A mine-used wireless automatic sprinkler dust reduction method, device, equipment and medium

Abstract

This application relates to the field of mine dust suppression, and particularly to a mine wireless automatic sprinkler dust suppression method, device, equipment and medium. The method includes: this application obtains the sprinkler trajectory plan for the current cycle and precisely controls the operation of the sprinkler device based on this plan, including the preset sprinkler trajectory, the water sprinkling amount at each moment, and the driving speed. By obtaining real-time heat source data, based on the real-time heat source data, it can intelligently judge whether it is necessary to adjust the original sprinkler trajectory plan, avoiding potential safety hazards that may be caused by equipment or personnel being on the sprinkler path, and at the same time ensuring the maximization of the sprinkler effect. Once it is determined that the sprinkler trajectory plan needs to be changed, the water sprinkling amount and driving speed within the target time period are further refined, and a new sprinkler trajectory is determined accordingly, and the operation of the sprinkler device is controlled accordingly. It not only ensures the continuity and stability of the sprinkler operation, but also can effectively cope with the dynamic changes in the mine.

Description

Technical Field

[0001] This application relates to the field of mine dust suppression, and in particular to a mine wireless automatic sprinkler dust suppression method, device, equipment and medium. Background Art

[0002] The mine wireless automatic sprinkler dust suppression technology plays an important role in the process of coal mine exploitation. It mainly reduces the dust concentration in the air by spraying water mist, thereby improving the underground working environment and protecting the physical health of workers. With the continuous development and technological progress of the mining industry, the mine sprinkler dust suppression system is gradually developing towards automation and intelligence, which not only improves work efficiency but also significantly enhances safety and environmental protection performance.

[0003] Currently, in order to achieve the automation of mine sprinkler dust suppression, the common means are generally to combine the GPS positioning system and a pre-set sprinkler path, so that the sprinkler device runs and sprinkles water according to the predetermined route. However, the above-mentioned existing technical means have certain limitations. Especially when facing the complex and changeable mine environment, when there are equipment or personnel on the sprinkler path in the mine, it is impossible to adjust the sprinkler trajectory and the amount of sprinkled water in a timely and accurate manner, resulting in poor sprinkler effect and even potential safety hazards. Therefore, how to effectively respond to the dynamic changes in the mine while ensuring the sprinkler efficiency has become an urgent technical problem to be solved. Summary of the Invention

[0004] In order to effectively respond to the dynamic changes in the mine, this application provides a mine wireless automatic sprinkler dust suppression method, device, equipment and medium.

[0005] In the first aspect, this application provides a mine wireless automatic sprinkler dust suppression method, adopting the following technical solution:

[0006] A mine wireless automatic sprinkler dust suppression method includes:

[0007] Obtain the sprinkler trajectory plan for the current cycle, and control the operation of the sprinkler device based on the sprinkler trajectory plan, where the sprinkler trajectory plan includes a preset sprinkler trajectory, a preset amount of sprinkled water corresponding to each moment, and a preset driving speed corresponding to each moment;

[0008] Real-time obtain the heat source data corresponding to the sprinkler device, where the heat source data includes the heat value of potential heat sources and the heat direction;

[0009] Based on the heat source data, determine whether it is necessary to change the sprinkler trajectory plan;

[0010] If it is necessary to change the sprinkler trajectory plan, then determine the target amount of sprinkled water corresponding to each moment and the target driving speed corresponding to each moment within the target time period, where the target time period is the time period between the current moment and the end of the current cycle;

[0011] Determine a target sprinkling trajectory corresponding to the target time period based on the driving speed corresponding to each moment within the target time period;

[0012] Generate a new sprinkling trajectory plan based on the target sprinkling trajectory corresponding to the target time period, the target water sprinkling volume corresponding to each moment, and the target driving speed corresponding to each moment, and control the operation of the sprinkler device based on the new sprinkling trajectory plan.

[0013] By adopting the above technical solution, by obtaining the sprinkling trajectory plan of the current cycle and precisely controlling the operation of the sprinkler device based on this plan, including the preset sprinkling trajectory, the water sprinkling volume at each moment, and the driving speed, it ensures that the basic framework of the sprinkling operation is both efficient and orderly. By obtaining real-time heat source data, it is possible to dynamically monitor the heat source situation in the mine. Based on the real-time heat source data, it is possible to intelligently judge whether it is necessary to adjust the original sprinkling trajectory plan, avoiding potential safety hazards that may be caused by equipment or personnel being on the sprinkling path, and at the same time ensuring the maximization of the sprinkling effect. Once it is determined that the sprinkling trajectory plan needs to be changed, further refine the water sprinkling volume and driving speed within the target time period, and determine a new sprinkling trajectory accordingly, and control the operation of the sprinkler device accordingly. It not only ensures the continuity and stability of the sprinkling operation, but also can effectively respond to the dynamic changes in the mine.

[0014] In a possible implementation manner, determining whether it is necessary to change the sprinkling trajectory plan based on the heat source data includes:

[0015] Take the time period from the start moment to the current moment within the current cycle as the current time period, and obtain the current heat source data corresponding to each moment within the current time period to generate a heat source data set;

[0016] Based on the heat source data set, determine the heat activity trend of the potential heat source, and the heat activity trend is used to characterize the static distribution and dynamic change of the potential heat source;

[0017] Determine the degree of influence of the heat activity trend on the sprinkling trajectory plan;

[0018] Based on the degree of influence, determine whether it is necessary to change the sprinkling trajectory plan.

[0019] By adopting the above technical solution, through a series of steps such as real-time collecting heat source data, analyzing the heat activity trend, evaluating the degree of influence, and intelligently adjusting the sprinkling trajectory plan, the intelligentization, high efficiency, and safety of the sprinkling and dust reduction operation are realized. It not only improves the effect and efficiency of the sprinkling operation, but also significantly enhances the safety and environmental protection performance of the mine operation environment.

[0020] In a possible implementation manner, based on the heat source data set, determining the heat activity situation of the potential heat sources includes:

[0021] Based on the heat direction in the current heat source data corresponding to each moment, determining the relative direction of each potential heat source at each moment, where the relative direction is the direction of the potential heat source relative to the sprinkler device;

[0022] Based on the relative direction of each potential heat source at each moment, determining the static distribution of the potential heat sources corresponding to each moment;

[0023] Based on the relative direction, heat value of each potential heat source at each moment, and the sprinkler trajectory plan, determining the moving potential heat sources and the stationary potential heat sources;

[0024] Determining the moving direction and moving speed of the moving potential heat sources to obtain the dynamic changes of the potential heat sources;

[0025] Based on the static distribution and dynamic changes of the potential heat sources, obtaining the heat activity situation of the potential heat sources.

[0026] By adopting the above technical solution, through a series of meticulous steps, the accurate analysis of the heat activity situation of the potential heat sources is realized, providing a scientific basis for the intelligent adjustment of the sprinkler dust suppression operation. It not only improves the effect and efficiency of the sprinkler operation, but also significantly enhances the safety and environmental protection performance of the mine operation environment, making an important contribution to the safe production and environmental protection of the mine.

[0027] In a possible implementation manner, determining the target water sprinkling amount corresponding to each moment and the target driving speed corresponding to each moment within the target time period includes:

[0028] Based on the heat activity situation of the potential heat sources and the sprinkler trajectory plan, predicting the target distance corresponding to each moment within the target time period, where the target distance is the distance between the target potential heat source and the sprinkler device, and the target potential heat source is the potential heat source closest to the sprinkler device;

[0029] Determining whether there is a target distance less than the first distance threshold and greater than the second distance threshold;

[0030] If there is a target distance less than the first distance threshold and greater than the second distance threshold, then determining the target distance less than the first distance threshold and greater than the second distance threshold as the influencing distance, and determining the moment corresponding to the influencing distance as the influencing moment;

[0031] Determining the influencing position corresponding to the influencing moment, and determining the dust suppression importance degree of the influencing position, where the influencing position is the position of the sprinkler device corresponding to the influencing moment;

[0032] If the importance of dust suppression is greater than the importance threshold and the potential heat source is a stationary potential heat source, determine that the target driving speed corresponding to the impact moment is 0 and the corresponding target water sprinkling amount is 0, and generate an alarm message;

[0033] If the importance of dust suppression is not greater than the importance threshold and the potential heat source is a stationary potential heat source, determine that the driving speed corresponding to the impact moment is the corresponding preset driving speed and the corresponding water sprinkling amount is 0.

[0034] By adopting the above technical solution, through comprehensively considering the thermal activity trend of the potential heat source, the water sprinkling trajectory plan, the dust suppression requirement, and safety factors, the refined management and intelligent adjustment of the water sprinkling operation are realized. This not only improves the efficiency and safety of the water sprinkling operation, but also reduces the operation cost, providing strong technical support for urban environmental management.

[0035] In a possible implementation manner, based on the target driving speed corresponding to each moment within the target time period, determining the target water sprinkling trajectory corresponding to the target time period includes:

[0036] Based on the target driving speed corresponding to each moment within the target time period, determine the target distance corresponding to the target time period;

[0037] Determine the preset distance corresponding to the preset water sprinkling trajectory;

[0038] Based on the target distance and the preset distance, determine the target water sprinkling trajectory corresponding to the target time period.

[0039] By adopting the above technical solution, through comprehensively considering the driving speed, the preset water sprinkling trajectory, and the actual water sprinkling requirement within the target time period, the dynamic optimization and intelligent adjustment of the water sprinkling trajectory are realized. This not only improves the flexibility and efficiency of the water sprinkling operation, but also helps to reduce resource waste and environmental pollution, providing a more scientific and reasonable solution for urban environmental management. At the same time, it also reflects the emphasis on the efficient use of resources and environmental protection in the construction of a smart city.

[0040] In a possible implementation manner, the method further includes:

[0041] Receive a control instruction, where the control instruction includes a stop sub-instruction, a run sub-instruction, and a turn sub-instruction;

[0042] Based on the control instruction, control the water sprinkling device to act.

[0043] By adopting the above technical solution, incorporating receiving control instructions and controlling the operation of the sprinkler device accordingly into the sprinkler management plan greatly enhances the flexibility and controllability of the system, enabling the sprinkler operation to complete the scheduled tasks more accurately and efficiently. At the same time, the addition of this link also makes it possible for remote monitoring and automated management of the sprinkler operation, providing a more scientific and reasonable solution for the construction of a smart city and urban environmental management.

[0044] In one possible implementation, the method further includes:

[0045] Obtain the water storage level corresponding to the sprinkler device;

[0046] Determine whether the water storage level is lower than the first water level threshold;

[0047] If the water storage level is lower than the first water level threshold, determine that a water addition operation is required and control the water addition module to run;

[0048] Real-time obtain the current water storage level corresponding to the sprinkler device;

[0049] When the current water storage level is higher than the second water level threshold, control the water addition module to stop running.

[0050] By adopting the above technical solution, incorporating the monitoring of the water storage level of the sprinkler device and the water addition operation into the sprinkler management plan further improves the intelligence and automation level of the system. The addition of this link not only ensures the continuity and stability of the sprinkler operation, but also improves the efficiency and accuracy of the operation, reduces the operation cost and maintenance difficulty. At the same time, it also makes it possible for intelligent management and remote monitoring of the sprinkler operation, providing a more scientific and reasonable solution for the construction of a smart city and urban environmental management.

[0051] In a second aspect, the present application provides a mine-used wireless automatic sprinkler dust suppression device, adopting the following technical solution:

[0052] A mine-used wireless automatic sprinkler dust suppression device includes:

[0053] A control module, configured to obtain the sprinkler trajectory plan for the current period and control the operation of the sprinkler device based on the sprinkler trajectory plan, where the sprinkler trajectory plan includes a preset sprinkler trajectory, a preset water sprinkling amount corresponding to each moment, and a preset driving speed corresponding to each moment;

[0054] An acquisition module, configured to real-time obtain heat source data corresponding to the sprinkler device, where the heat source data includes the heat value of a potential heat source and the heat direction;

[0055] A first determination module, configured to determine whether it is necessary to change the sprinkler trajectory plan based on the heat source data;

[0056] A second determination module, configured to determine the target water spraying amount corresponding to each moment and the target driving speed corresponding to each moment within a target time period if it is necessary to change the water spraying trajectory plan, where the target time period is the time period between the current moment and the end moment of the current cycle;

[0057] A third determination module, configured to determine the target water spraying trajectory corresponding to the target time period based on the driving speed corresponding to each moment within the target time period;

[0058] A generation module, configured to generate a new water spraying trajectory plan based on the target water spraying trajectory corresponding to the target time period, the target water spraying amount corresponding to each moment, and the target driving speed corresponding to each moment, and control the operation of the water spraying device based on the new water spraying trajectory plan.

[0059] In a third aspect, the present application provides an electronic device, adopting the following technical solution:

[0060] An electronic device, the electronic device includes:

[0061] At least one processor;

[0062] A memory;

[0063] At least one application program, where at least one application program is stored in the memory and is configured to be executed by at least one processor, and the at least one application program is configured to: execute the mine use wireless automatic water spraying and dust reduction method described in the first aspect above.

[0064] In a fourth aspect, the present application provides a computer-readable storage medium, adopting the following technical solution:

[0065] A computer-readable storage medium, including: a computer program stored therein that can be loaded and executed by a processor to execute the mine use wireless automatic water spraying and dust reduction method described in the first aspect above.

[0066] In summary, the present application includes the following beneficial technical effects:

[0067] By obtaining the sprinkling trajectory plan for the current period and precisely controlling the operation of the sprinkling device based on this plan, including the preset sprinkling trajectory, the amount of water sprinkled at each moment, and the traveling speed, it ensures that the basic framework of the sprinkling operation is both efficient and orderly. By obtaining real-time heat source data, it can dynamically monitor the heat source situation in the mine. Based on the real-time heat source data, it can intelligently determine whether it is necessary to adjust the original sprinkling trajectory plan, avoiding potential safety hazards that may be caused by equipment or personnel being on the sprinkling path, and at the same time ensuring the maximization of the sprinkling effect. Once it is determined that the sprinkling trajectory plan needs to be changed, further refine the amount of water sprinkled and the traveling speed within the target time period, and determine the new sprinkling trajectory accordingly, and control the operation of the sprinkling device based on this. It not only ensures the continuity and stability of the sprinkling operation, but also can effectively respond to the dynamic changes in the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 FIG. is a schematic structural diagram of a sprinkling device provided by an embodiment of the present application;

[0069] Figure 2 FIG. is a schematic flowchart of a mine wireless automatic sprinkling and dust reduction method provided by an embodiment of the present application;

[0070] Figure 3 FIG. is a schematic block diagram of a mine wireless automatic sprinkling and dust reduction device provided by an embodiment of the present application;

[0071] Figure 4 FIG. is a schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0072] The following will further describe the present application in detail Figure 1 - with reference to the Figure 4 drawings.

[0073] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without making creative efforts based on the embodiments of the present application belong to the scope of protection of the present application.

[0074] To facilitate the understanding of the technical solutions proposed in the present application, several elements introduced in the description of the present application will be introduced here first. It should be understood that the following introduction is only for facilitating the understanding of these elements in order to understand the content of the embodiments of the present application, and does not necessarily cover all possible situations.

[0075] In the fully mechanized coal mining face underground in large coal mines, there are numerous coal mining equipment, conveyor belts, and miners working frequently. In the scenario of large coal mines, during the processes of coal mining operations, coal transportation, rock layer fragmentation, and drilling operations, a certain amount of dust will be generated. At the same time, affected by the ventilation system, the generated dust may not be effectively dispersed, resulting in too high a dust concentration in the underground air, which may affect the health of workers. Therefore, the mine-used wireless automatic sprinkler dust suppression technology plays an important role in the coal mining process. Currently, it mainly relies on spraying water mist to reduce the dust concentration in the air to improve the harsh underground working environment and ensure the health of workers. At present, to achieve the goal of automatic sprinkler dust suppression in mines, the GPS positioning system is often used in combination with a pre-planned sprinkler path to drive the sprinkler device to travel along the established route and carry out sprinkler operations. However, this existing technical solution exposes obvious defects under the complex and changeable mine conditions. For example, in the actual mine scenario, when there is a sudden equipment failure and it is parked temporarily on the sprinkler path, or when workers shuttle through the sprinkler area due to work requirements, since the system is difficult to quickly and accurately adjust the sprinkler trajectory and the amount of sprinkler according to these dynamic changes, the sprinkler effect is greatly reduced. Not only can it not effectively suppress dust, but excessive sprinkling may also cause safety accidents such as equipment short circuits and worker slips, leaving many hidden dangers for underground operations. Therefore, on the premise of ensuring that the sprinkler efficiency is not affected, how to cleverly deal with the dynamic changes that may occur at any time inside the mine has become the core technical problem that urgently needs to be overcome in the current mine-used sprinkler dust suppression technology field.

[0076] In view of this, an embodiment of the present application provides a mine-used wireless automatic sprinkler dust suppression method, which is applied to a sprinkler device. Refer to Figure 1 , the sprinkler device 10 includes a bracket 101, a control module 102, a thermoluminescence control sensing module 103, a level sensing module 104, an infrared receiving module 105, a remote control module 106, and a spraying module 107. The electronic device is connected to the control module 102 of the sprinkler device 10. At the same time, the control module 102 is electrically connected to the spraying module 107, the thermoluminescence control sensing module 103, the level sensing module 104, and the infrared receiving module 105 respectively. The control module 102 can receive the respective data of the thermoluminescence control sensing module 103, the level sensing module 104, and the infrared receiving module 105, and send this data to the electronic device. The electronic device receives the data obtained by the sprinkler device 10 and sends an instruction to the control module 102. The control module 102 receives the instruction and controls the action of the sprinkler device 10 or controls the action of the spraying module 107 according to the instruction. Among them, the control module 102 can be a ZPW12.8-Z mine-intrinsic safety type wireless automatic sprinkler dust suppression device controller.

[0077] Before the start of a coal mining operation cycle, the electronic device formulates a sprinkler trajectory plan for the current cycle based on the layout of the fully mechanized coal face, equipment distribution, and past dust generation patterns, etc., and sends this sprinkler trajectory plan to the control module 102. The preset sprinkler trajectory is set along the strike of the working face. For example, starting from one end of the working face, it passes through each shearer support area in a certain order to ensure effective coverage of dust during the entire coal mining process. The preset water sprinkling volume corresponding to each moment is determined according to the estimated dust concentration and ventilation conditions in different areas. For example, in the key dust-producing area where the shearer cuts coal, the preset water sprinkling volume is relatively large, while in areas such as the personnel passage, the preset water sprinkling volume is relatively small. The preset traveling speed corresponding to each moment is matched with the advancing speed of the entire coal mining operation to ensure that the sprinkling can keep up with the rhythm of dust generation in a timely manner.

[0078] During the operation of the sprinkler device, the thermoluminescence control sensing module 103 monitors the underground environment in real time. When a potential heat source is detected in a certain area, such as a miner approaching the area where sprinkling is in progress, the thermoluminescence control sensing module 103 obtains the heat source data and sends this heat source data to the electronic device. The electronic device judges that it is necessary to change the sprinkler trajectory plan based on these heat source data to avoid wetting the miners. For example, when a worker enters the sprinkling area, the thermoluminescence control sensing module 103 quickly detects the position and moving direction of the human heat source, providing a key basis for subsequent adjustment of the sprinkler trajectory and water sprinkling volume, avoiding potential safety hazards and poor sprinkling effects caused by blindly sprinkling without knowing the position of personnel. Among them, the thermoluminescence control sensing module 103 can be a ZPW-3.7R mine intrinsically safe wireless thermoluminescence control sensor.

[0079] The level sensing module 104 can accurately monitor the water level of water storage devices such as water tanks or water sumps, which helps to ensure sufficient water supply during the entire sprinkler dust suppression process. And when the water level is abnormal (too high or too low), the control module 102 obtains the water level data detected by the level sensing module 104 and sends this water level data to the electronic device. The electronic device generates a corresponding instruction and sends it to the control module 102. The control module 102 controls the sprinkler module 107 to act based on this instruction, improving the stability and reliability of the system. Among them, the level sensing module 104 can be a GUC1 mine intrinsically safe wireless level sensor.

[0080] The operator can conveniently perform remote control on the sprinkler device 10 in the complex underground environment through the remote control module 106. When a sudden situation is detected (such as the equipment temporarily breaking down and parking on the sprinkler path), an instruction can be immediately sent through the remote control module 106. The infrared receiving module 105 receives the instruction and sends it to the control module 102, so that the control module 102 can adjust the operating state of the sprinkler device 10, such as pausing, changing the spraying direction, or adjusting the water spraying volume, etc. This flexible control method can quickly respond to the dynamic changes in the mine, improve the adaptability and controllability of the sprinkler dust suppression system, and effectively solve the problem of untimely adjustment in the prior art when facing sudden situations. Among them, the remote control module 106 can be a FYF5 intrinsically safe infrared remote control transmitter for mines or a FYF10C magnetically controlled remote control transmitter for mines.

[0081] More specifically, the control module 102 has the function of adding and setting the sensing module, adopts elastic coding technology, and supports one-key code pairing operation. This unique coding method effectively avoids the mutual interference between device signals, ensuring the accuracy and independence of communication between each sensing module and the control module 102. At the same time, in the communication link between the control module 102 and the sensing module, spread spectrum long-distance communication technology is used, greatly enhancing the stability of long-distance communication, effectively guaranteeing the anti-interference ability and reliability of the entire system communication, and enabling it to operate stably in the complex underground environment. For example, when setting to add a ZPW-3.7R intrinsically safe wireless pyroelectric light control sensor for mines, the function of stopping spraying when people pass can be achieved in the main roadway for people, effectively ensuring the safety and comfort of personnel passage; if setting to add a GUC1 intrinsically safe wireless level sensor for mines, intelligent control of automatically spraying when there is coal on the belt conveyor and stopping spraying when there is no coal can be realized, reasonably utilizing water resources and accurately responding to the requirements of belt transportation operations; while setting to add a FYF10C magnetically controlled remote control transmitter for mines, the automatic coordination function of operations such as moving the support, lowering the support, and discharging coal can be achieved in the fully mechanized coal mining face, improving the overall cooperation efficiency of coal mining operations and sprinkler dust suppression. The control module 102 number code, the timing spraying period, and the spray volume can all be freely set. The operator can accurately set the control module 102 number for easy identification and management according to the actual underground operation conditions, the law of dust generation, and the requirements of water resource management, etc., flexibly plan the timing spraying period to adapt to different production shifts and operation rhythms, and finely adjust the spray volume to achieve the best dust suppression effect and the balance of resource utilization.

[0082] The control module 102 has powerful signal reception and execution capabilities, and can accurately receive control signals sent from the ZPW-3.7R intrinsically safe mine wireless pyroelectric light control sensor, or the GUC1 intrinsically safe mine wireless level sensor, and the FYF10C mine magnetic control remote transmitter. Once it receives an opening signal, it immediately drives the electric ball valve to open and starts the sprinkler operation process; while when it receives a closing signal, it quickly controls the electric ball valve to close and stops the sprinkler operation, achieving precise automatic control of the sprinkler process, effectively improving the response speed and control accuracy of the system.

[0083] The control module 102 also has power-off memory capabilities and can reliably remember various set parameters. Even in the event of a sudden power failure, the previously set parameter information will not be lost. When the power is restored, the control module 102 can quickly resume its working state before the power failure according to the remembered parameters without the need for cumbersome re-setting operations, greatly improving the convenience and stability of the system's use and reducing the impact of power failure on underground sprinkler dust suppression operations.

[0084] Furthermore, the sprinkler device 10 also includes a display screen. The control module 102 and each sensing module are equipped with a low-voltage warning function. When the power supply voltage drops to the preset warning threshold, the warning status will be clearly displayed on the display screen in a timely manner. This function provides sufficient preparation time for the operator to maintain or replace the power supply in a timely manner, ensuring the continuous and stable operation of the system and avoiding problems such as equipment failures or control malfunctions caused by low voltage.

[0085] The sprinkler device 10 also includes a battery, which has a comprehensive protection mechanism, including overvoltage, undervoltage, overcurrent, and overcharge protection functions. Whether during the charging process or normal use, these protection functions can effectively monitor the working state of the battery, prevent damage to the battery caused by abnormal conditions such as too high or too low voltage, too large current, or overcharging, extend the service life of the battery, and improve the safety and reliability of the entire device.

[0086] The embodiment of the present application provides a mine wireless automatic sprinkler dust suppression method, as Figure 2 shown. In the method provided in the embodiment of the present application, it is executed by an electronic device, and the electronic device can be a server or a terminal device. Among them, the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected through wired or wireless communication methods, and the embodiment of the present application does not limit this. The method includes steps S201 - step S206, where:

[0087] Step S201: Obtain the sprinkling trajectory plan for the current period, and control the operation of the sprinkling device based on the sprinkling trajectory plan.

[0088] Among them, the sprinkling trajectory plan includes a preset sprinkling trajectory, a preset water sprinkling amount corresponding to each moment, and a preset driving speed corresponding to each moment. Specifically, before the start of a coal mining operation cycle, the electronic device formulates the sprinkling trajectory plan for the current period according to the layout of the fully mechanized coal mining face, the distribution of equipment, and the previous dust generation rules, etc., and stores the sprinkling trajectory plan in the database corresponding to the sprinkling device. The preset sprinkling trajectory is set along the strike of the working face. For example, starting from one end of the working face, it passes through each coal mining support area in a certain order to ensure effective coverage of the dust during the entire coal mining process. The preset water sprinkling amount corresponding to each moment is determined according to the dust concentration prediction and ventilation conditions in different areas. For example, in the key dust generation area where the coal shearer cuts coal, the preset water sprinkling amount is relatively large, while in areas such as the personnel passage, the preset water sprinkling amount is relatively small. The preset driving speed corresponding to each moment is matched with the advancing speed of the entire coal mining operation to ensure that the sprinkling can keep up with the rhythm of dust generation in a timely manner. Among them, the current period is one of multiple periods, and a period can be one day or one hour. The embodiments of the present application do not limit this. It should be noted that there may be multiple sprinkling devices in the underground mine. The sprinkling trajectory plan determined in this embodiment is the sprinkling trajectory plan corresponding to a certain sprinkling device, and this embodiment and any subsequent embodiments are for any sprinkling device in the underground mine.

[0089] Furthermore, the electronic device obtains the sprinkling trajectory plan corresponding to the sprinkling device in the current period from the database corresponding to the sprinkling device, and controls the sprinkling device according to the preset sprinkling trajectory, the preset water sprinkling amount corresponding to each moment, and the preset driving speed corresponding to each moment in the sprinkling trajectory plan, so that the sprinkling device can operate and sprinkle water according to the corresponding sprinkling trajectory plan.

[0090] Step S202: Obtain the heat source data corresponding to the sprinkling device in real time.

[0091] Among them, the heat source data includes the heat value and the heat direction of the potential heat source. The potential heat source is the source that emits heat energy within a certain range of the sprinkler device, and this potential heat source may be a person or a device in a working state. Specifically, the thermoluminescence control sensing module in the sprinkler device measures the heat value and the direction corresponding to the heat value, and sends the heat value and the direction corresponding to the heat value to the control module. The electronic device receives the heat value and the direction corresponding to the heat value. Among them, one potential heat source corresponds to one heat value and one heat direction. When there are multiple heat directions, the heat value corresponding to one heat direction is determined as the heat value corresponding to one potential heat source. Exemplarily, when the thermoluminescence control sensing module detects a heat source, it sends a data frame including a heat value of 35°C (assumed) and a heat direction of the southeast direction to the control module. The electronic device receives the data frame sent by the module, and extracts the heat value and the heat direction information according to the predetermined data parsing rules, and records them in the database corresponding to the sprinkler device.

[0092] Step S203: Based on the heat source data, determine whether it is necessary to change the sprinkler trajectory plan.

[0093] Since the devices and personnel in a working state will emit a certain amount of heat energy, when the heat source data is detected, it indicates that there may be devices or personnel near the sprinkler device. During the operation of the sprinkler device according to the sprinkler trajectory plan, it may wet the devices or personnel, and may even endanger the safety of personnel. Therefore, it is possible to determine whether to change the sprinkler trajectory plan of the sprinkler device based on the heat source data. Specifically, according to the safety requirements for underground operations and the requirements for the effect of sprinkler dust reduction, the judgment thresholds and related rules of the preset heat value and heat direction are obtained from the data corresponding to the sprinkler device. For example, it is set that when the heat value exceeds 30°C (assumed) and the heat direction is within the range of ±30° in front of the sprinkler device (assumed), it is necessary to consider changing the sprinkler trajectory plan, because this may indicate that there are personnel or important devices in the sprinkler area.

[0094] Compare and judge the heat value and the heat direction in the real-time obtained heat source data with the set thresholds and rules. If the change condition is met, it is determined that it is necessary to change the sprinkler trajectory plan; otherwise, continue to run according to the current sprinkler trajectory plan. For example, when the heat value in the received heat source data is 35°C and the heat direction is 20° in front, which matches the set thresholds and rules, the electronic device determines that it is necessary to change the sprinkler trajectory plan.

[0095] Step S204: If it is necessary to change the sprinkler trajectory plan, determine the target water sprinkling amount corresponding to each moment and the target driving speed corresponding to each moment within the target time period.

[0096] Among them, the target time period is the time period between the current moment and the end moment of the current cycle.

[0097] When it is determined that the sprinkling trajectory plan needs to be changed, according to the heat source data and the running state of the current sprinkler device, calculate the target water sprinkling amount and the target driving speed corresponding to each moment within the target time period (the time period between the current moment and the end moment of the current cycle). Specifically, when the potential heat source is not within the target range directly in front of the sprinkler device (the target range is the range that affects the operation of the sprinkler device, and this target range can be within ±10°), at this time, the potential heat source does not affect the operation of the sprinkler device. Therefore, according to the principle that the closer the heat source distance is, the more the water sprinkling amount decreases, combined with the inverse proportional relationship formula between the distance and the water sprinkling amount: , calculate the target water sprinkling amount, and calculate the driving speed and the water sprinkling amount corresponding to each moment within the target time period. Among them, Q is the water sprinkling amount, k is a proportionality constant (which can be set according to various factors such as the initial settings of the sprinkler device, the characteristics of the nozzles, and the water pressure, and the embodiments of the present application do not limit this), r is the sprinkling radius corresponding to the sprinkling module, θ is the sprinkling coverage angle corresponding to the sprinkling module, and d is the heat source distance.

[0098] More specifically, for each potential heat source, when the potential heat source is not within the first range directly in front of the sprinkler device, based on the heat direction corresponding to the potential heat source and the heat value corresponding to the potential heat source, determine the position where the heat value is greater than the heat threshold as the heat source position corresponding to the potential heat source, and calculate the distance between the sprinkler device and the heat source position to obtain the heat source distance (the heat source distance can be calculated by the time difference between the infrared module on the sprinkler device sending and receiving the external red line in the heat direction). Similarly, based on the above method, the heat source distance corresponding to each moment during the driving process of the sprinkler device can be calculated, and based on the first connection line between the current position of the sprinkler device and the heat source position, take the direction directly in front of the sprinkler device as the first decomposition direction, and take the direction perpendicular to the first decomposition direction and close to the first connection line as the second decomposition direction, and calculate the first distance corresponding to the first decomposition direction and the second distance corresponding to the second decomposition direction. Based on the preset driving speed corresponding to each moment and the first distance, calculate the driving time period required to drive the first distance. Based on the inverse proportional relationship formula of the water sprinkling amount: , where d is the second distance, obtain the target water sprinkling amount corresponding to each moment of the driving time period, and determine the preset driving speed corresponding to each moment of the driving time period as the corresponding target driving speed, and determine the preset driving speed and the preset water sprinkling amount corresponding to each moment of the time period other than the driving time period within the target time period as the corresponding target driving speed and the target water sprinkling amount.

[0099] When a potential heat source is within the target range directly in front of the sprinkler device, at this time, the potential heat source is very likely to affect the operation of the sprinkler device. Therefore, it is necessary to stop the operation at this time to avoid causing harm to the potential heat source. Specifically, when a potential heat source is within the target range directly in front of the sprinkler device, it is determined that the target water spraying amount corresponding to each moment within the target time period and the target driving speed corresponding to each moment are both 0. Further, a heat source alarm message is generated and sent to the terminal of the staff corresponding to the sprinkler device so that the staff can intervene.

[0100] Furthermore, when there is no need to change the water spraying trajectory plan of the sprinkler device, the sprinkler device is controlled to operate based on the set water spraying trajectory, the preset water spraying amount corresponding to each moment, and the preset driving speed corresponding to each moment.

[0101] Step S205: Determine the target water spraying trajectory corresponding to the target time period based on the driving speed corresponding to each moment within the target time period.

[0102] Specifically, the target time period is divided at a certain time interval. For example, it can be divided into small time intervals every 1 minute (the specific interval duration can be set according to actual needs and accuracy requirements). For each divided small time interval, the target driving speed value corresponding to the start moment of the interval is obtained. Assume that the target driving speed at the start moment of a certain interval is v (the unit can be meters per minute, etc.), and the duration of this time interval is set as t (the unit is minutes). According to the basic principle that the distance is equal to the speed multiplied by the time, calculate the distance s within this small time interval, that is, s = vt. After calculating the distances within each small time interval in the above manner and accumulating them, the target distance corresponding to the target time period is finally obtained. For example, after calculating and accumulating through multiple time intervals, it is obtained that the total target distance within the target time period is meters (this is just an example value here).

[0103] Further, obtain the preset distance corresponding to the preset water spraying trajectory from the database corresponding to the sprinkler device, and obtain the position of the sprinkler device on the preset water spraying trajectory at the current moment to obtain the current starting position. Starting from the current starting position, divide a trajectory with a distance of the target distance from the preset water spraying trajectory to obtain the target water spraying trajectory. The database corresponding to the sprinkler device stores the preset distance corresponding to the preset water spraying trajectory.

[0104] Step S206: Generate a new water spraying trajectory plan based on the target water spraying trajectory corresponding to the target time period, the target water spraying amount corresponding to each moment, and the target driving speed corresponding to each moment, and control the sprinkler device to operate based on the new water spraying trajectory plan.

[0105] Integrate information such as the target sprinkling trajectory, the corresponding target water sprinkling amount at each moment, and the corresponding target running speed at each moment to generate a complete new sprinkling trajectory plan. For example, correspond the target sprinkling trajectory, the target water sprinkling amount data, and the target running speed data in chronological order and store them in a multi-dimensional array or a custom structure array, where each element contains the trajectory point coordinates, water sprinkling amount, and running speed information corresponding to a moment.

[0106] Furthermore, switch the current sprinkling control to be based on the new sprinkling trajectory plan. Send control instructions to each execution component of the sprinkling device in sequence according to the data in the new plan. For example, continuously adjust the rotation speed of the motor according to the target running speed data in the new plan; control the power of the water pump or the opening degree of the solenoid valve in real time according to the target water sprinkling amount data; guide the navigation system or motion controller of the sprinkling device to make the sprinkling device run along the new trajectory according to the coordinate point sequence of the target sprinkling trajectory. During the control process, continue to monitor various sensor data in real time (such as heat source data, level sensor data, etc.) to promptly discover new situations and adjust the sprinkling trajectory plan again.

[0107] The embodiment of the present application provides a mine wireless automatic sprinkling and dust reduction method. By obtaining the sprinkling trajectory plan of the current cycle and precisely controlling the operation of the sprinkling device based on this plan, including the preset sprinkling trajectory, the water sprinkling amount at each moment, and the driving speed, it ensures that the basic framework of the sprinkling operation is both efficient and orderly. By obtaining real-time heat source data, it can dynamically monitor the heat source situation in the mine. Based on the real-time heat source data, it can intelligently judge whether it is necessary to adjust the original sprinkling trajectory plan, avoiding potential safety hazards that may be caused by equipment or personnel being on the sprinkling path, and at the same time ensuring the maximization of the sprinkling effect. Once it is determined that the sprinkling trajectory plan needs to be changed, further refine the water sprinkling amount and driving speed within the target time period, and determine a new sprinkling trajectory accordingly, and control the operation of the sprinkling device accordingly. It not only ensures the continuity and stability of the sprinkling operation, but also can effectively respond to the dynamic changes in the mine.

[0108] A possible implementation manner of the embodiment of the present application. In the above step S203, based on the heat source data, determining whether it is necessary to change the sprinkling trajectory plan includes:

[0109] Take the time period from the start moment to the current moment within the current cycle as the current time period, and obtain the current heat source data corresponding to each moment within the current time period to generate a heat source data set;

[0110] Based on the heat source data set, determine the heat activity trend of potential heat sources. The heat activity trend is used to characterize the static distribution and dynamic changes of potential heat sources;

[0111] Determine the influence degree of the heat activity trend on the sprinkling trajectory plan;

[0112] Determine whether it is necessary to change the sprinkler trajectory plan based on the impact degree.

[0113] Among them, the heat activity situation is used to characterize the static distribution and dynamic changes of potential heat sources. Specifically, the heat activity reflects the heat-related activity information of personnel or non-personnel reflected by the heat source data. The situation covers the static distribution of positions, the dynamic change trend reflected by the movement trajectory, and the overall state brought by the quantity scale.

[0114] Based on the start time mark of the current cycle and the time mark of the current moment, determine the range of the current time period. For example, if the current cycle starts at 8:00 am and the current moment is 9:30 am, then the current time period is from 8:00 am to 9:30 am. Specifically, within the determined current time period, send a data request instruction to the control module 102 at a preset time interval (such as every 30 seconds). The electronic device receives the current heat source data corresponding to each moment fed back by the control module 102. For example, at 8:00 am, data with a heat value of 25°C and a heat direction of northeast sent by the sensor is received, and a new set of data is received at 8:30 am, etc. When the heat source data collection for all planned moments within the current time period is completed, all the received heat source data is sorted and packaged to form a complete heat source data set. This heat source data set can be stored in the form of an array or a list in the data structure. Each element corresponds to the heat source data of a moment and contains information such as a time mark, a heat value, and a heat direction. For example, a simple heat source data set element can be represented as {time: "8:00", heat value: 25, heat direction: "northeast"}, and the entire data set is an ordered set composed of multiple such elements.

[0115] Specifically, statistical analysis is performed on the heat values in the heat source dataset to determine the static distribution of potential heat sources. For example, by plotting a spatial distribution histogram of the heat values, the concentration degree of the heat values in different regions can be observed. If the heat values are generally high and relatively stable in a specific region, it can be preliminarily judged that there is a potential stable heat source in this region, such as the heat generated by the operation of fixed equipment or the human heat source generated by personnel staying and working for a long time. For the heat direction information in the heat source dataset, analyze its change over time to determine the dynamic changes of potential heat sources. For example, by calculating the change angle difference of the heat direction at adjacent times, if it is found that the heat direction of a certain heat source continuously changes by a large angle within a period of time (such as gradually turning from the due east direction to the due south direction), it can be inferred that this heat source may be in a moving state, which may be due to personnel walking or movable equipment operating. Specifically, data visualization tools (such as simple graphics drawing libraries) can be used to plot the change situation of the heat direction as a curve for more intuitive observation of the dynamic change trend. Further, combining the analysis results of the static distribution of heat values and the dynamic changes of heat directions, a comprehensive judgment on the heat activity situation of potential heat sources is generated. For example, if there are both high and stable heat values and small fluctuations in the heat direction in a certain region, it may indicate that there is fixed equipment in this region and there are personnel moving nearby; if the heat value in a certain region suddenly increases and there is an obvious moving trajectory in the heat direction, it may indicate that a new moving heat source (such as a malfunctioning equipment generating a large amount of heat and moving) has entered this region.

[0116] Furthermore, based on the location of potential heat sources and whether the heat sources are active or not, influence weights can be set for different heat activity situation factors. Specifically, a relatively high weight (such as 0.6) is set for the proximity of the stable heat source to the sprinkling trajectory because if a stable heat source (such as a fixed device) is close to the sprinkling trajectory and continuously generates heat, it may have a greater impact on equipment operation or personnel operation; a relatively low weight (such as 0.2) is set for the speed of the moving heat source because a heat source with a slow moving speed may give the sprinkling device enough time to make adjustments without causing too much impact; a moderate weight (such as 0.2) is set for the intensity of the heat value of the heat source because an excessively high heat value may affect the sprinkling effect (such as rapid evaporation of water due to high temperature). Further, according to the heat activity situation analyzed from the heat source dataset and the set influence factor weights, the influence degree score on the sprinkling trajectory plan is calculated. For example, if there is a stable heat source in a certain area, its distance from the preset sprinkling trajectory is relatively close (assuming a distance influence factor of 0.8 is calculated based on the position relationship), the heat value intensity is moderate (assuming a heat value influence factor of 0.5), and there is no obvious influence from the moving heat source, then the influence degree score of this area = 0.6×0.8 + 0.2×0 + 0.2×0.5 = 0.58. The influence degree scores are calculated for each potentially affected area or the entire sprinkling area (if evaluated as a whole) and stored in the influence degree data area in the memory. Even further, according to the calculated influence degree scores, they are divided into different influence degree levels. For example, it can be set that the influence degree score is in the range of 0 - 0.3 as the low influence level, indicating that the heat activity situation has basically no influence on the sprinkling trajectory plan and the original plan can be continued; the score is in the range of 0.3 - 0.6 as the medium influence level, indicating that local adjustment of the sprinkling trajectory plan is required; the score is in the range of 0.6 - 1 as the high influence level, indicating that a large-scale adjustment or even re-planning of the sprinkling trajectory plan is required.

[0117] Even further, after obtaining the influence degree of the heat activity situation on the sprinkling trajectory plan, it can be determined whether the sprinkling trajectory plan needs to be changed. Specifically, if it is the low influence level, there is no need to change, and the current sprinkling trajectory plan continues to run, and the relevant monitoring system or operator is notified that the current heat activity situation has no influence on the sprinkling trajectory; if it is the medium influence level, the local adjustment procedure of the sprinkling trajectory plan is started, such as adjusting the water sprinkling amount passing through this area, slightly changing the sprinkling direction or speed, etc., to avoid or adapt to the heat activity situation; if it is the high influence level, the re-planning of the sprinkling trajectory plan is triggered.

[0118] In a possible implementation manner of the embodiment of the present application, in the above embodiment, based on the heat source dataset, determining the heat activity situation of potential heat sources includes:

[0119] Determine the relative direction of each potential heat source at each moment based on the heat direction in the current heat source data corresponding to each moment;

[0120] Determine the static distribution of the potential heat sources corresponding to each moment based on the relative direction of each potential heat source at each moment;

[0121] Determine the moving potential heat sources and stationary potential heat sources based on the relative direction, heat value, and sprinkler trajectory plan of each potential heat source at each moment;

[0122] Determine the moving direction and moving speed of the moving potential heat sources to obtain the dynamic changes of the potential heat sources;

[0123] Obtain the heat activity situation of the potential heat sources based on the static distribution and dynamic changes of the potential heat sources.

[0124] Among them, the relative direction is the direction of the potential heat source relative to the sprinkler device. Specifically, a reference coordinate system centered on the sprinkler device can be established. For example, the forward direction of the sprinkler device is the positive direction of the X-axis, and the direction perpendicular to the forward direction and horizontally to the right is the positive direction of the Y-axis (the axis directions can be determined according to the actual underground layout and the principle of facilitating analysis). Further, for the heat direction information in the current heat source data received at each moment, through corresponding angle conversion and calculation, determine the relative direction of the potential heat source relative to the sprinkler device. For example, if the heat direction given in the heat source data is 30° clockwise relative to the due north direction, and in the established reference coordinate system, the angle between the positive direction of the X-axis of the sprinkler device and the due north direction is 45°, then after calculation, the relative direction angle of this potential heat source relative to the sprinkler device is 30° - 45° = -15°.

[0125] The entire area can be divided into several small cells or area blocks according to the actual layout of the underground and the working range of the sprinkler device (for example, divided into square area blocks with a side length of 5 meters according to the length and width of the roadway), and each area block is numbered or marked, and at the same time, record the position information of each area block relative to the reference coordinate system (such as the center coordinates of the area block, etc.). Then, for the relative direction of each potential heat source at each moment, combined with the position of the sprinkler device itself, judge which area block the potential heat source is approximately located in to determine its static distribution position at that moment. Further, as time goes by, continuously record the area block information where the potential heat source is located at each moment, and through statistical analysis of multiple moments, observe whether the potential heat source often appears in certain specific area blocks, so as to further clarify its static distribution law.

[0126] Obtain judgment thresholds and rules from the database corresponding to the sprinkler device to distinguish moving potential heat sources and stationary potential heat sources. For example, set an angular change threshold. If the sum of the absolute values of the angular changes in the relative direction of a certain potential heat source exceeds a certain degree (such as 30°, which means there is an obvious change in direction) within several consecutive moments (such as 5 moments, which can be adjusted according to the actual situation), it is judged that it may be a moving potential heat source; in addition, referring to the sprinkler trajectory plan, if the position of the potential heat source has a relative movement with the sprinkler trajectory all the time (such as always gradually approaching or moving away from the sprinkler trajectory), it is also used as an auxiliary judgment that it is a moving potential heat source. On the contrary, if the relative direction angle of a certain potential heat source remains basically unchanged for a long time (such as more than 10 moments), the sum of the absolute values of the angular changes is very small (within the set small angle threshold, such as within 5°), the heat value is also stable, and the relative position with the sprinkler trajectory is fixed, then it is judged as a stationary potential heat source. Further, for each potential heat source at each moment, compare and analyze the changes of its relative direction and heat value over time with the set thresholds and rules, so as to determine whether it is a moving potential heat source or a stationary potential heat source, and make corresponding marks. For example, for potential heat source A, the electronic device observes that the sum of the absolute values of the angular changes in its relative direction within the past 6 moments has reached 40°, the heat value fluctuates within ±3°C, and its position is gradually approaching the sprinkler trajectory. After comprehensive judgment, the potential heat source A is marked as "moving" at the corresponding data source in the memory; for potential heat source B, its relative direction angle has basically remained near a fixed angle within the past 12 moments, the heat value is also very stable, and it has always been in a fixed area outside the sprinkler trajectory plan, so it is marked as "stationary".

[0127] For those heat sources marked as mobile potential heat sources, the moving direction is determined by analyzing the change in the relative direction angle at consecutive moments, and the trend of the angle change is more intuitively observed by plotting the angle change curve or creating an angle change table, etc., so as to accurately judge the moving direction. The moving direction information of each mobile potential heat source is recorded (for example, represented by azimuth or angle range, such as moving in the southeast direction, the moving direction angle is between 120° and 130°, etc.). Based on the determined moving direction, the moving speed of the mobile potential heat source is estimated. It can be estimated based on the time interval and the change in relative position. For example, given that the position of the sprinkler device is fixed (or its moving trajectory is known), by the method of determining the area block where the potential heat source is located previously, observe the change in the position of the area block where the same mobile potential heat source is located at different moments, and combine the size of the area block (assuming the side length of each area block is 5 meters) and the time interval (such as recording the position every 1 minute), calculate the distance passed by the potential heat source per unit time, and estimate its moving speed accordingly. For example, a certain mobile potential heat source moves from area block A5 to area block B7 within 10 minutes (assuming the distance between the centers of the two area blocks is 20 meters), then its moving speed is approximately 20 meters ÷ 10 minutes = 2 meters / minute. The electronic device records the estimated value of the moving speed corresponding to each mobile potential heat source, which together with the moving direction information constitutes the description content of the dynamic change of the mobile potential heat source.

[0128] Furthermore, integrate and summarize the static distribution of the potential heat sources obtained from the previous analysis (such as which areas have stable heat source aggregations, the density of heat source distributions in each area, etc.) and the dynamic changes (which are mobile potential heat sources, their moving directions and moving speeds, etc.) to form a complete description of the heat activity situation of the potential heat sources.

[0129] A possible implementation manner of the embodiment of the present application. In the above embodiment, determining the target water sprinkling amount corresponding to each moment and the target driving speed corresponding to each moment within the target time period includes:

[0130] Based on the heat activity situation of the potential heat sources and the sprinkling trajectory plan, predict the target distance corresponding to each moment within the target time period. The target distance is the distance between the target potential heat source and the sprinkler device, and the target potential heat source is the potential heat source closest to the sprinkler device;

[0131] Determine whether there is a target distance that is less than the first distance threshold and greater than the second distance threshold;

[0132] If there is a target distance that is less than the first distance threshold and greater than the second distance threshold, then determine the target distance that is less than the first distance threshold and greater than the second distance threshold as the influencing distance, and determine the moment corresponding to the influencing distance as the influencing moment;

[0133] Determine the impact position corresponding to the impact moment, and determine the dust suppression importance level of the impact position, where the impact position is the position corresponding to the sprinkler device at the impact moment;

[0134] If the dust suppression importance level is greater than the importance level threshold and the potential heat source is a stationary potential heat source, determine that the target driving speed corresponding to the impact moment is 0 and the corresponding target water sprinkling amount is 0, and generate an alarm message;

[0135] If the dust suppression importance level is not greater than the importance level threshold and the potential heat source is a stationary potential heat source, determine that the driving speed corresponding to the impact moment is the corresponding preset driving speed and the corresponding water sprinkling amount is 0.

[0136] Among them, the first distance threshold is the sprinkling radius corresponding to the sprinkling module, and the second distance threshold can be 0 or any value less than the first distance threshold.

[0137] Specifically, the distance to the heat source can be calculated through the time difference between sending and receiving the external red line by the infrared module on the sprinkler device in the heat direction. For each moment within the target time period, the distances between the sprinkler device and each potential heat source are calculated in turn, and these distance values are compared to find the potential heat source closest to the sprinkler device at each moment, and it is determined as the target potential heat source. Record the distance corresponding to the target potential heat source and the sprinkler device at this moment as the target distance, so as to obtain the target distance data corresponding to each moment within the target time period. Further, compare the target distance data corresponding to each moment within the target time period with the set first distance threshold and second distance threshold.

[0138] When it is found during the comparison and judgment process that there are target distances that satisfy being less than the first distance threshold and greater than the second distance threshold, extract these qualified target distances, mark them as impact distances, and at the same time record the moments corresponding to these impact distances, and define them as impact moments. Further, according to the sprinkler trajectory plan and the previously recorded information of each impact moment, find the positions where the sprinkler device should be at these impact moments.

[0139] The method for obtaining the dust suppression importance level of the impact position from the database corresponding to the sprinkler device. For example, if the impact position is in the main dust-producing area during the operation of the shearer or near the coal transfer point of the belt conveyor roadway and other areas where a large amount of dust is generated and easily diffuses, then its dust suppression importance level is evaluated as high; if it is in an area such as a personnel passage where the dust suppression requirement is relatively small, then it is evaluated as low. Different importance level grades corresponding to different areas can be set (such as represented by numerical values 1-5, 5 means very important, 1 means not very important), and then the corresponding importance level value is determined according to the specific area where the impact position is located.

[0140] Further, according to the overall downhole operation safety and dust reduction requirements, a threshold of importance is preset in advance (for example, set to 4, that is, when the dust reduction importance value is greater than 4, it is considered that dust reduction at this position is very critical), and stored in the corresponding configuration parameter area. Then, for the dust reduction importance corresponding to each influencing moment and the corresponding potential heat source type (it has been determined whether it is a stationary or moving potential heat source before), a judgment is made. When it is found that the dust reduction importance at a certain influencing moment is greater than the importance threshold and the corresponding potential heat source is a stationary potential heat source, for example, the dust reduction importance at the influencing position corresponding to a certain influencing moment is 5, and the corresponding potential heat source at this position is stationary (such as heat generated by fixed equipment), the corresponding processing procedure is entered. Specifically, the target driving speed corresponding to this influencing moment is set to 0, that is, the sprinkler device stops moving at this moment, and at the same time, the corresponding target water sprinkling amount is also set to 0, that is, the water sprinkling operation stops, to avoid possible impacts on the stationary potential heat source caused by water sprinkling. At this time, the target water sprinkling amount corresponding to each moment within the target time period and the target driving speed corresponding to each moment are both 0. And, an alarm message is generated using its own alarm function module to prompt the operator that there is an abnormal water sprinkling situation caused by a stationary potential heat source here, which needs attention and handling. The content of the alarm message can include detailed descriptions such as the influencing moment, the influencing position, and the relevant situation of the potential heat source, so that the operator can quickly understand the situation.

[0141] Similarly, first, a judgment is made on the dust reduction importance and the potential heat source type corresponding to each influencing moment. When it is judged that the dust reduction importance is not greater than the importance threshold (for example, the dust reduction importance is 3, less than the set threshold of 4) and the corresponding potential heat source is a stationary potential heat source, corresponding processing measures are taken. At this time, the driving speed corresponding to this influencing moment is set to the preset driving speed corresponding to this moment in the previous water sprinkling trajectory plan, that is, the sprinkler device travels normally according to the original plan, and the corresponding water sprinkling amount is set to 0, that is, when passing through this area with a stationary potential heat source but less important dust reduction, no water sprinkling operation is carried out to avoid unnecessary impacts on the stationary potential heat source, and at the same time, to ensure the relative rationality and coherence of the overall water sprinkling plan. Further, when it is detected that the target distance is greater than the first distance threshold, the water sprinkling amount is determined to be the corresponding preset water sprinkling amount, so as to obtain the target water sprinkling amount corresponding to each moment within the target time period and the corresponding target driving speed.

[0142] Furthermore, when the potential heat source is a moving potential heat source, the target driving speed corresponding to each moment within the target time period is set to 0, that is, the sprinkler device stops moving, and at the same time, the corresponding target water sprinkling amount is also set to 0, that is, the water sprinkling operation stops, so as to obtain the target water sprinkling amount corresponding to each moment within the target time period and the corresponding target driving speed.

[0143] In a possible implementation manner of the embodiment of the present application, in the above embodiment, based on the target driving speed corresponding to each moment within the target time period, determining the target sprinkling trajectory corresponding to the target time period includes:

[0144] Based on the target driving speed corresponding to each moment within the target time period, determining the target distance corresponding to the target time period;

[0145] Determining the preset distance corresponding to the preset sprinkling trajectory;

[0146] Based on the target distance and the preset distance, determining the target sprinkling trajectory corresponding to the target time period.

[0147] Specifically, the target time period is divided at a certain time interval. For example, it can be divided into a small time interval every 1 minute (the specific interval duration can be set according to actual needs and accuracy requirements). For each divided small time interval, obtain the target driving speed value corresponding to the starting moment of the interval. Assume that the target driving speed at the starting moment of a certain interval is v (the unit can be meters per minute, etc.), and the duration of this time interval is set as t (the unit is minutes). According to the basic principle that distance equals speed multiplied by time, calculate the distance s within this small time interval, that is, s = vt. After calculating the distances within each small time interval in the above manner in sequence, accumulate the distances of all small time intervals, and finally obtain the target distance corresponding to the target time period. For example, after calculating and accumulating through multiple time intervals, it is obtained that the total target distance within the target time period is meters (here is just an example value).

[0148] Further, the method of equal - ratio scaling can be used to adjust the preset sprinkling trajectory to obtain the target sprinkling trajectory. Obtain the preset distance corresponding to the preset sprinkling trajectory from the database corresponding to the sprinkler device, and obtain the position of the sprinkler device on the preset sprinkling trajectory at the current moment to obtain the current starting position. Starting from the current starting position, divide a trajectory with a distance of the target distance from the preset sprinkling trajectory to obtain the target sprinkling trajectory. Among them, the database corresponding to the sprinkler device stores the preset distance corresponding to the preset sprinkling trajectory.

[0149] In a possible implementation manner of the embodiment of the present application, in the above embodiment, the method further includes:

[0150] Receiving a control instruction, where the control instruction includes a stop sub - instruction, a running sub - instruction, and a steering sub - instruction;

[0151] Based on the control instruction, controlling the sprinkler device to act.

[0152] Among them, different instructions (stop sub-instruction, run sub-instruction, steering sub-instruction) have corresponding specific formats. For example, the control instruction may adopt a fixed-length data frame format. The frame header part is used to identify the start of the instruction, and the middle part uses specific encoding to distinguish which sub-instruction it is (such as using 01 to represent the stop sub-instruction, 02 to represent the run sub-instruction, 03 to represent the steering sub-instruction, etc.). There may also be some parameter information carried behind (such as the running speed parameter corresponding to the run sub-instruction, the steering angle parameter corresponding to the steering sub-instruction, etc.). The frame tail is used to verify the data integrity. Specifically, after receiving the instruction from the remote control module, the electronic device parses the data according to this preset format and extracts the valid control instruction information from it.

[0153] When the electronic device recognizes that the received instruction is a stop sub-instruction, the electronic device will send a stop signal to the control module of the sprinkler device. Specifically, the electronic device sends an electrical signal representing stop to the control module through the connected control module, causing the motor to stop running, thereby making the sprinkler device stop moving. At the same time, the control module will also send a stop signal to the spraying module of the sprinkler device, such as closing the power supply circuit of the water pump or controlling the solenoid valve to close, to stop the spraying operation.

[0154] When the received instruction is a run sub-instruction, the electronic device will first extract the relevant parameter information such as the running speed carried in the instruction. Then, according to these parameters, a running instruction is generated and sent to the control module of the sprinkler device, so that the control module controls the sprinkler device to run according to the running instruction.

[0155] When the received instruction is a steering sub-instruction, the electronic device will parse the parameter information such as the steering angle contained in it. Then, according to these parameters, a steering instruction is generated and sent to the control module of the sprinkler device, so that the control module controls the sprinkler device to run according to the steering instruction.

[0156] A possible implementation manner of the embodiment of the present application. In the above embodiment, the method further includes:

[0157] Obtain the water storage level corresponding to the sprinkler device;

[0158] Determine whether the water storage level is lower than the first water level threshold;

[0159] If the water storage level is lower than the first water level threshold, determine that water addition operation is required and control the water addition module to run;

[0160] Real-time obtain the current water storage level corresponding to the sprinkler device;

[0161] When the current water storage level is higher than the second water level threshold, control the water addition module to stop running.

[0162] Specifically, the electronic device receives the water storage level measured by the level sensing module on the sprinkler device, and based on factors such as the normal working requirements of the sprinkler device, the water tank capacity, and the water consumption during the sprinkler operation, etc., pre-sets a first water level threshold and stores it in the internal configuration parameter area (for example, it can be stored in the configuration file of the electronic device or a specific variable storage area. Assuming the first water level threshold is set to the water level height corresponding to 20% of the total height of the water tank, the specific value is determined according to the actual water tank size and other situations).

[0163] Furthermore, take out the current water level value from the previously obtained and stored water storage level information, and compare it with the set first water level threshold. By comparing the magnitude relationship between the two, determine whether the current water storage level is lower than the first water level threshold. When the water storage level is lower than the first water level threshold, it is determined that water addition operation is required currently to ensure that the sprinkler device has enough water to continue the sprinkler task. The electronic device sends a start control signal to the control module so that the control module controls the water addition module to add water, thereby starting the water addition process.

[0164] Even further, during the operation of the water addition module, the electronic device continuously receives the water storage level measured by the level sensing module to track the dynamic change of the water level in real time. At the same time, the change situation of the water level can be simply recorded (such as recording the water level values at different times to form a water level change curve, etc., if the electronic device has corresponding data processing and visualization functions).

[0165] The electronic device takes out the latest water level value from the currently obtained and updated stored water storage level data, and compares it with the set second water level threshold. When it is found that the current water storage level is higher than the second water level threshold, to avoid situations such as water overflow in the water tank, the electronic device immediately sends a stop control signal to the control module so that the control module controls the water addition module to stop adding water, thereby starting the stop water addition process. Among them, the second water level threshold can be set considering multiple aspects such as the optimal water storage level of the sprinkler device, preventing water overflow, and saving water.

[0166] The above embodiments introduce a mine-used wireless automatic sprinkler dust suppression method from the perspective of the method flow. The following embodiments introduce a mine-used wireless automatic sprinkler dust suppression device from the perspective of virtual modules or virtual units. For details, see the following embodiments.

[0167] See Figure 3 , the mine-used wireless automatic sprinkler dust suppression device 30 may specifically include: a control module 301, an acquisition module 302, a first determination module 303, a second determination module 304, a third determination module 305, and a generation module 306, where:

[0168] A mine-used wireless automatic sprinkler dust suppression device 30 includes:

[0169] The control module 301 is configured to obtain the sprinkling trajectory plan for the current period and control the operation of the sprinkling device based on the sprinkling trajectory plan. The sprinkling trajectory plan includes a preset sprinkling trajectory, a preset water sprinkling amount corresponding to each moment, and a preset driving speed corresponding to each moment.

[0170] The obtaining module 302 is configured to obtain in real time the heat source data corresponding to the sprinkling device. The heat source data includes the heat value of the potential heat source and the heat direction.

[0171] The first determination module 303 is configured to determine whether it is necessary to change the sprinkling trajectory plan based on the heat source data.

[0172] The second determination module 304 is configured to, if it is necessary to change the sprinkling trajectory plan, determine the target water sprinkling amount corresponding to each moment and the target driving speed corresponding to each moment within the target time period. The target time period is the time period between the current moment and the end moment of the current period.

[0173] The third determination module 305 is configured to determine the target sprinkling trajectory corresponding to the target time period based on the driving speed corresponding to each moment within the target time period.

[0174] The generation module 306 is configured to generate a new sprinkling trajectory plan based on the target sprinkling trajectory corresponding to the target time period, the target water sprinkling amount corresponding to each moment, and the target driving speed corresponding to each moment, and control the operation of the sprinkling device based on the new sprinkling trajectory plan.

[0175] In a possible implementation manner of the embodiment of the present application, when the first determination module 303 determines whether it is necessary to change the sprinkling trajectory plan based on the heat source data, it may specifically be configured to:

[0176] Take the time period from the start moment to the current moment within the current period as the current time period, obtain the current heat source data corresponding to each moment within the current time period, and generate a heat source data set.

[0177] Based on the heat source data set, determine the heat activity trend of the potential heat source. The heat activity trend is used to characterize the static distribution and dynamic change of the potential heat source.

[0178] Determine the influence degree of the heat activity trend on the sprinkling trajectory plan.

[0179] Based on the influence degree, determine whether it is necessary to change the sprinkling trajectory plan.

[0180] In a possible implementation manner of the embodiment of the present application, when the first determination module 303 determines the heat activity trend of the potential heat source based on the heat source data set, it may specifically be configured to:

[0181] Based on the heat direction in the current heat source data corresponding to each moment, determine the relative direction of each potential heat source at each moment, where the relative direction is the direction of the potential heat source relative to the sprinkler device;

[0182] Based on the relative direction of each potential heat source at each moment, determine the static distribution of the potential heat source corresponding to each moment;

[0183] Based on the relative direction, heat value, and sprinkler trajectory plan of each potential heat source at each moment, determine the moving potential heat sources and stationary potential heat sources;

[0184] Determine the moving direction and moving speed of the moving potential heat source to obtain the dynamic change of the potential heat source;

[0185] Based on the static distribution and dynamic change of the potential heat source, obtain the heat activity situation of the potential heat source.

[0186] In a possible implementation manner of the embodiment of the present application, when the second determination module 304 determines the target water sprinkling amount and the target driving speed corresponding to each moment within the target time period, it may specifically be used for:

[0187] Based on the heat activity situation of the potential heat source and the sprinkler trajectory plan, predict the target distance corresponding to each moment within the target time period, where the target distance is the distance between the target potential heat source and the sprinkler device, and the target potential heat source is the potential heat source closest to the sprinkler device;

[0188] Determine whether there is a target distance less than the first distance threshold and greater than the second distance threshold;

[0189] If there is a target distance less than the first distance threshold and greater than the second distance threshold, determine the target distance less than the first distance threshold and greater than the second distance threshold as the influencing distance, and determine the moment corresponding to the influencing distance as the influencing moment;

[0190] Determine the influencing position corresponding to the influencing moment, and determine the dust reduction importance degree of the influencing position, where the influencing position is the position of the sprinkler device corresponding to the influencing moment;

[0191] If the dust reduction importance degree is greater than the importance degree threshold and the potential heat source is a stationary potential heat source, determine that the target driving speed corresponding to the influencing moment is 0 and the corresponding target water sprinkling amount is 0, and generate an alarm message;

[0192] If the dust reduction importance degree is not greater than the importance degree threshold and the potential heat source is a stationary potential heat source, determine that the driving speed corresponding to the influencing moment is the corresponding preset driving speed and the corresponding water sprinkling amount is 0.

[0193] In a possible implementation manner of the embodiment of the present application, when determining the target sprinkling trajectory corresponding to the target time period based on the target driving speed corresponding to each moment within the target time period, the third determination module 305 may specifically be used for:

[0194] Determine the target distance corresponding to the target time period based on the target driving speed corresponding to each moment within the target time period;

[0195] Determine the preset distance corresponding to the preset sprinkling trajectory;

[0196] Determine the target sprinkling trajectory corresponding to the target time period based on the target distance and the preset distance.

[0197] In a possible implementation manner of the embodiment of the present application, the mine-used wireless automatic sprinkling and dust reduction device 30 may further include:

[0198] A receiving module, configured to receive a control instruction, where the control instruction includes a stop sub-instruction, a running sub-instruction, and a steering sub-instruction;

[0199] An action control module, configured to control the sprinkling device to act based on the control instruction.

[0200] In a possible implementation manner of the embodiment of the present application, the mine-used wireless automatic sprinkling and dust reduction device 30 may further include:

[0201] A water level acquisition module, configured to acquire the water storage level corresponding to the sprinkling device;

[0202] A fourth determination module, configured to determine whether the water storage level is lower than a first water level threshold;

[0203] A fifth determination module, configured to, if the water storage level is lower than the first water level threshold, determine that a water addition operation is required and control the water addition module to operate;

[0204] A real-time acquisition module, configured to acquire the current water storage level corresponding to the sprinkling device in real time;

[0205] An operation control module, configured to control the water addition module to stop operating when the current water storage level is higher than a second water level threshold.

[0206] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0207] See Figure 4 , the embodiment of the present application also introduces an electronic device from the perspective of an entity device, as Figure 4 shown Figure 4The electronic device 400 shown includes: a processor 401 and a memory 403. Among them, the processor 401 and the memory 403 are connected, such as through a bus 402. Optionally, the electronic device 400 may further include a transceiver 404. It should be noted that in practical applications, the transceiver 404 is not limited to one, and the structure of the electronic device 400 does not constitute a limitation to the embodiments of the present application.

[0208] The processor 401 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of the present application. The processor 401 may also be a combination that implements computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0209] The bus 402 may include a path for transmitting information between the above components. The bus 402 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 402 may be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 4 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0210] The memory 403 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. It can also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0211] The memory 403 is used to store the application program code for executing the solution of this application, and is controlled and executed by the processor 401. The processor 401 is used to execute the application program code stored in the memory 403 to implement the content shown in the foregoing method embodiments.

[0212] Among them, the electronic device includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc., and can also be a server, etc. Figure 4 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of this application.

[0213] The embodiments of this application provide a computer-readable storage medium, on which a computer program is stored. When it runs on a computer, it enables the computer to execute the corresponding content in the foregoing method embodiments.

[0214] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limitation, 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. These sub-steps or stages are not necessarily executed at the same moment, but can be executed at different moments, and their execution order is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0215] The above are only some embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A wireless automatic watering and dust reduction method for mines, characterized in that: include: Obtaining a watering trajectory plan for the current cycle, and controlling the operation of the watering device based on the watering trajectory plan, wherein the watering trajectory plan includes a preset watering trajectory, a preset watering amount corresponding to each moment, and a preset driving speed corresponding to each moment; Acquire heat source data corresponding to the sprinkler device in real time, wherein the heat source data includes a heat value and a heat direction of a potential heat source; Based on the heat source data, determining whether the watering trajectory plan needs to be changed; If the watering trajectory plan needs to be changed, the target watering amount corresponding to each moment in the target time period and the target driving speed corresponding to each moment are determined, and the target time period is the time period between the current moment and the end moment of the current cycle; Determining a target watering trajectory corresponding to the target time period based on the driving speed corresponding to each moment within the target time period; Generate a new watering trajectory plan based on the target watering trajectory corresponding to the target time period, the target watering amount corresponding to each moment, and the target driving speed corresponding to each moment, and control the operation of the watering device based on the new watering trajectory plan; Wherein, determining whether the watering trajectory plan needs to be changed based on the heat source data includes: The time period from the start time to the current time in the current cycle is taken as the current time period, and the current heat source data corresponding to each time in the current time period is obtained to generate a heat source data set; Determining the thermal activity state of the potential heat source based on the heat source data set, wherein the thermal activity state is used to characterize the static distribution and dynamic changes of the potential heat source; Determining the degree to which the thermal activity situation affects the watering trajectory plan; Based on the degree of impact, determining whether the watering trajectory plan needs to be changed; Wherein, determining the thermal activity state of the potential heat source based on the heat source data set includes: Determine the relative direction of each potential heat source at each moment based on the heat direction in the current heat source data corresponding to each moment, wherein the relative direction is the direction of the potential heat source relative to the sprinkler device; Determine the static distribution of the potential heat sources corresponding to each moment based on the relative direction of each potential heat source at each moment; Determine moving potential heat sources and stationary potential heat sources based on the relative direction, heat value and the watering trajectory plan of each potential heat source at each moment; Determining the moving direction and moving speed of the mobile potential heat source to obtain dynamic changes of the potential heat source; Based on the static distribution and dynamic changes of potential heat sources, the thermal activity status of potential heat sources is obtained; The step of determining the target watering amount and the target driving speed at each moment within the target time period includes: Based on the thermal activity trend of the potential heat source and the sprinkler trajectory plan, predict the target distance corresponding to each moment in the target time period, the target distance being the distance between the target potential heat source and the sprinkler device, and the target potential heat source being the potential heat source closest to the sprinkler device; Determine whether there is a target whose distance is less than a first distance threshold and greater than a second distance threshold; If there is a target distance that is less than the first distance threshold and greater than the second distance threshold, determine the target distance that is less than the first distance threshold and greater than the second distance threshold as the impact distance, and determine the time corresponding to the impact distance as the impact time; Determine the impact position corresponding to the impact moment, and determine the dust reduction importance of the impact position, the impact position being the position of the sprinkler device corresponding to the impact moment; If the dust fall importance is greater than the importance threshold and the potential heat source is a stationary potential heat source, determining that the target driving speed corresponding to the impact moment is 0 and the corresponding target watering amount is 0, and generating an alarm message; If the dust reduction importance is not greater than the importance threshold and the potential heat source is a stationary potential heat source, it is determined that the driving speed corresponding to the impact moment is the corresponding preset driving speed and the corresponding watering amount is 0.

2. The mine wireless automatic watering and dust reduction method according to claim 1 is characterized in that: The step of determining a target watering trajectory corresponding to the target time period based on the target driving speed corresponding to each moment within the target time period includes: Determining a target distance corresponding to the target time period based on a target driving speed corresponding to each moment within the target time period; Determine a preset distance corresponding to the preset watering trajectory; Based on the target distance and the preset distance, a target watering trajectory corresponding to the target time period is determined.

3. The mine wireless automatic watering and dust reduction method according to claim 1 or 2, characterized in that: The method further comprises: receiving a control instruction, wherein the control instruction includes a stop sub-instruction, a run sub-instruction, and a turn sub-instruction; Based on the control instruction, the sprinkler device is controlled to operate.

4. The mine wireless automatic watering and dust reduction method according to any one of claims 1 or 2, characterized in that: The method further comprises: Obtaining a water storage level corresponding to the sprinkler device; Determining whether the water storage level is lower than a first water level threshold; If the water storage level is lower than the first water level threshold, it is determined that a water adding operation is required, and the water adding module is controlled to operate; Obtaining the current water storage level corresponding to the sprinkler device in real time; When the current water storage level is higher than a second water level threshold, the water adding module is controlled to stop running.

5. A wireless automatic water sprinkler and dust suppression device for mines, characterized in that: include: A control module, used to obtain a watering trajectory plan of the current cycle, and control the operation of the watering device based on the watering trajectory plan, wherein the watering trajectory plan includes a preset watering trajectory, a preset watering amount corresponding to each moment, and a preset driving speed corresponding to each moment; An acquisition module, used for acquiring heat source data corresponding to the sprinkler device in real time, wherein the heat source data includes a heat value and a heat direction of a potential heat source; A first determination module, used to determine whether the watering trajectory plan needs to be changed based on the heat source data; A second determination module is used to determine the target watering amount and the target driving speed corresponding to each moment in a target time period if the watering trajectory plan needs to be changed, wherein the target time period is the time period between the current moment and the end moment of the current cycle; A third determination module is used to determine a target watering trajectory corresponding to the target time period based on the driving speed corresponding to each moment in the target time period; A generation module, for generating a new watering trajectory plan based on the target watering trajectory corresponding to the target time period, the target watering amount corresponding to each moment, and the target driving speed corresponding to each moment, and controlling the operation of the watering device based on the new watering trajectory plan; Wherein, when the first determination module determines whether the watering trajectory plan needs to be changed based on the heat source data, it is specifically used to: The time period from the start time to the current time in the current cycle is taken as the current time period, and the current heat source data corresponding to each time in the current time period is obtained to generate a heat source data set; Determining the thermal activity state of the potential heat source based on the heat source data set, wherein the thermal activity state is used to characterize the static distribution and dynamic changes of the potential heat source; Determining the degree to which the thermal activity situation affects the watering trajectory plan; Based on the degree of impact, determining whether the watering trajectory plan needs to be changed; Wherein, when determining the thermal activity state of the potential heat source based on the heat source data set, the first determination module is specifically used to: Determine the relative direction of each potential heat source at each moment based on the heat direction in the current heat source data corresponding to each moment, wherein the relative direction is the direction of the potential heat source relative to the sprinkler device; Determine the static distribution of the potential heat sources corresponding to each moment based on the relative direction of each potential heat source at each moment; Determine moving potential heat sources and stationary potential heat sources based on the relative direction, heat value and the watering trajectory plan of each potential heat source at each moment; Determining the moving direction and moving speed of the mobile potential heat source to obtain dynamic changes of the potential heat source; Based on the static distribution and dynamic changes of potential heat sources, the thermal activity status of potential heat sources is obtained; Wherein, when determining the target watering amount corresponding to each moment in the target time period and the target driving speed corresponding to each moment, the second determination module is specifically used to: Based on the thermal activity trend of the potential heat source and the sprinkler trajectory plan, predict the target distance corresponding to each moment in the target time period, the target distance being the distance between the target potential heat source and the sprinkler device, and the target potential heat source being the potential heat source closest to the sprinkler device; Determine whether there is a target whose distance is less than a first distance threshold and greater than a second distance threshold; If there is a target distance that is less than the first distance threshold and greater than the second distance threshold, determine the target distance that is less than the first distance threshold and greater than the second distance threshold as the impact distance, and determine the time corresponding to the impact distance as the impact time; Determine the impact position corresponding to the impact moment, and determine the dust reduction importance of the impact position, the impact position being the position of the sprinkler device corresponding to the impact moment; If the dust fall importance is greater than the importance threshold and the potential heat source is a stationary potential heat source, determining that the target driving speed corresponding to the impact moment is 0 and the corresponding target watering amount is 0, and generating an alarm message; If the dust reduction importance is not greater than the importance threshold and the potential heat source is a stationary potential heat source, it is determined that the driving speed corresponding to the impact moment is the corresponding preset driving speed and the corresponding watering amount is 0.

6. An electronic device, characterized in that: The electronic device includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the mine wireless automatic watering and dust reduction method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the wireless automatic water sprinkling and dust reduction method for mining as described in any one of claims 1 to 4.

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