Underground communication network arrangement method, communication robot, storage medium and equipment

Abstract

The invention relates to an underground communication network arrangement method, a communication robot, a storage medium and equipment, and belongs to the technical field of computer networks. Spatial free attenuation of wireless electromagnetic waves is fully considered, and the total interference power suffered by each position in an initial position set is calculated in combination with an interference distance; the position corresponding to the minimum value of the total interference power serves as the optimized position of the current communication node, interference between the communication nodes is reduced, the communication quality is guaranteed, meanwhile, the installation number of the communication nodes is reduced, the arrangement time of an underground wireless network is shortened, and more time is won for underground rescue.

Description

Technical Field

[0001] The present invention belongs to the technical field of computer networks, and in particular relates to a method for arranging an underground communication network, a communication robot, a storage medium and equipment. Background Art

[0002] At present, the communication used in coal mines in my country is mainly fixed telephones and PHS cellular communication systems connected by cables. The communication network of PHS is composed of the exchange server on the ground connected to the network communication base station underground through cables. The network communication base stations underground are connected by cables or optical fibers to form a wired loop network, but the network connection between the communication base station and PHS on the wired loop network is wireless. Due to the harsh and complex environment of coal mines, after safety accidents such as landslides, the cables of the wired communication network are easily damaged and broken, resulting in the inability of the wired communication network to be used for emergency rescue communications. The lack of reliable information underground on the ground has resulted in low efficiency in decision-making and command rescue, great difficulty in search and rescue, and even delayed the golden rescue time, causing huge losses to national property and the lives of miners. Therefore, ensuring effective communication under mine disaster conditions has become an important link in solving the problems of mine safety production information management monitoring and emergency rescue. For example, CN201611104717.6 discloses a method for deploying communication nodes of an underground rescue communication robot based on wireless communication propagation characteristics. It discloses that communication nodes should be installed at obstacles in positions where the radio electromagnetic wave attenuation rate is slow, but does not consider the spatial free attenuation loss between communication nodes and the interference between communication nodes. Summary of the invention In view of the various deficiencies in the prior art and in order to solve the above-mentioned problems, an underground communication network layout method, a communication robot, a storage medium and a device are proposed.

[0003] To achieve the above object, the present invention provides the following technical solutions: In a first aspect, the present invention provides a method for arranging a downhole communication network, comprising the following steps: The communication robot is used to arrange the communication nodes along the underground tunnel, and the communication robot periodically obtains the wireless communication signal emitted by the previous communication node arranged in the tunnel during the movement; The signal strength is obtained according to the analysis of the currently acquired wireless communication signal and the signal strength is compared with a preset signal strength threshold. If the current wireless communication signal strength is equal to the preset signal strength threshold, based on the position of the communication robot when the current wireless communication signal is acquired and the position of the previous communication node, an initial position set of the current communication node arrangement is calculated, wherein the position of the communication robot when the current wireless communication signal is acquired is in the initial position set; Based on the interference degree of several deployed communication nodes to the current communication node, the optimal position of the current communication node is obtained from the initial position set; The communication robot arranges the current communication nodes according to the optimized position.

[0004] The technical solution is further configured that the calculation obtains the initial position set of the current communication node arrangement, specifically: A circle is constructed with the last communication node position as the center and the distance between the communication robot's position when the current wireless communication signal is acquired and the last communication node position as the radius. Several positions on the circle constitute the initial position set of the current communication node arrangement.

[0005] The technical solution is further configured such that, based on the interference degree of the arranged communication nodes to the current communication node, the optimal position of the current communication node is obtained by screening from the initial position set, specifically: Select any position in the initial position set, and determine an interfering communication node that interferes with the position from among a plurality of deployed communication nodes based on a preset interference distance; Obtain the distance between the location and each interfering communication node, and calculate the total interference power of the location affected by the interfering communication nodes; The total interference power of other positions in the initial position set is traversed and calculated, and the position corresponding to the minimum total interference power is used as the optimized position of the current communication node.

[0006] The technical solution is further configured such that the interference distance is d i , and satisfies: d max ≤d i ≤d c , where d c is the distance at which the wireless communication signal can be detected from the communication signal transmitter, d max The maximum communication distance from the communication signal transmitting end to the communication signal receiving end; The signal strength at the receiving end of the communication signal is P r , the signal strength of the communication signal transmitter is P t , the attenuation strength of the wireless communication signal from the communication signal transmitting end to the communication signal receiving end is L, then P r =P t -L≥P q , where P q is the preset signal strength threshold, L=L 0 +L 1 , L 0 is the free space loss intensity, L 1 is the attenuation intensity caused by environmental factors, which can be ignored, L 0 =G T G R (4πd / λ) 2 , G Tis the antenna gain at the communication signal receiving end, G R is the antenna gain of the communication signal transmitting end, d is the communication distance from the communication signal transmitting end to the communication signal receiving end, and when the signal strength of the communication signal receiving end is equal to the preset signal strength threshold, the communication distance d from the communication signal transmitting end to the communication signal receiving end is obtained. max .

[0007] The technical solution is further configured that the calculation obtains the total interference power of the communication node interfered with at the location, specifically: The interference power of a certain interfering communication node at the position i is P i , and satisfy: P i =P t G tx c 2 / [(4πf) 2 d li m ], G tx is the antenna gain at that location, m is the attenuation index, P t is the signal strength of the interfering communication node, c is a constant related to the environment, taken from actual engineering applications, f is the frequency of the wireless communication signal, d li is the distance between the location and the interfering communication node; The total interference power of k interfering communication nodes at position i is P ki , and satisfy: .

[0008] The technical solution is further configured to include, before using the communication robot to arrange the communication nodes along the underground tunnel, the following steps are further included: The communication robot uses the distributed sensors it carries to obtain environmental information in the tunnel, including gas composition, gas concentration and temperature. Based on the obtained environmental information, it determines whether the underground tunnel meets the requirements of wireless communication. If so, the communication robot is used to arrange communication nodes along the underground tunnel. If not, the communication robot is used to arrange optical fibers along the underground tunnel.

[0009] The technical solution is further configured that the determination of whether the underground tunnel meets the wireless communication requirements is specifically as follows: When the gas composition does not exceed the preset gas composition range, the gas concentration is less than the gas concentration threshold and the temperature is less than the temperature threshold, the underground tunnel is deemed to meet the conditions for adopting wireless communication methods; otherwise, it is deemed not to meet the conditions for adopting wireless communication methods.

[0010] In a second aspect, the present invention provides a communication robot, comprising: An acquisition module, which periodically acquires a wireless communication signal transmitted by a previous communication node arranged in the lane; A calculation module, which obtains signal strength according to the currently acquired wireless communication signal analysis and compares the signal strength with a preset signal strength threshold. If the current wireless communication signal strength is equal to the preset signal strength threshold, an initial position set of the current communication node arrangement is calculated based on the position of the communication robot when the current wireless communication signal is acquired and the position of the previous communication node. Based on the interference degree of several arranged communication nodes to the current communication node, an optimized position of the current communication node is screened from the initial position set; The execution module arranges the current communication nodes according to the optimized position.

[0011] In a third aspect, the present invention provides a storage medium, wherein the storage medium stores a program, and the program executes the steps in the underground communication network deployment method.

[0012] In a fourth aspect, the present invention provides a device, comprising a memory and a processor; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the underground communication network arrangement method are implemented.

[0013] The beneficial effects of the present invention are: 1. The establishment of a wireless communication network requires the installation of communication nodes. The spatial free attenuation of radio electromagnetic waves is taken into account, and the total interference power received by each position in the initial position set is calculated in combination with the interference distance. The position corresponding to the minimum total interference power is used as the optimal position of the current communication node, which reduces the interference between communication nodes. While ensuring the communication quality, the number of installed communication nodes is reduced, which reduces the time for deploying the underground wireless network and buys more time for underground rescue.

[0014] 2. Select wired communication mode or wireless communication mode according to the environmental information of the underground tunnel, which improves the efficiency of underground communication network layout.

[0015] 3. The wired communication line can be laid out synchronously with the travel speed through the optical fiber retracting and releasing device carried by the communication robot, which greatly improves the work efficiency of laying out the underground wired communication network. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of the underground communication network arrangement method of the present invention; Figure 2 It is a schematic diagram of the principle of radio electromagnetic wave propagation loss in free space; Figure 3 is a schematic diagram of the interference area; Figure 4 It is a schematic diagram of the chain communication network in the direct lane; Figure 5 is a flow chart of another implementation of the underground communication network arrangement method of the present invention; Figure 6 It is a schematic diagram of the communication robot in the present invention. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0018] Embodiment 1: like Figure 1 As shown, the underground communication network arrangement method includes the following steps: S100, using a communication robot to arrange communication nodes along an underground tunnel, and periodically acquiring a wireless communication signal emitted by a previous communication node arranged in the tunnel during the movement of the communication robot.

[0019] S200. Analyze the signal strength according to the currently acquired wireless communication signal and compare the signal strength with the preset signal strength threshold. If the current wireless communication signal strength is equal to the preset signal strength threshold, calculate the initial position set of the current communication node arrangement based on the position of the communication robot when the current wireless communication signal is acquired and the position of the previous communication node, wherein the position of the communication robot when the current wireless communication signal is acquired is in the initial position set.

[0020] Specifically, a circle is constructed with the position of the last communication node as the center and the distance between the position of the communication robot when the current wireless communication signal is acquired and the position of the last communication node as the radius, and several positions on the circle constitute the initial position set of the current communication node arrangement.

[0021] S300: Based on the interference degree of several deployed communication nodes to the current communication node, select and obtain the optimized position of the current communication node from the initial position set.

[0022] The optimized position of the current communication node is obtained by screening from the initial position set, specifically: S301. Select any position in the initial position set, and determine an interfering communication node that interferes with the position among a plurality of deployed communication nodes based on a preset interference distance.

[0023] After a radio wave propagates through a certain path, its energy will attenuate due to the diffusion of radiation energy. Among them, the principle of radio wave propagation loss in free space, such as Figure 2 As shown in the figure, ① represents the power of the communication signal transmitting end, ② represents the line loss of the adapter and cable connecting the communication signal transmitting end to the antenna, ③ represents the antenna gain of the communication signal transmitting end, ④ represents the path loss and obstacle attenuation, which is the degree of signal energy loss between the sending and receiving antennas, ⑤ represents the antenna gain of the communication signal receiving end, ⑥ represents the line loss of the adapter and cable connecting the communication signal receiving end to the antenna, and ⑦ represents the power of the communication signal receiving end. Therefore, the attenuation caused by the diffusion of radiation energy and the attenuation caused by regional environmental factors during the propagation of radio electromagnetic waves should be comprehensively considered.

[0024] When the communication signal receiving end can receive but cannot demodulate the carrier signal transmitted by the communication signal transmitting end, it is considered that there is interference between the communication signal receiving end and the communication signal transmitting end, and the interference distance is d i , and satisfies: d max ≤d i ≤d c , where d c is the distance at which the wireless communication signal can be detected from the communication signal transmitter, d max is the maximum communication distance from the communication signal transmitter to the communication signal receiver. Generally, d c >2d max .

[0025] The signal strength at the receiving end of the communication signal is P r , the signal strength of the communication signal transmitter is P t , the attenuation strength of the wireless communication signal from the communication signal transmitting end to the communication signal receiving end is L, then P r =P t -L≥P q , where P q is the preset signal strength threshold, L=L 0 +L 1 , L 0 is the free space loss intensity, L 1 is the attenuation intensity caused by environmental factors, which can be ignored, L 0 =G T G R (4πd / λ) 2 , G T is the antenna gain at the communication signal receiving end, G Ris the antenna gain of the communication signal transmitting end, d is the communication distance from the communication signal transmitting end to the communication signal receiving end, and when the signal strength of the communication signal receiving end is equal to the preset signal strength threshold, the communication distance d from the communication signal transmitting end to the communication signal receiving end is obtained. max .

[0026] That is to say, the area with the communication signal transmitting end as the center and d max The communication signal receiving end within the circle with a radius of d can normally receive and demodulate the carrier signal, while the signal greater than d max and less than d c The communication signal receiving end cannot demodulate the carrier signal.

[0027] like Figure 3 As shown, the remote node interference source of the communication signal receiving end B must be distributed around A and B with a radius of d max The circle with B as the center and d c is the complement of the circle with radius Figure 3 The middle gray area represents the interference area, and the communication nodes located in the interference area are the interfering communication nodes (S1, S2, S3, S4, S5) of the communication signal receiving end B.

[0028] S302: Obtain the distance between the location and each interfering communication node, and calculate the total interference power of the location affected by the interfering communication nodes.

[0029] The interference power of a certain interfering communication node at the position i is P i , and satisfy: P i =P t G tx c 2 / [(4πf) 2 d li m ], G tx is the antenna gain at that location, m is the attenuation index, P t is the signal strength of the interfering communication node, c is a constant related to the environment, taken from actual engineering applications, f is the frequency of the wireless communication signal, d li is the distance between the location and the interfering communication node.

[0030] From the above, it can be seen that the smaller the distance between the interfering communication node and the position i, the stronger the interference will be. Therefore, under the premise of ensuring the communication quality, appropriately adjusting the distance between communication nodes can not only reduce the number of communication nodes installed and save time for underground emergency communications, but also reduce the degree of interference and improve communication quality.

[0031] like Figure 4As shown, take the case where communication nodes A and B perform data transmission in a chain communication network in a straight-through lane as an example: When communication nodes A and B are transmitting data, A is the communication signal transmitter and B is the communication signal receiver. At this time, the remote communication nodes C and D are within the range of the carrier that B can detect. Communication nodes C and D, as communication signal receivers, send data, which will interfere with B, and the power received by B at this time will be regarded as interference power.

[0032] In the alley, two adjacent communication nodes are usually installed with the maximum transmission distance. When the alley turns or there are obstacles, the strength of the wireless signal will be reduced. At this time, it is necessary to shorten the maximum transmission distance and reduce the transmission power of the communication signal transmitter to reduce the interference power to other communication signal receiving ends, reduce the degree of interference, and improve the quality of communication.

[0033] The total interference power of k interfering communication nodes at position i is P ki , and satisfy: .

[0034] S303, traverse and calculate the total interference power of other positions in the initial position set, and take the position corresponding to the minimum total interference power as the optimized position of the current communication node.

[0035] S400: The communication robot arranges the current communication nodes according to the optimized position.

[0036] Before step S100, the method further includes: The communication robot uses the distributed sensors it carries to obtain environmental information in the tunnel, including gas composition, gas concentration and temperature. Based on the obtained environmental information, it determines whether the underground tunnel meets the requirements of wireless communication. If so, the communication robot is used to arrange communication nodes along the underground tunnel. If not, the communication robot is used to arrange optical fibers along the underground tunnel.

[0037] Specifically, when the gas composition does not exceed the preset gas composition range, the gas concentration is less than the gas concentration threshold and the temperature is less than the temperature threshold, the underground tunnel is deemed to meet the conditions for adopting wireless communication methods; otherwise, it is deemed that the conditions for adopting wireless communication methods are not met, the optical fiber retracting and releasing device located on the communication robot works, and a wired communication line is arranged in the tunnel.

[0038] In some other embodiments, when the communication robot periodically acquires the wireless communication signal emitted by the previous communication node arranged in the alley, it simultaneously acquires whether there is an obstacle in the alley. If there is an obstacle in the alley, it determines the type of obstacle, which includes single-sided alley accumulation obstacles and double-sided alley accumulation obstacles. According to the obstacle type, obstacle information is extracted, which includes only obstacle areas in the alley with obstacles, and both obstacle areas and obstacle-free areas in the alley with obstacles. The current communication node is arranged based on the obstacle information.

[0039] In the case where only the obstacle area exists in the lane with obstacles, the priority levels of the current communication node layout positions are from high to low: the bottom of the obstacle area, the middle of the obstacle area, and the top of the obstacle area.

[0040] In the case where there are obstacle areas and barrier-free areas in a lane with obstacles, the priorities of the current communication node placement positions are from high to low: barrier-free area, barrier area.

[0041] The detailed process of judging whether there are obstacles in the tunnel, judging the obstacle type, extracting obstacle information and the corresponding communication node deployment strategy can be referred to CN201611104717.6 Communication node deployment method of underground rescue communication robot based on wireless communication propagation characteristics, which will not be repeated here.

[0042] Combine the following Figure 5 An optional implementation example of this solution is introduced, and the specific process is as follows: The communication robot carries the communication equipment into the underground, and obtains environmental information and obstacle information in the tunnel through environmental detectors and laser detectors. It collects video monitoring images in the tunnel through the camera module and displays them on the monitoring display of the ground command center. The ground command center monitors and controls the movement and work of the communication robot.

[0043] The distributed sensors carried by the communication robot can detect environmental conditions such as gas (concentration) and temperature in the tunnel, determine the underground communication conditions, and decide whether to use wireless communication or wired communication, or whether to use both wireless and wired communication, with one line as the main line and the other as a backup.

[0044] When using wired communication, the optical fiber retracting and releasing device located at the rear of the communication robot will retract and release the optical fiber synchronously with the travel speed of the communication robot to complete the wiring of wired communication.

[0045] When wireless communication is used and there are no obstacles in the tunnel, the communication robot begins to deploy the wireless communication nodes it carries, taking into account the attenuation of the communication signal and the interference between the communication nodes, and calculating the total interference power received by each position in the initial position set in combination with the interference distance. The position corresponding to the minimum total interference power is used as the optimized position of the current communication node, and the installation of the wireless communication node is completed accordingly.

[0046] When the laser detector detects the presence of an obstacle in the tunnel, the obstacle will hinder the propagation of the electromagnetic wave of the communication signal, affect the strength of the communication signal received by the receiving node, and affect the communication quality. Therefore, it is necessary to install a communication node at the obstacle to enhance the signal. The installation location is preferably in an obstacle-free area with a slow signal attenuation rate. When there is no obstacle-free area in the tunnel, the installation location is preferably selected at the bottom of the obstacle area, the middle of the obstacle area, and the top of the obstacle area.

[0047] The installed communication nodes are sorted, and their local network addresses and destination network addresses are set to achieve address access between communication nodes, thereby transmitting data information.

[0048] As the communication robot moves forward, the communication network is gradually laid out, and the detected data, images and other communication data are transmitted to the terminal base station or the well switch through communication nodes or optical fibers and uploaded to the host computer, realizing communication between the underground and the ground command room.

[0049] In addition, if Figure 6 As shown, the present invention provides a communication robot, comprising: An acquisition module, which periodically acquires a wireless communication signal transmitted by a previous communication node arranged in the lane; A calculation module, which obtains signal strength according to the currently acquired wireless communication signal analysis and compares the signal strength with a preset signal strength threshold. If the current wireless communication signal strength is equal to the preset signal strength threshold, an initial position set of the current communication node arrangement is calculated based on the position of the communication robot when the current wireless communication signal is acquired and the position of the previous communication node. Based on the interference degree of several arranged communication nodes to the current communication node, an optimized position of the current communication node is screened from the initial position set; The execution module arranges the current communication nodes according to the optimized position.

[0050] In addition, the present invention provides a storage medium, which stores a program, and the program executes the steps in the underground communication network layout method.

[0051] In addition, the present invention provides a device, including a memory and a processor; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the underground communication network arrangement method are implemented.

[0052] Embodiment 2: The underground communication system includes a ground command center and underground communication equipment located in the tunnel. The ground command center includes an uphole mobile communication terminal, a wireless router, a host computer, a video controller, a video monitoring display, an uphole switch, and a terminal base station. The underground communication equipment includes a base station, a repeater (communication node), a communication robot (tracked communication robot), a rescue robot (tracked rescue robot), an underground explosion-proof mobile communication terminal, a master control box, and a slave control box.

[0053] The host computer of the ground command center is connected to the terminal base station, communication robot, and rescue robot through the well switch. At the same time, the host computer is connected to the video monitoring display through the video controller, and the monitoring screen is controlled by the video controller. The wireless router is connected to the well switch through the host computer and realizes wireless communication with the well mobile communication terminal.

[0054] The built-in environmental detector and laser detector of the communication robot can detect the underground environment and trapped personnel. The built-in wireless communication module of the communication robot detects the wireless communication signal strength in real time. The central processor of the communication robot processes and analyzes the data to calculate the installation position of the communication node and uploads it to the ground. The built-in camera of the rescue robot converts the analog signal into a digital signal through the AD chip and uploads it to the video monitoring display on the ground to realize visual rescue communication. The main control box monitors the operating status of other equipment from the control box and uploads it to the ground command center, and conveys operating instructions to other equipment to realize the coordinated operation of equipment. The underground explosion-proof mobile terminal communicates with the ground command center through the base station.

[0055] The master control box and the slave control box both include a box body and a control circuit. The control circuit is arranged in the box body, and the control circuit is used to control the coordinated operation of different slave devices according to the current status of different slave devices.

[0056] The control circuit includes a data processing module, a device status acquisition module and a device status display module. The device status acquisition module and the device status display module are both connected to the data processing module. The device status acquisition module is used to collect the operating status information of the device. The data processing module is used to control the operation of different devices according to the operating status information and display it through the device status display module.

[0057] The data processing module includes a control unit and a data transceiver unit. The control unit is connected to the data transceiver unit. The control unit is used to perform data analysis and processing. The data transceiver unit is used to realize data interaction between the control unit and the device status acquisition module and the device status display module.

[0058] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A method for arranging a downhole communication network, characterized in that: The following steps are involved: The communication robot is used to arrange the communication nodes along the underground tunnel, and the communication robot periodically obtains the wireless communication signal emitted by the previous communication node arranged in the tunnel during the movement; The signal strength is obtained according to the analysis of the currently acquired wireless communication signal and the signal strength is compared with a preset signal strength threshold. If the current wireless communication signal strength is equal to the preset signal strength threshold, based on the position of the communication robot when the current wireless communication signal is acquired and the position of the previous communication node, an initial position set of the current communication node arrangement is calculated, wherein the position of the communication robot when the current wireless communication signal is acquired is in the initial position set; Based on the interference degree of several deployed communication nodes to the current communication node, the optimal position of the current communication node is obtained from the initial position set; The communication robot arranges the current communication nodes according to the optimized position.

2. The underground communication network arrangement method according to claim 1, characterized in that: The calculation obtains the initial position set of the current communication node arrangement, specifically: A circle is constructed with the last communication node position as the center and the distance between the communication robot's position when the current wireless communication signal is acquired and the last communication node position as the radius. Several positions on the circle constitute the initial position set of the current communication node arrangement.

3. The underground communication network arrangement method according to claim 1 or 2, characterized in that: The method of selecting the optimal position of the current communication node from the initial position set based on the interference degree of the arranged communication nodes to the current communication node is as follows: Select any position in the initial position set, and determine an interfering communication node that interferes with the position from among a plurality of deployed communication nodes based on a preset interference distance; Obtain the distance between the location and each interfering communication node, and calculate the total interference power of the location affected by the interfering communication nodes; The total interference power of other positions in the initial position set is traversed and calculated, and the position corresponding to the minimum total interference power is used as the optimized position of the current communication node.

4. The underground communication network arrangement method according to claim 3, characterized in that: The interference distance is d i , and satisfies: d max ≤d i ≤d c , where d c is the distance at which the wireless communication signal can be detected from the communication signal transmitter, d max It is the maximum communication distance from the communication signal transmitter to the communication signal receiver.

5. The underground communication network arrangement method according to claim 4, characterized in that: The total interference power of the communication node interfered with at the location is obtained by calculation, specifically: The interference power of a certain interfering communication node at the position i is P i , and satisfy: P i =P t G tx c 2 / [(4πf) 2 d li m ], G tx is the antenna gain at that location, m is the attenuation index, P t is the signal strength of the interfering communication node, c is a constant related to the environment, taken from actual engineering applications, f is the frequency of the wireless communication signal, d li is the distance between the location and the interfering communication node; The total interference power of k interfering communication nodes at position i is P ki , and satisfy: 。 6. The underground communication network arrangement method according to claim 1, characterized in that: Before using the communication robot to arrange the communication nodes along the underground tunnel, it also includes: The communication robot uses the distributed sensors it carries to obtain environmental information in the tunnel, including gas composition, gas concentration and temperature. Based on the obtained environmental information, it determines whether the underground tunnel meets the requirements of wireless communication. If so, the communication robot is used to arrange communication nodes along the underground tunnel. If not, the communication robot is used to arrange optical fibers along the underground tunnel.

7. The underground communication network arrangement method according to claim 6, characterized in that: The determination of whether the underground tunnel meets the requirements of wireless communication is specifically as follows: When the gas composition does not exceed the preset gas composition range, the gas concentration is less than the gas concentration threshold and the temperature is less than the temperature threshold, the underground tunnel is deemed to meet the conditions for adopting wireless communication methods; otherwise, it is deemed not to meet the conditions for adopting wireless communication methods.

8. A communication robot, characterized in that: include: An acquisition module, which periodically acquires a wireless communication signal transmitted by a previous communication node arranged in the lane; A calculation module, which obtains signal strength according to the currently acquired wireless communication signal analysis and compares the signal strength with a preset signal strength threshold. If the current wireless communication signal strength is equal to the preset signal strength threshold, an initial position set of the current communication node arrangement is calculated based on the position of the communication robot when the current wireless communication signal is acquired and the position of the previous communication node. Based on the interference degree of several arranged communication nodes to the current communication node, an optimized position of the current communication node is screened from the initial position set; The execution module arranges the current communication nodes according to the optimized position.

9. A storage medium, characterized in that: The storage medium stores a program, and the program executes the steps in the underground communication network deployment method described in any one of claims 1-7.

10. A device, characterized in that: including memory and processor; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the underground communication network deployment method described in any one of claims 1-7 are implemented.

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