A method and system for digital program-controlled dispatching communication in mines

Abstract

The present application provides a kind of mine digital program-controlled dispatching communication method and system, including main roadway bottom dispatching host computer and static communication positioning base station in each auxiliary roadway, first create underground three-dimensional environment map, secondly, the speech information of miner's portable communication device is transmitted to nearby communication base station, the latter identifies the identity of speaker and the content is request communication or non-request communication.If it is request communication, the system converts its content into digital information, and transmits to digital program-controlled switch through ring network switch, realizes effective communication between up and down well;If it is non-request communication, activate adjacent positioning base station, measure distance and transmit information to dispatching host computer.Dispatching host computer locates the accurate position of speaker on three-dimensional map according to the distance information of two base stations, and outputs the result to main control center.The system not only effectively improves intelligent management and dispatching ability, but also enhances the safety and emergency response capability of mine, provides a solid foundation for the modernization development of coal mine operation.

Description

Technical Field

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

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

[0003] Existing mine dispatching and communication systems rely heavily on traditional wired and wireless technologies, which present significant limitations. While cameras are used for surveillance during underground coal mine construction, their coverage is limited, preventing comprehensive monitoring. Furthermore, signal blind spots and weak areas exist underground, particularly in newly mined areas. Inadequate communication signal coverage results in low positioning accuracy, hindering safe dispatching and emergency response, and increasing the risk of accidents. Common challenges faced by current technologies include insufficient real-time communication capabilities, slow response to environmental changes, and incomplete emergency response systems, hindering the adequate protection of miners in emergencies. These shortcomings indicate that coal mine dispatching and communication systems urgently need technological improvements to enhance overall safety management and ensure the safety and health of miners. Summary of the Invention

[0004] In response to the defects and problems existing in the existing technology, the present invention provides a digital program-controlled dispatching communication method and system for mines, aiming to build an efficient and safe digital program-controlled dispatching communication system for mines. Through intelligent positioning, voice recognition and data monitoring technologies, the safety and communication efficiency of mine operations are improved, the real-time positioning and emergency management of underground personnel are realized, and the life safety of miners is ensured.

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

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

[0007] S2: Using the portable communicator of each underground worker, the voice information of the corresponding underground worker is transmitted to the communication base station. The communication base station identifies the voice information, first determines the identity of the speaker, and then determines whether the voice is a "communication request voice" or a "non-request voice".

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

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

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

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

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

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

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

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

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

[0017] Preferably, a positioning information generating module is further provided in the personal communicator, which communicates with the positioning base station in a timely manner, and the positioning base station measures the distance between the personal communicator and the positioning base station according to the position confirmation information actively sent by the positioning module, and transmits the distance information between the positioning base station and the personal communicator to the dispatch host through wired or wireless network.

[0018] Preferably, a time threshold of distance change is set, and when the dispatch host detects that the stationary time of any personal communicator is greater than the time threshold, an alarm bell is sounded to the intrinsically safe telephone of the nearby communication base station in the mine, and if the intrinsically safe telephone does not answer for a long time, an alarm signal is sent through the emergency broadcast system.

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

[0020] Based on the above-mentioned mine digital program-controlled dispatching communication system and method, the safety, communication efficiency and emergency handling capacity of the mine can be significantly improved, which helps to promote the intelligent management and operation of mine operation. The beneficial effects mainly manifest in the following aspects:

[0021] 1. Improve safety: The system monitors the position of personnel in the mine through real-time positioning technology, so that the dispatch personnel can timely discover and handle potential safety hazards. When the personal communicator is stationary for a long time, an alarm mechanism is automatically triggered to ensure that the mine can respond quickly in emergency situations and improve the overall safety of the mine.

[0022] 2. Enhance communication efficiency: The system can quickly identify and distinguish different miners' requests by using digital program-controlled switch and intelligent voice recognition technology, improving the accuracy and timeliness of information transmission. At the same time, it supports multiple communication methods, providing flexibility for safe communication in the mine.

[0023] 3. Intelligent Environmental Monitoring: A monitoring system integrating gas, temperature, and humidity sensors provides real-time monitoring of the underground environment and provides timely feedback on abnormal data. This mechanism enables rapid detection of hazards such as gas leaks, enabling the implementation of necessary preventive measures to ensure a safe mining environment.

[0024] 4. Efficient Data Processing and Scheduling: The real-time 3D map constructed through SLAM technology enables rapid response to changes in the mine environment. The system enables precise environmental modeling and integration, improving the dispatch center's ability to understand mine conditions and facilitating scientific decision-making and scheduling management.

[0025] 5. Strong emergency response capability: The system design takes into account the rapid response needs in emergency situations, with real-time monitoring and timely alarm functions, ensuring that personnel evacuation and rescue can be carried out quickly and effectively in emergencies, providing important protection for the life safety of miners. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the networking relationship of the digital program-controlled dispatching communication system for mining of the present invention;

[0027] Figure 2 This is a block diagram of a digital program-controlled dispatching communication system for mines;

[0028] Figure 3 It is a flow chart of the communication base station processing the communication request voice;

[0029] Figure 4 It is a flow chart of positioning base station for distance measurement;

[0030] Figure 5 It is a flowchart of the scheduling host positioning calculation.

[0031] Numbers in the figure: 1-main control center; 2-dispatching host; 3-digital programmable switch; 4-coal mine special ring network switch; 5-static communication positioning base station; 6-dynamic communication positioning base station; 7-wireless transmission module; 8-communication base station; 9-positioning base station; 10-mine intrinsically safe telephone; 11-underground personnel; 12-portable communicator; 13-identification card; 14-intrinsically safe power supply; 15-sensor group. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the accompanying drawings and examples.

[0033] Example 1: A digital program-controlled dispatching communication system for mining, such as Figure 1 As shown, it mainly includes a main control center 1, a dispatching host 2, a digital programmable switch 3, a communication and positioning base station 8, a SLAM robot, a positioning card and a portable communicator 12, and a mining intrinsically safe power supply 14, etc.

[0034] 1. The main control center 1 is located in the ground dispatching room, which is the control and management center of the whole system. The dispatching host 2 (the mother machine) is located at the bottom of the main roadway, which includes a digital program-controlled switch 3. The main control center 1 and the dispatching host 2 are connected by optical fiber or cable (such as MHYV type communication cable or optical cable) to build a transmission network. The dispatching host 2 not only has the rich dispatching function of the digital program-controlled dispatching machine, but also has the management function of the digital program-controlled switch 3 and each communication positioning base station 8. The dispatching host 2 is also connected with a full-channel recording system to record any call line of the whole system for subsequent inquiry and monitoring. The automatic recording function (more than 1 year can be saved) and communication history record inquiry.

[0035] 2. The digital program-controlled switch 3 is responsible for connecting the main control center 1 and a plurality of communication positioning base stations 8 located in each auxiliary roadway to establish call function, switching function, dispatching function and networking function; the digital program-controlled switch 3 is configured according to the instruction issued by the main control center 1, and has digital voice two-way non-blocking communication capability, supporting one-key-to-position (extension or external line), group call, all call, selective call, strong disassembly, strong insertion, listening and other functions. The digital program-controlled switch 3 is connected with a plurality of static communication positioning base stations 5 through optical fiber or cable to establish wired communication, and is connected with a plurality of dynamic communication positioning base stations 6 to establish wireless communication.

[0036] 3. The communication positioning base station 8 includes static communication positioning base station 5 and dynamic communication positioning base station 6.

[0037] 3.1 The communication positioning base station 8 includes static communication positioning base station 5, which includes mine intrinsic safety telephone 10, communication base station 8 and positioning base station 9.

[0038] 3.11 The mine intrinsic safety telephone 10: an intrinsic safety telephone used underground, including a telephone, a walkie-talkie and the like, which facilitates the communication of workers at any time and ensures the safe use in such special environment as coal mine. The mine intrinsic safety telephone 10 is used for communication underground to transmit communication information to the digital program-controlled switch 3.

[0039] 3.12 The communication base station 8 is used for receiving voice information of the personal communication device 12 underground and transmitting the voice information to the digital program-controlled switch 3 through the coal mine special ring network switch 4; the intrinsic safety telephone 10 and the communication base station 8 respectively communicate with the digital program-controlled switch 3 through KTG127 type optical terminal or mine communication optical cable.

[0040] 3.13 The positioning base station 9 communicates with the identification cards 13 of the underground personnel through ZigBee technology, measures the distance between each identification card 13 and the positioning base station 9, and transmits the distance information between the positioning base station 9 and the identification card 13 to the dispatch host 2 through a wired or wireless network for locating the underground personnel, facilitating dispatch and emergency rescue.

[0041] 3.2 The dynamic communication and positioning base station 6 (sub-unit) includes a mobile robot equipped with a vehicle-mounted communication base station 8 and a vehicle-mounted positioning base station 9. The vehicle-mounted communication base station 8 is wirelessly connected to the dispatch host 2 (master unit). The dispatch host 2 controls each dynamic communication and positioning base station 6 (sub-unit) to execute movement, communication, and positioning commands. The dispatch host 2 controls the movement of each dynamic communication and positioning base station 6 into signal-blind or weak areas to receive voice and location information from the mine personnel's portable communicator 12. The dynamic communication and positioning base stations 6 transmit the voice information from the mine personnel's portable communicator 12 directly to the digital programmable switch 3 via the wireless network, and also transmit the distance information between the mobile robot and the underground personnel's positioning card directly to the dispatch host 2 via the wireless network. The installation of dynamic communication and positioning base stations 6 not only provides coverage for signal-blind or weak areas or newly excavated areas, enabling dynamic expansion, but also provides disaster recovery and redundancy capabilities. Multiple dynamic communication and positioning base stations 6 are modularly assembled with the dispatch host 2 to form an independent wireless communication and positioning system. When combined with the static communication and positioning base stations 5, they support dual-system network-level redundancy to ensure normal system operation.

[0042] 3.21 The dynamic communication positioning base station 6 also includes a device installed on the mobile robot for real-time 3D mapping. This device includes a panoramic camera and a 3D laser scanner. The panoramic camera and 3D laser scanner serve as primary sensors. The panoramic camera extracts local environmental information (such as signal blind spots, weak areas, or newly excavated areas) and landmark features in real time, generating a 2D map. The 3D laser scanner also provides accurate robot positioning information. The 3D point cloud generated by the 3D laser scanner is registered. This process is repeated until a local 3D map is obtained. The local map is then transmitted directly to the dispatch host 2 or the main control center 1 via a wireless network. The dispatch host 2 or the main control center 1 fuses the newly acquired local map of each mobile robot with the global map to achieve continuous environmental modeling. The newly acquired local 3D map information (point cloud data) is registered with the existing 3D map using the Iterative Closest Point (ICP) algorithm to determine their spatial relationship. After registration, the point cloud data of the local map is fused into the global map. The local map optimization method is used for local map optimization, and the BoVW method is used for global consistency optimization, improving the accuracy and consistency of the 3D map. When multiple mobile robots are working at the same time, the map fusion algorithm uses the images and position information obtained by the panoramic camera and the three-dimensional laser scanner to directly calculate the transformation between the robot reference coordinate systems, and fuses the local maps generated by different robots into a global map. After the dynamic communication and positioning base station 6 is set up, there is a coexistence of wired and wireless network communications, which can achieve complementary advantages. The dynamic communication and positioning base station 6 can effectively ensure the stability and reliability of the entire communication system. At this time, the dispatch host 2 acts as a relay station for wireless signals, which can significantly enhance the transmission strength of communication and positioning signals between the dynamic communication and positioning base station 6 and the main control center 1, and reduce signal attenuation or loss caused by the complex environment of the secondary tunnel. The dynamic communication and positioning base station 6 also has wireless expansion capabilities, which can provide mature PHS, Wi-Fi, and WCDMA wireless access capabilities to solve the worries of enterprises.

[0043] 3.22 also includes providing a positioning information generating module within the portable communicator 12. This module communicates with the positioning base station 9 on a regular basis via ZigBee technology. The positioning base station 9 measures the distance between the portable communicator 12 and the positioning base station 9 based on the position confirmation information actively sent by the positioning module, and transmits the distance information between the positioning base station 9 and the portable communicator 12 to the dispatch host 2 via a wired or wireless network.

[0044] 3.23 When the underground personnel are not wearing a portable communicator 12, their portable communicator 12 will be in a fixed position for a long time. Even if the positioning information is actively sent, the actual accurate position of the underground personnel cannot be confirmed. For this reason, a time threshold for distance change is set. When the dispatching host 2 detects that the static time of any portable communicator 12 is greater than the time threshold, a warning ring is sent to the mine-used intrinsically safe telephone 10 of the nearby communication base station 8 underground. If the mine-used intrinsically safe telephone 10 does not respond for a long time, an alarm signal is sent through the emergency broadcast system. Emergency broadcast system: used for emergency broadcasts of emergencies to quickly convey important information to various areas. Emergency broadcasts and emergency calls have sound and light flashing alarm functions, including direct telephone functions such as 1 to 1 or 1 to many, extensions initiating emergency calls, full calls and voice broadcasts, etc.

[0045] 3.24 In addition, the communication and positioning base station 8 also includes a data monitoring system for real-time monitoring of underground environmental parameters such as gas and temperature, and feeding this data back to the dispatch host 2. The data monitoring system's signal input is connected to gas sensors, temperature and humidity sensors, and hazardous gas sensors. The data monitoring system's signal output is connected to the dispatch host 2 via a wired or wireless network. When the sensor signals exceed critical values, the dispatch host 2 issues an alarm signal via the emergency broadcast system. The underground robot, equipped with multiple sensors, monitors the environmental conditions within the secondary tunnels in real time, enabling the timely identification of potential safety hazards and the implementation of appropriate preventive measures. This represents a unique feature of the new command and emergency dispatch system for coal mines and other mining operations.

[0046] 4. The mine digital program-controlled dispatching communication method based on the above system, such as Figure 2-Figure 5 As shown, the following steps are included.

[0047] 1.4 The robot SLAM technology is used to locate and scan each tunnel in the coal mine, realize the robot's self-positioning and build a three-dimensional map of the surrounding environment. The data information of the three-dimensional map is transmitted to the dispatch host 2 and / or the main control center 1.

[0048] 4.2 During the underground work process, each miner's portable communicator 12 transmits their voice information to the communication base station 8. The communication base station 8 then identifies the voice information, first determining the speaker's identity and then determining whether the voice is a "communication request" or "unsolicited voice." The communication base station 8 identifies the voice information (identifying different speakers and their speech content within a large crowd) using the following method: Each miner's portable communicator 12 collects voice information, performs noise reduction and enhancement on the collected voice signals to improve recognition accuracy, and uses voiceprint recognition technology to extract key features from the voice signals, such as Mel-Frequency Cepstral Coefficients (MFCCs). These extracted features are compared with features in a voiceprint database to identify the speaker's identity. The identified speech content is further analyzed to determine whether it is a "communication request" or "unsolicited voice."

[0049] 4.21 The communication base station 8 identifies the voice information (identifies different speakers and their speech content among a large group of people), including the following.

[0050] First, a voiceprint database is established: voiceprint samples of underground personnel are collected in advance using recording equipment. These samples are preprocessed and feature extracted. A voiceprint recognition algorithm is used to compare and match the feature vectors to create a voiceprint model. During application, voice signals are collected on-site. The sampling period is determined according to the Nyquist sampling theorem (to avoid frequency domain aliasing distortion), and the analog voice signals are converted into digital signals through sampling. The sampling frequency range for voice signals is 300-3400Hz, with a sampling rate of 8kHz. This includes nearly any speech produced by underground personnel, including normal conversations, self-talk, and coughs.

[0051] Pre-emphasis and denoising of the acquired signal: Pre-emphasis is applied to the input digital speech signal to emphasize the high-frequency portion of the speech, remove the influence of non-lip noise, and increase the high-frequency resolution of the speech. Due to the high ambient noise in the mine, the speech signal requires denoising to improve its quality. This can be achieved through speech enhancement techniques, which aim to extract the useful speech signal from the mixed signal and suppress background noise. Speech separation: In multi-speaker scenarios, speech separation techniques (such as the pyannote.audio library) are used to extract the speech signals of different target speakers and process them separately. Feature extraction: After preprocessing, feature parameters are extracted from the speech signal, such as those used for speech recognition and speaker identification. Key feature parameters include short-term energy, average amplitude, zero-crossing rate, autocorrelation function, and average amplitude difference function. Voiceprint feature extraction and comparison: Voiceprint features are extracted from the separated speech segments and compared with those in a database. Speaker identification is achieved by calculating similarity metrics such as cosine distance. Through the above steps, the digital program-controlled dispatching communication system for mines can effectively pre-process voice signals to improve the clarity and reliability of voice communication.

[0052] 4.22 If the call is a "communication request voice," the specific content of the voice information is converted into digital information. This digital information, along with the speaker's identity, is then transmitted via the ring network switch 4 to the digital program-controlled switch 3. The digital program-controlled switch 3 dispatches the voice information to the main control center 1 or other communication base station 8, enabling voice communication above or below the coal mine. This process includes: voice information conversion: if it is a "communication request voice," the voice content is converted into digital information; information transmission: the speaker's digital information and identity information are transmitted via the ring network switch 4 to the digital program-controlled switch 3; and communication dispatch: the digital program-controlled switch 3 dispatches the voice information to the main control center 1 or other communication base station 8, enabling communication.

[0053] 4.23 If the voice is determined to be "unsolicited," the communication base station 8 does not transmit the specific content of the voice information. Instead, it simultaneously wakes up the local positioning base station 9 and an adjacent positioning base station 9. The two positioning base stations 9 measure the distances r1 and r2 to the corresponding positioning card 13 holders, and transmit this distance information along with the speaker's identity to the dispatch host 2. This process involves waking up the positioning base station 9: if it is an "unsolicited voice," both the local positioning base station 9 and an adjacent positioning base station 9 are woken up; distance measurement: The two positioning base stations 9 measure the distances r1 and r2 to the positioning card 13 holders; and information transmission: The distance information along with the speaker's identity is transmitted to the dispatch host 2.

[0054] 4.3 The dispatch host 2 draws spheres on the underground three-dimensional map, using the coordinates of the two positioning base stations 9 as center points and r1 and r2 as radii. It then calculates the circular line O where the two spheres intersect and overlap, and then proceeds to calculate the intersection point between the circular line O and the axis line L of the adjacent three-dimensional map laneway. The coordinates of this intersection point are used as the location coordinates of the cardholder of the corresponding positioning card 13. Specifically, the sphere is drawn: the dispatch host 2 draws spheres on the underground three-dimensional map, using the coordinates of the two positioning base stations 9 as center points and r1 and r2 as radii. The circular line is calculated: the circular line O where the two spheres intersect and overlap is calculated. The intersection point is calculated: the intersection point between the circular line O and the axis line L of the adjacent three-dimensional map laneway is calculated. The location coordinates are determined: the coordinates of this intersection point are used as the location coordinates of the cardholder of the corresponding positioning card 13. The identification results and location coordinate information are output to the main control center 1 or other relevant personnel for subsequent scheduling and management, to achieve the connection of personnel positioning, wireless communication, office telephone and other systems, and to realize seamless upgrade and unified scheduling of the entire network.

[0055] 5. Based on the above-mentioned digital program-controlled dispatching communication method and system for mining, the specific application process includes the following steps.

[0056] 5.1 System Initialization and Equipment Inspection: Before the mine begins operations, the dispatching host and each communication base station, as well as the dynamic communication positioning base station, must first be initialized to ensure the proper functioning of the hardware and software environment. This includes checking signal strength, water level monitoring, and other equipment. This ensures the system operates in optimal conditions, allowing for timely detection and troubleshooting to avoid technical issues during actual operations and improve overall safety and reliability.

[0057] 5.2 Personnel Positioning and Communication Device Distribution: After entering the mine, each worker wears a portable communicator to confirm their location. The system automatically identifies and records each miner's identity and location using ZigBee technology. Real-time collection of miner location information effectively prevents personnel from getting lost or missed, improves miner safety, and ensures accurate tracking of each miner.

[0058] 5.3 Environmental Monitoring and Data Collection: Gas sensors, temperature and humidity sensors installed throughout the mine monitor environmental parameters in real time, feeding this data back to the dispatching host. By monitoring underground gas and temperature changes, potential hazards can be detected promptly, providing environmental safety for mine operations and ensuring the health and safety of miners.

[0059] 5.4 Voice Communication and Request Processing: Miners initiate communication requests through portable communicators during work, and the voice information is transmitted to the nearest communication base station. The base station uses voiceprint recognition technology to identify the speaker and determine the nature of the request. This ensures accurate and immediate communication, allowing the dispatch host to quickly receive and process miners' requests, improving work efficiency and safety response speed.

[0060] 5.5 Emergency Response and Alarm Mechanism: If the portable communicator is inactive within a specified time threshold, the system will automatically sound an alarm, and the dispatch host will simultaneously push the information to adjacent base stations. This allows for rapid response to emergencies, ensuring timely dispatch of rescue forces in emergencies and reducing the risk of loss in the event of an accident.

[0061] 5.6 Dynamic Map Construction and Environmental Modeling: SLAM robots are used to move within the mine, acquiring real-time environmental data and constructing a three-dimensional map. This data is then transmitted to the dispatch host and control center via a wireless network. This allows for dynamic updates of the mine's complex environment, improving the efficiency of on-site management and scheduling, and enabling real-time visualization of changes in the mine's structure and environment.

[0062] 5.7 Information Integration and Decision Support: After receiving all communication, environmental monitoring, and positioning data, the dispatch host conducts a comprehensive analysis and outputs clear dispatch instructions and alarms. This provides dispatchers with comprehensive, real-time information support, ensuring rapid and accurate decision-making and improving overall mine management efficiency.

[0063] 5.8. Subsequent Data Archiving and Analysis: The system archives all communication records, environmental monitoring data, and positioning information for subsequent query and analysis. This comprehensive data history enables safety reviews and improvements, strengthens the mine's safety management system, and promotes intelligent evolution.

[0064] Through the above steps, the digital program-controlled dispatching and communication system for mining can efficiently coordinate various functions to ensure the safety of mine operations, the real-time nature of communications, and the controllability of the environment, providing miners with a safe working platform. The above specific embodiments of the present invention are merely used to illustrate or explain the principles of the present invention and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the scope of protection of the present invention.

Claims

1. A digital program-controlled dispatching communication method for mines, applied to a digital program-controlled dispatching communication system for mines, characterized in that: The system includes a dispatching host located at the bottom of the main lane and a static communication positioning base station located in each auxiliary lane. The dispatching host includes a digital program-controlled switch, and the static communication positioning base station includes a communication base station and a positioning base station. S1: Use robot SLAM technology to scan and locate each tunnel in the coal mine, realize the robot's self-positioning and build a three-dimensional map of the surrounding environment, and transmit the data information of the three-dimensional map to the dispatching host and / or main control center; S2: Using the portable communicator of each underground worker, the voice information of the corresponding underground worker is transmitted to the communication base station. The communication base station recognizes the voice information, first determines the identity of the speaker, and then determines whether the voice is a "communication request voice" or an "unsolicited voice"; The communication base station uses the following method to identify voice information: Voiceprint samples of underground personnel are collected in advance through recording equipment, pre-processed and feature extracted from the collected voiceprint samples, and the feature vectors are compared and matched using a voiceprint recognition algorithm to establish a voiceprint model. The sampling period is determined according to the Nyquist sampling theorem, and the on-site analog voice signal is converted into a digital signal through sampling. The input digital voice signal is pre-emphasized to remove the influence of non-lip noise and increase the high-frequency resolution of the voice. In a multi-speaker scenario, the voice signals of different target speakers are extracted and processed separately through voice separation technology. The characteristic parameters in the voice signal are extracted, and the voiceprint features of the separated voice segments are extracted and compared with the voiceprints in the voice database. The speaker is identified by calculating the cosine distance similarity metric. S3: If it is determined to be a "communication request voice", the specific content of the voice information of the "communication request voice" is converted into digital information. The digital voice information and the identity of the speaker are then transmitted to the digital program-controlled switch through the ring network switch. The digital program-controlled switch dispatches the voice information to the main control center or other communication base station to realize voice communication above or below the coal mine; S4: If it is determined to be an "unsolicited voice", the communication base station does not transmit the specific content of the voice information, but instead wakes up the local positioning base station and an adjacent positioning base station at the same time. The two positioning base stations respectively measure the distances r1 and r2 of the corresponding positioning card holder and transmit the distance information and the identity of the speaker to the dispatch host; S5: The dispatching host draws spheres on the underground three-dimensional map with the coordinates of the two positioning base stations as the center points and r1 and r2 as the radius respectively, and calculates the circular line O where the two spheres intersect and overlap, and then continues to calculate the intersection point of the circular line O and the axis line L of the adjacent three-dimensional map tunnel, and uses the coordinates of the intersection point as the position coordinates of the cardholder of the corresponding positioning card, and outputs the recognition results and position coordinate information to the main control center or other relevant personnel for subsequent scheduling and management.

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

3. The digital program-controlled dispatching communication system for mining according to claim 2, characterized in that: It also includes a dynamic communication and positioning base station, which includes a mobile robot. An on-board communication base station and a on-board positioning base station are installed on the mobile robot. The on-board communication base station is wirelessly connected to the dispatching host. The dispatching host controls each dynamic communication and positioning base station to execute movement, communication and positioning instructions; the dispatching host controls each dynamic communication and positioning base station to move into a signal blind spot or weak area to receive voice information and location information from the portable communicators of underground personnel. The dynamic communication and positioning base station transmits the voice information of the portable communicators of underground personnel directly to the digital programmable switch through the wireless network, and transmits the distance information between the mobile robot and the positioning card of the underground personnel directly to the dispatching host through the wireless network.

4. The digital program-controlled dispatching communication system for mining according to claim 3 is characterized in that: The dynamic communication positioning base station also includes a device installed on the mobile robot for real-time three-dimensional mapping. The device includes a panoramic camera and a three-dimensional laser scanner. The panoramic camera and the three-dimensional laser scanner are used as the main sensors. The panoramic camera extracts local environmental information and landmark group features in real time, generates a two-dimensional map, and uses the three-dimensional laser scanner to provide accurate robot positioning information. The three-dimensional point cloud obtained by the three-dimensional laser scanner is aligned, and this process is repeated until the local three-dimensional map is obtained. It is directly transmitted to the scheduling host or the main control center via the wireless network. The scheduling host or the main control center merges the newly obtained local maps of each mobile robot with the global map to achieve continuous environmental modeling.

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

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

7. The digital program-controlled dispatching communication system for mining according to claim 2, characterized in that: It also includes setting a positioning information generating module in the portable communicator, which performs regular communication with the positioning base station. The positioning base station measures the distance between the portable communicator and the positioning base station based on the position confirmation information actively sent by the positioning module, and transmits the distance information between the positioning base station and the portable communicator to the dispatch host through a wired or wireless network.

8. The digital program-controlled dispatching communication system for mining according to claim 7, characterized in that: Set a time threshold for distance change. When the dispatch host detects that the inactivity time of any portable communicator is greater than the time threshold, a warning ring tone is sent to the intrinsically safe telephone of the nearby communication base station underground. If the intrinsically safe telephone does not respond for a long time, an alarm signal is sent through the emergency broadcast system.

9. The digital program-controlled dispatching communication system for mining according to claim 2, characterized in that: The communication and positioning base station also includes a data monitoring system, which is used to monitor the gas and temperature parameters of the underground environment in real time and feed the data back to the dispatching host. The signal input end of the data monitoring system is connected to the gas sensor, temperature and humidity sensor, and the signal output end of the data monitoring system is connected to the dispatching host through a wired or wireless network. When the signal data of each sensor exceeds the critical value, the dispatching host sends an alarm signal through the emergency broadcast system.

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