task includes multiple operation stages of the equipment, operation standards corresponding to the multiple operation stages, and operation durations corresponding to the multiple operation stages; the above-mentioned control module is also specifically used to: determine the current operation stage corresponding to the controlled mining terminal and the current operation duration of the controlled mining terminal in the current operation stage at the current moment based on the operation status; determine the target operation stage corresponding to the current operation stage from multiple operation stages; determine the remaining operation duration corresponding to the controlled mining terminal based on the current operation duration and the operation duration corresponding to the target operation stage; determine the pre-action information based on the remaining operation duration and the operation standard corresponding to the target operation stage.

[0026] According to some embodiments, the above-mentioned pre-control information includes multiple sub-pre-control information, and there is a time sorting relationship between the multiple sub-pre-control information; the above-mentioned control module is also specifically used to: during the current satellite communication switching process, determine the preset delay time periods corresponding to the multiple sub-pre-control information, and when each sub-pre-control information is sent to the controlled mining terminal according to the time sorting relationship, the corresponding preset time period starts timing; during the timing of the preset delay time period, when the controlled termination information is obtained, a controlled stop instruction is generated, and the controlled stop instruction is sent to the controlled mining terminal to control the controlled mining terminal to stop running.

[0027] The present application provides an electronic device, which adopts the following technical solution:

[0028] An electronic device, comprising:

[0029] processor;

[0030] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the control method of the satellite-based mining terminal.

[0031] The present application provides a computer-readable medium, which adopts the following technical solution:

[0032] A computer readable medium stores a computer program, which, when executed by a processor, enables the processor to execute the above-mentioned satellite-based mining terminal control method.

[0033] According to the above-mentioned embodiment provided by the present application, the position of the controlled mining terminal is monitored in real time, the relative position between the controlled mining terminal and the communication coverage range of the current satellite and the equipment information of the controlled mining terminal are obtained, and the information quality of the control information of the controlled mining terminal is determined; the communication switching duration of the current satellite is determined by the relative position and the information quality; then, the pre-control information required to control the controlled mining terminal is determined based on the communication switching duration and the equipment information, and the controlled mining terminal is controlled by using the pre-generated pre-control information during the communication switching process of the current satellite, thereby reducing the occurrence of remote control of the controlled mining terminal being stopped due to deterioration of satellite communication quality or even communication interruption during the communication switching process, and improving the reliability and safety of remote control of the controlled mining terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a block diagram of a control method of a satellite-based mining terminal according to an embodiment of the present application;

[0035] Figure 2 is a block diagram of a control device of a satellite-based mining terminal according to an embodiment of the present application;

[0036] Figure 3 It is a schematic diagram of an electronic device according to an embodiment of the present application.

[0037] Description of reference numerals:

[0038] 20: Control device of satellite-based mining terminal; 201: Information quality determination module; 202: Communication switching duration determination module; 203: Control module; 30: Electronic device; 301: Processor; 302: Bus; 303: Memory; 304: Transceiver. DETAILED DESCRIPTION

[0039] The following is combined with Figure 1-Figure 3 This application is described in further detail.

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the drawings in the embodiments of the present application are collected below to clearly and completely describe the technical solutions 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.

[0041] An embodiment of the present application provides a control method for a satellite-based mining terminal, which can be executed by an electronic device, wherein the electronic device can be a server, wherein the server can be an independent physical server, or a server cluster or distributed device composed of multiple physical servers, or a cloud server that provides cloud computing services; the server can be installed on a ground communication terminal or on a satellite.

[0042] Reference Figure 1 , a satellite-based mining terminal control method includes: step S101, step S102 and step S103, wherein,

[0043] S101, obtaining the relative position and equipment information of the controlled mining terminal, and determining the information quality of the control information corresponding to the controlled mining terminal.

[0044] In some embodiments, the controlled mining terminal can be a production operation equipment that supports remote control in the mining area, such as coal mining operation equipment, unmanned mining trucks, etc.; the relative position is the relative position between the position of the controlled mining terminal and the first communication coverage range of the current satellite that provides communication services for the controlled mining terminal.

[0045] The positioning device is used to monitor the location of the controlled mining terminal in real time, and the electronic device obtains the location information of the controlled mining terminal in real time, and at the same time obtains the first communication coverage range of the satellite that currently provides communication services to the controlled mining terminal; by monitoring the location of the controlled mining terminal and the first communication coverage range of the controlled mining terminal, the electronic device obtains the relative position of the controlled mining terminal; at the same time, the electronic device obtains the device information of the controlled mining terminal, where the device information may include information such as device type and device parameters.

[0046] In addition, the technicians generate control information through the main control terminal installed in the monitoring room and send the control information to the current satellite, which then forwards the control to the controlled mining terminal to achieve real-time remote control of the controlled mining terminal. During this process, the electronic equipment obtains the control information sent to the current satellite in real time and processes the control information to determine the information quality of the control information. The information quality will then be used as a parameter to determine whether it is necessary to pre-determine the control information to control the controlled mining terminal during the communication switching process.

[0047] S102, determining the communication switching duration of the current satellite based on the relative position and the information quality.

[0048] In some embodiments, the closer the controlled mining terminal is to the edge area of ​​the first communication coverage range, the more the communication quality is affected by the satellite communication angle, and the lower the communication quality between the current satellite and the controlled mining terminal is. Therefore, the control information can be determined in advance by judging whether the relative position and information quality meet the needs, and the parameters of the controlled mining terminal can be controlled using the control information determined in advance during the subsequent communication switching process.

[0049] S103, based on the communication switching duration and the device information, determining the pre-control information corresponding to the controlled mining terminal, and controlling the controlled mining terminal with the pre-control information during the current satellite communication switching process.

[0050] In some embodiments, the communication switching duration is the time required from meeting the switching conditions to completing the switching between the current satellite and the target satellite; the pre-control information is the control information generated in advance to control the operation of the controlled mining terminal during the communication switching process.

[0051] The communication switching duration corresponds to the duration that the subsequently determined pre-control information can control the controlled mining terminal; the equipment information includes information such as equipment type and equipment parameters, which reflect the current operating status of the controlled mining terminal; therefore, the electronic device can determine the current operating status of the controlled mining terminal through the equipment information, and predict the action that the controlled mining terminal needs to perform in the subsequent time equal to the communication switching duration by the current operating status, that is, the pre-action, and determine the pre-control information corresponding to the controlled mining terminal through the pre-action; thereafter, during the current satellite switching process, the current satellite stops providing communication services to the controlled mining terminal, and the electronic device directly sends the pre-control information to the controlled mining terminal, and the controlled mining terminal responds to the pre-control information to perform actions, thereby reducing the occurrence of remote control of the controlled mining terminal being stopped due to deterioration of satellite communication quality or even communication interruption during the communication switching process, thereby improving the reliability and safety of remote control of the controlled mining terminal.

[0052] In some embodiments, the master control terminal generates control information for controlling the controlled mining terminal. Before sending the control information to the current satellite, the control information needs to be integrated with ephemeris data, marking data, etc. and sent in the form of a data packet; that is, the control information received by the current satellite, not all contents in the control information will affect the subsequent control of the controlled mining terminal in the event of bit errors. Therefore, when determining the information quality of the control information, only the control information contained in the control information for controlling the controlled mining terminal can be determined.

[0053] That is, in step S102, the control information is control information generated by the main control terminal and has not been sent to the current satellite; in the process of determining the information quality of the control information corresponding to the controlled mining terminal, it includes: obtaining the initial control information generated by the main control terminal, and determining the first control information contained in the initial control information; determining the second control information contained in the control information; comparing the first control information and the second control information, determining the bit error rate of the control information, and based on the bit error rate of the control information, determining the information quality corresponding to the control information.

[0054] In some embodiments, the initial control information is control information generated by the master control terminal to control the controlled mining terminal; the control information is control information received by the current satellite after being transmitted via the uplink; the first control information is control information generated by the master control terminal to control the controlled mining terminal; the second control information is control information used to control the controlled mining terminal after being transmitted via the uplink.

[0055] The electronic device obtains the initial control information generated by it from the main control terminal located in the monitoring room, and parses and processes the initial control information to determine the first control information contained therein; at the same time, the electronic device parses and processes the obtained control information to determine the second control information contained therein; then, the electronic device compares the first control information and the second control information to determine the control information bit error rate between the first control information and the second control information; based on the control information bit error rate, the control information accuracy rate between the first control information and the second control information is determined, and the control information accuracy rate is used as the information quality of the control information.

[0056] In step S102, based on the relative position and the information quality, the communication switching duration of the current satellite is determined, including: when the relative position reaches a preset relative position and the information quality reaches a preset information quality, the communication switching duration of the current satellite is determined; or when the relative position reaches a preset relative position and the information quality does not reach the preset information quality, the communication switching duration of the current satellite is determined; or when the relative position does not reach the preset relative position and the information quality does not reach the preset information quality, the communication switching duration of the current satellite is determined.

[0057] In some embodiments, both the relative position and the information quality can reflect the communication quality between the controlled mining terminal and the current satellite to a certain extent. Therefore, the subsequent pre-control information can be determined when the relative position and the information quality meet certain conditions; that is, the electronic device compares the relative position with the preset relative position, and also compares the information quality with the preset information quality.

[0058] When the electronic device determines that the relative position has reached the preset relative position and the information quality has reached the preset information quality, it indicates that there is no problem with the communication quality between the controlled mining terminal and the current satellite at this time. However, the controlled mining terminal is currently located in the first communication coverage range of the current satellite, and will be affected by the satellite communication angle in the future, resulting in deterioration of communication quality. Therefore, the electronic device can determine the communication switching duration of the current satellite in this case.

[0059] When the electronic device determines that the relative position has reached the preset relative position and the information quality has not reached the preset information quality, it indicates that the controlled mining terminal is currently located in the first communication coverage range of the current satellite, and will be subsequently affected by the satellite communication angle, resulting in deterioration of communication quality. At the same time, the communication quality between the controlled mining terminal and the current satellite deteriorates. Then, the electronic device can determine the communication switching duration of the current satellite in this case.

[0060] When the electronic device determines that the relative position has not reached the preset relative position and the information quality has reached the preset information quality, it indicates that the controlled mining terminal is currently located in the first communication coverage range of the current satellite and will not be affected by the satellite communication angle, but the communication quality between the controlled mining terminal and the current satellite deteriorates; at this time, it is necessary to determine the subsequent pre-control information, and then, the electronic device determines the communication time of the current satellite in this case.

[0061] In some embodiments, the preset relative position can be a relative position determined when the position of the controlled mining terminal is located at the edge point of the first communication coverage range, or it can be a relative position when the position of the controlled mining terminal is located in a partial area of ​​the first communication coverage range, and the embodiments of the present application do not make specific limitations; the preset information quality can be subjectively set by technical personnel, and the embodiments of the present application do not make specific limitations.

[0062] In step S102, based on the relative position and information quality, the communication switching duration of the current satellite is determined, including: when the relative position and information quality meet the preset conditions, obtaining the preset position point and running speed of the second communication coverage range of the target satellite; based on the relative position, the preset position point and the running speed, determining the communication switching duration.

[0063] In some embodiments, the target satellite is a satellite that provides communication services to the controlled mining terminal after the communication switching is completed. When the electronic device determines that the relative position and information quality meet the above preset conditions, it obtains the preset position point and running speed of the second communication coverage range of the target satellite; determines the distance between the position of the controlled mining terminal at the relative position and the preset position point, and calculates the communication switching duration through the running speed of the target satellite, and determines the communication switching duration as the duration of the communication switching between the current satellite and the target satellite, and compares the duration with the duration of controlling the controlled mining terminal using the pre-control information.

[0064] In some embodiments, the edge point of the second communication coverage area with the same moving direction as the target satellite, or any point between the edge point and the center point of the second communication coverage area, can be defined as a preset position point. The setting of the preset position point can be subjectively set by technical personnel, and the embodiments of the present application do not make specific settings.

[0065] In step S103, based on the communication switching duration and the device information, the pre-control information corresponding to the controlled mining terminal is determined, including: based on the device information, determining the operating task and operating status of the controlled mining terminal; based on the operating task and operating status, predicting the pre-action information of the controlled mining terminal within the communication switching duration; based on the pre-action information, determining the pre-control information corresponding to the controlled mining terminal.

[0066] In some embodiments, the operation task is the current working task of the controlled mining terminal, and the operation state is the working state of the controlled mining terminal. The electronic device analyzes the device information, determines the operation task and operation state of the controlled mining terminal at the current moment, and predicts the action that the controlled mining terminal needs to perform in a time equal to the communication switching time, i.e., pre-action information, based on the pre-action information, and determines the pre-control information corresponding to the controlled mining terminal in a time equal to the communication switching time.

[0067] In some embodiments, the operation task includes multiple operation stages of the equipment, operation standards corresponding to the multiple operation stages, and operation durations corresponding to the multiple operation stages; in the process of predicting the pre-action information of the controlled mining terminal within the communication switching duration based on the operation task and the operation status, it includes: based on the operation status, determining the current operation stage corresponding to the controlled mining terminal and the current operation duration of the controlled mining terminal in the current operation stage at the current moment; determining the target operation stage corresponding to the current operation stage from multiple operation stages; determining the remaining operation duration corresponding to the controlled mining terminal based on the current operation duration and the operation duration corresponding to the target operation stage; determining the pre-action information based on the remaining operation duration and the operation standard corresponding to the target operation stage.

[0068] In some embodiments, the electronic device determines the current operating stage of the currently controlled mining terminal based on the operating status, and the current operating time that the controlled mining terminal has been running in the current operating stage; at the same time, the electronic device compares the current operating stage with multiple operating stages in the operating task, and determines the target operating stage of the current operating stage from the multiple operating stages, and the operating time of the target operating stage; then, the electronic device determines the remaining operating time corresponding to the controlled mining terminal based on the operating time; the electronic device determines the pre-action information based on the remaining operating time and the operating standard corresponding to the target operating stage.

[0069] In some embodiments, when the remaining operating time is less than the communication switching time, the electronic device determines the next operating stage adjacent to the target operating stage, and determines the pre-action information corresponding to the next operating stage based on the operating time and operating standard corresponding to the next operating stage.

[0070] In some embodiments, taking the controlled mining terminal as an unmanned mining truck as an example, the operating task of the unmanned mining truck is a transportation task, which includes an operating starting point and an operating route. The operating route is divided into paths to determine multiple operating stages, each operating stage corresponds to a partial operating route; each partial operating route corresponds to a different driving standard; the electronic device determines the current partial operating route of the unmanned mining truck, and determines the target partial operating route from the multiple partial operating routes, as well as the operating time corresponding to the target partial operating route; the electronic device compares the operating time that the unmanned mining truck has already run in the current partial operating route with the operating time corresponding to the target partial operating route to determine the remaining operating time; then, based on the remaining operating time and the operating standard corresponding to the target partial operating route, the electronic device determines the action that the unmanned mining truck needs to perform during the remaining operating time, that is, determines the pre-action information.

[0071] In some embodiments, the pre-control information includes multiple sub-pre-control information, and there is a time ordering relationship between the multiple sub-pre-control information; in step S103, during the communication switching process of the current satellite, the controlled mining terminal is controlled by the pre-control information, including: during the communication switching process of the current satellite, the preset delay time periods corresponding to the multiple sub-pre-control information are determined, and when each sub-pre-control information is sent to the controlled mining terminal according to the time ordering relationship, the corresponding preset time period starts timing; during the timing of the preset delay time period, if the controlled termination information is obtained, a controlled stop instruction is generated, and the controlled stop instruction is sent to the controlled mining terminal to control the controlled mining terminal to stop running.

[0072] In some embodiments, since the pre-control information is information generated by predicting in advance before the communication switching occurs, in the process of using the pre-control information to control the controlled mining terminal, there may be a situation where the actual situation is inconsistent with the predicted situation; in the process of using the pre-control information to control the controlled mining terminal via the satellite, when the actual situation is inconsistent with the predicted situation, continuing to use the pre-control information to control the controlled mining terminal may cause personnel or property losses. Therefore, it can be considered to send the determined pre-control information in stages and control the controlled mining terminal in stages, that is, the electronic device divides the determined pre-control information to determine a plurality of sub-pre-control information, the plurality of sub-pre-control information are sorted based on time, and corresponding preset delay time periods are set for the plurality of sub-pre-control information, and in the process of the current satellite communication switching, the preset delay time period corresponding to each sub-pre-control information is determined, and when the sub-pre-control information is sent to the controlled mining terminal, the corresponding preset time period starts timing, and during the timing of the preset time period, it is monitored in real time whether the controlled termination information is obtained;

[0073] When the electronic device obtains the controlled termination information, it indicates that when the controlled information responds to the sub-pre-control information to perform an action, an action deviation occurs or a negative impact is caused. Then, the electronic device generates a controlled stop instruction and sends the controlled stop quality to the controlled mining terminal, controlling the controlled mining terminal to stop responding to the sub-pre-control information and stop running, thereby reducing the negative impact caused by using the pre-control information to control the controlled mining terminal due to the discrepancy between the actual situation and the predicted situation.

[0074] When the electronic device fails to obtain the controlled termination information, it indicates that the actual situation at this time is consistent with the predicted situation. The sub-pre-control information can be used to control the normal operation of the controlled mining terminal. Then, at the end of the preset time period corresponding to the sub-pre-control information, the next sub-pre-control information adjacent to the sub-pre-control information time is sent to the controlled mining terminal to control the controlled mining terminal. At the same time, the corresponding preset time period starts timing until all sub-pre-control information is sent.

[0075] The present application provides a satellite-based control device for a mining terminal, which adopts the following technical solutions:

[0076] Reference Figure 2 A control device 20 of a satellite-based mining terminal includes: an information quality determination module 201, a communication switching duration determination module 202 and a control module 203, wherein:

[0077] The information quality determination module 201 is used to obtain the relative position and device information of the controlled mining terminal and determine the information quality of the control information corresponding to the controlled mining terminal;

[0078] The communication switching duration determining module 202 is used to determine the communication switching duration of the current satellite based on the relative position and the information quality;

[0079] The control module 203 is used to determine the pre-control information corresponding to the controlled mining terminal based on the communication switching duration and the device information, and control the controlled mining terminal with the pre-control information during the current satellite communication switching process.

[0080] In some embodiments, the above-mentioned control information is control information generated by the main control terminal and has not been sent to the current satellite; the above-mentioned information quality determination module 201 is specifically used to: obtain the initial control information generated by the main control terminal, and determine the first control information contained in the initial control information; determine the second control information contained in the control information; compare the first control information and the second control information to determine the bit error rate of the control information, and determine the information quality corresponding to the control information based on the bit error rate of the control information.

[0081] In some embodiments, the above-mentioned communication switching duration determination module 202 is specifically used to: determine the communication switching duration of the current satellite when the relative position reaches a preset relative position and the information quality reaches a preset information quality; or determine the communication switching duration of the current satellite when the relative position reaches a preset relative position and the information quality does not reach the preset information quality; or determine the communication switching duration of the current satellite when the relative position does not reach the preset relative position and the information quality does not reach the preset information quality.

[0082] In some embodiments, the above-mentioned relative position is the relative position between the first communication coverage range of the current satellite and the position of the controlled mining terminal; the above-mentioned communication switching duration determination module 202 is also specifically used for: when the relative position and information quality meet the preset conditions, obtaining the preset position point and running speed of the second communication coverage range of the target satellite; based on the relative position, the preset position point and the running speed, determining the communication switching duration.

[0083] In some embodiments, the above-mentioned control module 203 is specifically used to: determine the operating tasks and operating status of the controlled mining terminal based on the equipment information; predict the pre-action information of the controlled mining terminal within the communication switching duration based on the operating tasks and operating status; and determine the pre-control information corresponding to the controlled mining terminal based on the pre-action information.

[0084] In some embodiments, the above-mentioned operation task includes multiple operation stages of the equipment, operation standards corresponding to the multiple operation stages, and operation durations corresponding to the multiple operation stages; the above-mentioned control module 203 is also specifically used to: determine the current operation stage corresponding to the controlled mining terminal and the current operation duration of the controlled mining terminal in the current operation stage at the current moment based on the operation status; determine the target operation stage corresponding to the current operation stage from multiple operation stages; determine the remaining operation duration corresponding to the controlled mining terminal based on the current operation duration and the operation duration corresponding to the target operation stage; determine the pre-action information based on the remaining operation duration and the operation standard corresponding to the target operation stage.

[0085] In some embodiments, the above-mentioned pre-control information includes multiple sub-pre-control information, and there is a time ordering relationship between the multiple sub-pre-control information; the above-mentioned control module 203 is also specifically used to: during the current satellite communication switching process, determine the preset delay time periods corresponding to the multiple sub-pre-control information, and when each sub-pre-control information is sent to the controlled mining terminal according to the time ordering relationship, the corresponding preset time period starts timing; during the timing of the preset delay time period, when the controlled termination information is obtained, a controlled stop instruction is generated, and the controlled stop instruction is sent to the controlled mining terminal to control the controlled mining terminal to stop running.

[0086] In some embodiments, the information quality determination module 201 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the communication switching duration determination module 202 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the control module 203 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device.

[0087] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0088] An embodiment of the present application discloses an electronic device, including: a processor; a memory storing a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned control method of the satellite-based mining terminal.

[0089] For example, refer to Figure 3 , Figure 3 The electronic device 30 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 30 does not constitute a limitation on the embodiments of the present invention.

[0090] Processor 301 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 the disclosure of the present invention. Processor 301 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.

[0091] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 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.

[0092] The memory 303 can 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 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 to these.

[0093] The memory 303 is used to store application code for executing the solution of the present invention, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the above method embodiment.

[0094] Figure 3 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0095] An embodiment of the present application discloses a computer-readable medium having a computer program stored thereon. When the computer program is executed by a processor, the processor executes a control method for a satellite-based mining terminal.

[0096] 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.

[0097] 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 control method for a satellite-based mining terminal, characterized in that: include: Obtaining the relative position and device information of the controlled mining terminal, and determining the information quality of the control information corresponding to the controlled mining terminal; Based on the relative position and the information quality, determining the communication switching duration of the current satellite; Based on the communication switching duration and the device information, pre-control information corresponding to the controlled mining terminal is determined, and during the communication switching process of the current satellite, the controlled mining terminal is controlled by the pre-control information.

2. The method according to claim 1, characterized in that The control information is control information generated by the main control terminal and not sent to the current satellite; The determining of the information quality of the control information corresponding to the controlled mining terminal comprises: Acquire initial control information generated by the master control terminal, and determine first manipulation information included in the initial control information; Determining second manipulation information included in the control information; The first control information and the second control information are compared to determine a bit error rate of the control information, and based on the bit error rate of the control information, information quality corresponding to the control information is determined.

3. The method according to claim 1, characterized in that: The determining, based on the relative position and the information quality, the communication switching duration of the current satellite comprises: When the relative position reaches a preset relative position and the information quality reaches a preset information quality, determining the communication switching duration of the current satellite; or When the relative position reaches a preset relative position and the information quality does not reach a preset information quality, determining a communication switching duration of the current satellite; or When the relative position does not reach the preset relative position and the information quality does not reach the preset information quality, the communication switching duration of the current satellite is determined.

4. The method according to claim 1, characterized in that: The relative position is the relative position between the first communication coverage range of the current satellite and the position of the controlled mining terminal; The determining, based on the relative position and the information quality, the communication switching duration of the current satellite comprises: When the relative position and the information quality meet preset conditions, obtaining a preset position point and a running speed of a second communication coverage range of the target satellite; The communication switching duration is determined based on the relative position, the preset position point and the running speed.

5. The method according to claim 1, characterized in that: The determining, based on the communication switching duration and the device information, the pre-control information corresponding to the controlled mining terminal includes: Based on the device information, determining the operation task and operation status of the controlled mining terminal; Based on the operation task and the operation status, predicting the pre-action information of the controlled mining terminal within the communication switching duration; Based on the pre-action information, pre-control information corresponding to the controlled mining terminal is determined.

6. The method according to claim 5, characterized in that The operation task includes multiple operation stages of the equipment, operation standards corresponding to the multiple operation stages respectively, and operation durations corresponding to the multiple operation stages respectively; The predicting of the pre-action information of the controlled mining terminal within the communication switching duration based on the operation task and the operation state includes: Based on the operation state, determining a current operation stage corresponding to the controlled mining terminal and a current operation time of the controlled mining terminal in the current operation stage at a current moment; Determining a target operating stage corresponding to the current operating stage from the multiple operating stages; Determining a remaining operating time corresponding to the controlled mining terminal based on the current operating time and the operating time corresponding to the target operating stage; The pre-action information is determined based on the remaining operation time and an operation standard corresponding to the target operation stage.

7. The method according to any one of claims 1 to 6, characterized in that: The pre-control information includes a plurality of sub-pre-control information, and there is a time order relationship between the plurality of sub-pre-control information; The controlling the controlled mining terminal with the pre-control information during the communication switching process of the current satellite includes: During the communication switching process of the current satellite, the preset delay time periods corresponding to the plurality of sub-pre-control information are determined, and when each sub-pre-control information is sent to the controlled mining terminal according to the time sequence relationship, the corresponding preset time period starts timing; During the timing of the preset delay time period, when the controlled termination information is obtained, a controlled stop instruction is generated and sent to the controlled mining terminal to control the controlled mining terminal to stop running.

8. A control device for a satellite-based mining terminal, characterized in that: include: An information quality determination module, used to obtain the relative position and device information of the controlled mining terminal, and determine the information quality of the control information corresponding to the controlled mining terminal; A communication switching duration determination module, used to determine the communication switching duration of the current satellite based on the relative position and the information quality; The control module is used to determine the pre-control information corresponding to the controlled mining terminal based on the communication switching duration and the device information, and control the controlled mining terminal with the pre-control information during the communication switching process of the current satellite.

9. An electronic device, characterized in that: include: processor; A memory storing a computer program, which, when executed by the processor, enables the processor to perform the method according to any one of claims 1 to 7.

10. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 7.

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