Underground safety monitoring system and method based on edge computer and edge computer

Abstract

The invention discloses an underground safety monitoring system and method based on an edge computer and the edge computer, and relates to the field of underground safety monitoring, and the system comprises a detection system and at least one edge computer; the edge computer is used for receiving environmental data sent by the detection equipment; monitoring the connection state with a ground host, if the connection is abnormal, storing the environment data to the local, and after the connection is recovered, sending the environment data to the ground host; analyzing the environment data through preset anomaly detection logic; if the environment data is analyzed to be abnormal, a first alarm signal is generated and sent to a display device and an underground alarm system, and the first alarm signal comprises at least one of a first timestamp matched with the environment data and a first identifier of the detection device matched with the environment data. According to the system, potential safety hazards caused by faults of communication links are avoided.

Description

Technical Field

[0001] The present application relates to the field of underground safety monitoring, and in particular to an underground safety monitoring system, method and edge computer based on an edge computer. Background Art

[0002] In the mining industry, in order to ensure the safety of miners and improve production efficiency, the setting of underground safety monitoring system is very important. The traditional underground safety monitoring system relies on sending environmental data directly to the ground host through various sensors. These sensors are usually distributed in different locations underground, monitoring the changes in the underground environment in real time, and transmitting the environmental data to the ground host for processing and analysis. This deployment method is widely used in various mining companies.

[0003] However, when the communication link fails, the ground host will not be able to receive sensor data, resulting in a monitoring blind spot, which poses a safety hazard. Summary of the invention

[0004] The purpose of this application is to provide an edge computer-based underground safety monitoring system and method, which can avoid safety hazards caused by communication link failures.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides an edge computer-based underground safety monitoring system, comprising a detection system and at least one edge computer;

[0007] The detection system includes at least one detection device; the categories of environmental data collected by the at least one detection device include: at least one of harmful gas concentration, gas flow, atmospheric pressure, ambient temperature and ambient humidity; the edge computer supports communication with the detection device;

[0008] The edge computer is used to:

[0009] Receiving environmental data sent by the detection device;

[0010] Monitor the connection status with the ground host, if the connection is abnormal, store the environmental data locally, and send the environmental data to the ground host after the connection is restored;

[0011] Analyzing the environmental data using a preset anomaly detection logic;

[0012] If an abnormality is analyzed, a first alarm signal is generated and sent to a display device and an underground alarm system. The first alarm signal includes at least one of the following: a first timestamp matching the environmental data, and a first identifier of the detection device matching the environmental data.

[0013] In a second aspect, the present application provides an underground safety monitoring method based on an edge computer, comprising:

[0014] Receiving environmental data, the environmental data including at least one of the following parameters: harmful gas concentration, gas flow, atmospheric pressure, ambient temperature and ambient humidity;

[0015] Monitor the connection status with the ground host, if the connection is abnormal, store the environmental data locally, and send the environmental data to the ground host after the connection is restored;

[0016] The environmental data is analyzed by a preset abnormality detection logic. If an abnormality is found, a first alarm signal is generated and sent to a display device and an underground alarm system. The first alarm signal includes at least one of the following: a first timestamp that matches the environmental data, and a first identifier of the detection device that matches the environmental data.

[0017] In a third aspect, the present application provides an edge computer, including:

[0018] A first receiving module, used to receive environmental data sent by the detection system, wherein the environmental data includes at least one of the following parameters: harmful gas concentration, gas flow, atmospheric pressure, ambient temperature and ambient humidity;

[0019] A monitoring module is used to monitor the connection status with the ground host, and if the connection is abnormal, the environmental data is stored locally, and after the connection is restored, the environmental data is sent to the ground host;

[0020] An analysis module, used to analyze the environmental data using a preset anomaly detection logic;

[0021] If an abnormality is analyzed, a first alarm signal is generated and sent to a display device and an underground alarm system. The first alarm signal includes at least one of the following: a first timestamp matching the environmental data, and a first identifier of the detection device matching the environmental data.

[0022] Optionally, the edge computer further includes:

[0023] A real-time clock module, configured to generate and / or store the first timestamp;

[0024] A denoising module, used for denoising the environmental data before analyzing the environmental data through a preset anomaly detection logic;

[0025] An outlier removal module, used for removing outliers from the environmental data after the denoising process;

[0026] A unit conversion module, used for performing unit conversion on the environmental data after the outlier removal process;

[0027] An additional module, used for attaching the first timestamp stored by the real-time clock module to the environmental data after the unit conversion, wherein the first timestamp is used to make each environmental data have a corresponding time reference;

[0028] The environmental data analyzed by the analysis module includes environmental data with a first timestamp attached.

[0029] Optionally, the real-time clock module is further used to generate and or store the second timestamp, and the monitoring module specifically includes:

[0030] A first sending module is configured to send a first heartbeat packet to the ground host at a first preset time interval, wherein the first heartbeat packet includes at least one of the following: a second identifier of the edge computer and a second timestamp;

[0031] A first determination module is used to determine that there is a connection abnormality between the edge computer and the ground host if the response time of the ground host is greater than a first threshold for m consecutive times; m is a natural number;

[0032] A writing module, used for writing the environmental data as accumulated data into a time series database when it is determined that the connection is abnormal;

[0033] A second determination module is used to determine that the edge computer is connected to the ground host if the ground host response time is less than or equal to the first threshold for M consecutive times; M is a natural number;

[0034] The reading module is used to read the accumulated data from the time series database and upload the accumulated data in batches to the ground host in chronological order.

[0035] Optionally, the edge computer further includes:

[0036] A second receiving module, configured to receive a time synchronization instruction from the ground host, wherein the time synchronization instruction includes a third timestamp provided by the ground host;

[0037] The adjustment module performs time calibration on the local clock according to the time synchronization instruction.

[0038] Optionally, the edge computer further includes:

[0039] The time compensation module is used to compensate the drift error of the local clock through the configured periodic time synchronization mechanism when the edge computer is connected to the ground host normally.

[0040] Optionally, the edge computer further includes:

[0041] A setting module, configured to pre-set a link priority list, wherein the link priority list includes a priority order of each communication link, wherein the communication link includes at least one of the following: 4G / 5G, Wi-Fi, and wired connection;

[0042] When the system is initialized, one of the available communication links is randomly selected for communication;

[0043] A checking module, configured to periodically check a key performance indicator of each of the communication links, wherein the key performance indicator includes at least one of the following: packet loss rate, delay time, bandwidth utilization, and connection stability, wherein the connection stability includes interruption and no interruption;

[0044] An adjustment module is used to adjust the weight of each of the communication links according to the key performance indicators, and update the link priority list according to the adjustment result.

[0045] Optionally, the first receiving module includes:

[0046] A first sending module, configured to send an ICMP Echo Request data packet to the detection device IP address for n consecutive times at a second preset time interval, wherein the ICMP Echo Request data packet carries a third identifier and a first sequence number for verification; n is a natural number;

[0047] The third determination module is used to determine that the connection between the edge computer and the detection device is normal if the ICMP EchoReply data packet returned by the detection device is received within a first preset time and passes verification; otherwise, it is determined that the connection between the edge computer and the detection device is abnormal, and a second alarm signal is generated and sent to the display device and the downhole alarm system, wherein the second alarm signal includes at least one of the following: a detection device ID and a detection device type; the Reply data packet carries the environmental data collected by the corresponding detection device, as well as an identifier and a serial number used for verification; wherein, when the identifier and the serial number carried by the Reply data packet match the third identifier and the first serial number respectively, the Reply data packet passes the verification.

[0048] Optionally, the edge computer further includes:

[0049] A third receiving module is used to continuously receive a position pulse signal forwarded by a UWB base station system, wherein the position pulse signal includes a fourth identifier and a fourth timestamp; wherein the position pulse signal is sent by a UWB tag worn by a miner; each UWB tag matches a miner; the fourth identifier is used to identify the UWB tag, and the fourth timestamp includes the sending time of the position pulse signal; the UWB base station system includes at least three UWB base stations deployed underground, and at least one two-dimensional plane can be determined by at least three UWB base stations;

[0050] An acquisition module, used to acquire the location information of the UWB tag through a multi-point ranging algorithm;

[0051] A conversion module, used to convert the location information of the UWB tag into the real-time location coordinates of the miner in the underground environment according to the underground environment map information;

[0052] A matching module, used to match the real-time position coordinates of the miner in the underground environment with the miner identity information stored in the HRMS, so that each UWB tag corresponds to a unique miner;

[0053] The uploading module is used to upload the real-time position coordinates of the miner in the underground environment to the ground host.

[0054] Optionally, the edge computer further includes:

[0055] The monitoring module is used to monitor all DHCP requests in the local area network. The DHCP requests are used to:

[0056] An unknown device in the LAN attempts to connect to the network and requests an IP address from the edge computer;

[0057] Recording module, used to record unknown device MAC addresses and IP addresses;

[0058] A query module, used to query a local database, and if the MAC address of the unknown device does not match any of the known legitimate device MAC addresses in the local database, trigger an initialization setting process and confirm the unknown device as a new device;

[0059] Based on the initialization setting process, the query module specifically includes:

[0060] A first configuration module, configured to complete the configuration of the new device through a unique URL or a QR code if the new device supports a Web interface;

[0061] A second configuration module is used to complete the configuration of the new device by calling a preset API if the new device supports the API interface;

[0062] The allocation module is used to allocate a second serial number to the new device, associate the second serial number with the new device MAC address and the new device IP address, and store the second serial number in the local database.

[0063] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0064] This application realizes the collection, monitoring and alarm of underground environmental data by deploying edge computers in the underground safety monitoring system. Even during network failures, data will not be lost, ensuring the integrity of the data. Through the system's preset abnormal detection logic, it can analyze the received environmental data in real time and generate the first alarm signal to ensure that relevant personnel can respond quickly and take necessary measures, thereby improving the safety of underground operations and reducing the cost and risk of manual monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A schematic diagram of an underground safety monitoring system based on an edge computer provided in an embodiment of the present application;

[0066] Figure 2 A schematic diagram of an underground safety monitoring system based on an edge computer provided in yet another embodiment of the present application;

[0067] Figure 3 A schematic diagram of a flow chart of a downhole safety monitoring method performed by a downhole safety monitoring system provided in one embodiment of the present application;

[0068] Figure 4 A schematic diagram of a flow chart of an underground safety monitoring method based on an edge computer provided in an embodiment of the present application;

[0069] Figure 5 A schematic diagram of the functional modules of an edge computer provided in one embodiment of the present application;

[0070] Figure 6 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0071] The present application is described below in conjunction with the accompanying drawings and specific implementation methods.

[0072] In an exemplary embodiment, Figure 1 As shown, the present application provides a downhole safety monitoring system based on an edge computer, and the downhole safety monitoring system includes a detection system and at least one edge computer.

[0073] The detection system includes at least one detection device; the categories of environmental data collected by the at least one detection device include: at least one of harmful gas concentration, gas flow, atmospheric pressure, ambient temperature and ambient humidity; the edge computer supports communication with the detection device.

[0074] Edge computers are used to:

[0075] Receive environmental data sent by detection equipment;

[0076] Monitor the connection status with the ground host. If the connection is abnormal, store the environmental data locally. After the connection is restored, send the environmental data to the ground host.

[0077] Of course, if the connection is normal, the environmental data can be sent directly to the ground host.

[0078] Exemplarily, the ground host may be a host at a ground command center.

[0079] It should be noted that edge computers are computing devices deployed at the edge of the network, close to the data source. Edge computers can locally process and analyze data from detection equipment or other data sources, reducing the system's dependence on ground hosts or the cloud.

[0080] The above-mentioned detection equipment and edge computer can be fixedly installed in the mine, or the detection equipment can be fixedly installed in the mine but the edge computer can be movable, or both the detection equipment and the edge computer can be movable in the mine.

[0081] Taking the example of fixed installation of detection equipment and edge computers in a mine, the detection system can be deployed according to the specific environmental conditions underground. If the mine covers a small area, the structure is relatively simple, and the number of detection equipment is limited, only one edge computer can be deployed to simplify the system architecture.

[0082] For large-scale mining areas with wide coverage and complex structures, the mining areas can be divided into several relatively independent work areas or tunnel sections (referred to as areas) according to the geographical layout of the mines, and corresponding detection equipment can be deployed in each area to ensure that each area can be effectively monitored. More specifically, detection equipment can be deployed at key locations in the mine or each area, such as ventilation openings, tunnel intersections, working faces, etc., to ensure that the data of these important areas can be collected in real time by the detection equipment. For example, gas flow sensors can be deployed near ventilation openings, and harmful gas concentration sensors can be deployed near working faces. The number of detection equipment deployed in each work area or tunnel section can be evaluated. If the number of detection equipment in a certain area is large, a separate edge computer may need to be configured to process these data. Therefore, an edge computer may supervise the detection equipment in one area or in multiple areas. That is, in large mining areas, multiple edge computers can be deployed to form a distributed computer network structure, and each edge computer is responsible for monitoring and managing detection equipment within a certain range, which can improve the efficiency and accuracy of data processing.

[0083] The detection equipment includes but is not limited to harmful gas concentration sensors, gas flow sensors, atmospheric pressure sensors, ambient temperature sensors, ambient humidity sensors and smoke sensors. Specifically, harmful gas concentration sensors are mainly used to detect the concentrations of gas (methane), carbon monoxide and sulfur dioxide. Harmful gas concentration sensors further include gas concentration sensors, carbon monoxide sensors and sulfur dioxide sensors. Gas flow sensors are mainly used to measure the gas flow rate of ventilation ducts or exhaust systems. Atmospheric pressure sensors are used to monitor changes in atmospheric pressure inside and outside the mine. For example, underground tunnels and working faces rely on supporting structures to maintain stability. If the atmospheric pressure changes suddenly, it may cause rock stress redistribution, leading to accidents such as roof sinking and side wall collapse, and will also affect workers' ear pressure. Ambient temperature sensors are used to monitor temperature changes inside the mine. Combined with corresponding temperature control measures, they can prevent excessive temperature from affecting life safety and equipment performance. Humidity sensors are used to monitor the humidity value in the air. Combined with corresponding humidity control measures, they can prevent equipment corrosion caused by excessive humidity or softening of coal seams. Smoke sensors are used to monitor the smoke concentration in the air. Combined with appropriate emergency measures, they can prevent the increased risk of fire caused by excessive smoke concentration or the threat to human health caused by deteriorating air quality.

[0084] Furthermore, users can access configuration options through the web interface of the local or remote management platform provided by the edge computer. On this interface, users can select specific sensors and set their data collection frequency (such as every second, every minute, or other custom time intervals) and the specific parameters that need to be collected (such as gas concentration, humidity, temperature, etc.). Usually, edge computers are also called distributed edge processors or edge boxes for short.

[0085] For example, a large coal mine is divided into Area A, Area B and Area C. A gas concentration sensor is installed every 50 meters on the working face of Area A to ensure that the entire working area is covered. Multiple harmful gas concentration sensors are installed near the ventilation openings of Area B. The gas concentration sensors here can be gas concentration sensors, carbon monoxide sensors, and sulfur dioxide sensors to ensure that the ventilation system can effectively dilute harmful gases based on the concentration of harmful gases. A carbon monoxide sensor is installed in the compressor room of Area C to monitor the harmful gases generated when the equipment is running. A gas flow sensor is installed every 100 meters in the main ventilation duct of Area A to monitor airflow changes in real time. A gas flow sensor is installed at the inlet and outlet of the exhaust fan in Area B, and a gas flow sensor is installed at the entrance of the ventilation branch lane in Area C to monitor the airflow conditions in the branch lane. An atmospheric pressure sensor is installed at the wellhead of Area A to monitor the internal and external pressure difference changes in real time. An atmospheric pressure sensor is installed every 200 meters in the deep lanes of Area B to monitor the pressure change trend. An atmospheric pressure sensor is installed in the temporary closed area of ​​Area C to monitor the pressure changes in the temporary closed area in real time, and combined with corresponding pressure control measures to ensure the stability of the pressure in the confined space. Install a temperature sensor every 50 meters on the working surface of Area A to monitor temperature changes in real time. Install a temperature sensor in the substation of Area B to monitor temperature changes during equipment operation. Install a temperature sensor in the drainage pump room of Area C to monitor temperature changes in the pump room, and combine corresponding temperature control measures to prevent excessive temperature in the pump room from affecting the life of the equipment. Install a humidity sensor every 50 meters on the working surface of Area A to monitor humidity changes in real time. Install a humidity sensor in the substation of Area B to monitor humidity changes during equipment operation. Install a humidity sensor in the drainage pump room of Area C, and combine corresponding humidity control measures to prevent excessive humidity from affecting the life of the equipment.

[0086] The following is an example of how to implement communication between edge computers and detection equipment.

[0087] In one example, the detection device may automatically send environmental data to the edge computer at a certain time interval (eg, 2S / time).

[0088] In another exemplary embodiment, the edge computer may also actively acquire environmental data:

[0089] Sending ICMP Echo Request packets to the detection device IP address for n consecutive times at a second preset time interval, the ICMP Echo Request packets carrying the third identifier and the first sequence number for verification. The above ICMP is the abbreviation of Internet Control Message Protocol.

[0090] If the ICMP Echo Reply data packet returned by the detection device is received within the first preset time and passes the verification, it is determined that the connection between the edge computer and the detection device is normal; otherwise, it is determined that the connection between the edge computer and the detection device is abnormal, and a second alarm signal is generated and sent to the display device and the downhole alarm system.

[0091] Exemplarily, the above-mentioned second alarm signal includes at least one of the following: a detection device ID and a detection device type; a Reply data packet carries environmental data collected by the corresponding detection device, as well as an identifier and a serial number used for verification; wherein, when the identifier and serial number carried by the Reply data packet match the third identifier and the first serial number respectively, the Reply data packet passes the verification.

[0092] In terms of the execution process, in order to detect the connection status between the edge computer and the detection device, the edge computer first sends an ICMP Echo Request data packet to the IP address of the detection device through the network interface. Specifically, the edge computer can send n ICMP Echo Request data packets to the IP address of the detection device at a preset time interval (the second preset time interval), for example, once every 5 seconds. Here n is a predefined number of times, such as 3 times. Each ICMP Echo Request data packet contains the above-mentioned third identifier (such as "Device_A_001") and the first sequence number (starting from 1 and increasing). This information is used to verify whether the returned data packet comes from the expected detection device and is a data packet in response to the current request. The third identifier is a unique identifier used to confirm the source of the reply data packet. The first sequence number is used to match request and reply data packets.

[0093] When waiting for and verifying the ICMP Echo Reply data packet, the edge computer sets a first preset time (such as 1 second) as the maximum time to wait for a reply. During the first preset time, the edge computer monitors the network interface and waits for the ICMP Echo Reply data packet from the detection device. If the Reply data packet is received within 1 second, the edge computer verifies whether the identifier carried by the Reply data packet matches the third identifier sent, and verifies whether the sequence number carried by the Reply data packet matches the first sequence number sent. If both the identifier and the sequence number match, the environmental data in the ICMP Echo Reply data packet is further parsed. If the ICMP Echo Reply data packet is received and successfully verified within the first preset time, it is determined that the edge computer is connected to the detection device normally. If the ICMP Echo Reply data packet is not received within the first preset time or the verification fails, it is determined that the connection is abnormal. When it is determined that the connection is abnormal, the edge computer generates a second alarm signal, and the second alarm signal includes the detection device ID (such as "Device_B_001") and the type (such as "temperature sensor"). The detection device ID is used to identify a specific detection device. The detection device type provides additional information of the device type, such as temperature sensor, humidity sensor, etc. The second alarm signal is sent to the display device and the underground alarm system so as to promptly notify relevant personnel for processing.

[0094] Whether actively acquiring or passively receiving, after receiving the environmental data, the edge computer can directly synchronize it to the ground host, or save it locally first and then synchronize the data to the ground host.

[0095] For environmental data sent by multiple detection devices, the edge computer can send multiple messages to synchronize with the ground host, or it can be packaged in the same message to synchronize with the ground host. For example, it can summarize the environmental data within 1 minute and send it to the ground host.

[0096] Environmental data can be transmitted through a variety of communication links. The edge computer can support communication with the detection equipment through one or more communication links / networks.

[0097] When the edge computer supports more than one communication link, in an exemplary embodiment, in supporting communication with the detection device, the edge computer is specifically configured to:

[0098] A link priority list is preset, and the link priority list includes the priority order of each communication link. The communication link includes at least one of the following: 4G / 5G, Wi-Fi, and wired connection (for example, the existing ring network in the mine is generally a wired ring network, which can provide a wired connection). When the system is initialized, one of the available communication links is randomly selected for communication;

[0099] Regularly check the key performance indicators of each communication link. The key performance indicators include at least one of the following: packet loss rate, latency, bandwidth utilization, and connection stability. Connection stability includes interruption and no interruption;

[0100] According to the key performance indicators, the weight of each communication link is adjusted, and the link priority list is updated according to the adjustment result.

[0101] It should be noted that during the system initialization phase, the edge computer scans all configured communication interfaces and identifies currently available communication links. A link is randomly selected from the available links for the first communication. This can be achieved by generating a random number and mapping it to an index in the link list. After the link is selected, the edge computer establishes a communication connection through the corresponding interface and protocol stack to ensure that data packets can be sent and received.

[0102] In order to enable data packets to be transmitted through the fastest and most stable path, the embodiment of the present application assigns a weight to each possible communication link. The weight value reflects the quality of the link, and a link with good quality should have a lower weight.

[0103] The key performance indicators and weights are described below.

[0104] Edge computers can use network management tools to regularly collect key performance indicators of each communication link, including packet loss rate, latency, bandwidth utilization, and connection stability. Among them:

[0105] The packet loss rate is used to indicate the proportion of data packets lost within a period of time.

[0106] Latency is used to represent the measurement of packet round trip time (RTT) to assess link latency.

[0107] Bandwidth utilization is used to indicate the actual bandwidth usage of the monitored link.

[0108] Connection stability is used to indicate the number and duration of link interruptions and to evaluate link reliability.

[0109] Based on the collected key performance indicators, the edge computer calculates the weight of each communication link using a predefined algorithm. For example, high packet loss rate leads to a lower weight, while low latency leads to an increased weight. The link priority list is reordered according to the latest weights. If a link performs poorly, its priority is lowered; conversely, the priority of a link that performs well is increased.

[0110] For example, a weight factor may be assigned to each key performance indicator: packet loss rate weight factor U1, delay time weight factor U2, bandwidth utilization weight factor U3, connection stability weight factor U4.

[0111] The initial values ​​of U1-U4 may be the same or different, and those skilled in the art may flexibly design them, which will not be described in detail here.

[0112] The weight factor can be adjusted according to the key performance indicators. For example, an acceptable threshold range can be set for each key performance indicator. Exceeding or falling below this range will trigger the adjustment of the weight factor, which will in turn affect the overall weight of the link (or comprehensive weight). For example, if a key performance indicator seriously exceeds the threshold range (such as excessive packet loss rate or frequent interruptions), the weight factor value of the corresponding key performance indicator should be increased. Of course, if a subsequent key performance indicator falls back to the threshold range, the weight factor value of the corresponding key performance indicator in the link should be reduced. The weight factor of each key performance indicator of each communication link can be adjusted according to the above principles.

[0113] The aforementioned weights can be calculated based on the data of the above key performance indicators and the above weight factors. A more specific description is given below:

[0114] The edge computer uses network management tools (such as SNMP, Ping, NetFlow, etc.) to collect key performance indicators of each communication link at preset time intervals (such as every 5 minutes). The results of each check are stored in a local database for subsequent analysis and trend prediction. The data of each performance indicator is normalized so that its value range is unified between 0 and 1. For example, the packet loss rate can be converted to:

[0115]

[0116] The value range of P is [0, 1].

[0117] The corresponding weight factors can then be adjusted according to each normalized key performance indicator, which will not be described in detail here.

[0118] According to the weight factor, each key performance indicator is weighted and summed to obtain the comprehensive weight U of the communication link:

[0119] U=U1×P+U2×D+U3×B+U4×S;

[0120] Among them, P represents the normalized packet loss rate, D represents the normalized delay time, B represents the normalized bandwidth utilization, and S represents the normalized connection stability.

[0121] Subsequently, all communication links are sorted according to the calculated comprehensive weights of the communication links, wherein communication links with lower comprehensive weight values ​​are given higher priorities, while communication links with higher comprehensive weight values ​​have lower priorities.

[0122] The updated link priority list allows edge computers to give priority to links with higher weights when selecting communication links in the future. For communication links that frequently have performance issues, alarms can be triggered or administrators can be notified for further investigation and repair. In this way, edge computers can not only quickly establish connections during initialization, but also dynamically optimize the selection of communication links based on actual network conditions, ensuring efficient and stable communication quality.

[0123] In addition to communication, the edge computer can also perform certain control on the detection equipment, for example, control its acquisition frequency, acquisition parameter type, electronic display mode (LED, data tube), alarm mode, alarm threshold, etc. Those skilled in the art can make flexible designs, which will not be elaborated here.

[0124] In an exemplary embodiment, the edge computer needs to pre-process the environmental data before analyzing the environmental data through the preset anomaly detection logic. The pre-processing mainly includes the following steps B1-B4:

[0125] B1. De-noise the environmental data.

[0126] You can choose to use a low-pass filter to smooth the data and reduce the impact of short-term fluctuations. Apply the exponentially weighted moving average method to eliminate instantaneous noise.

[0127] B2. Remove outliers from the denoised environmental data.

[0128] Statistical methods, such as the 3σ principle, can be used to identify outliers in environmental data. Data points that exceed the set threshold are marked as outliers and then removed or replaced with reasonable values ​​through the median / mean.

[0129] B3. Convert the units of the environmental data after removing outliers.

[0130] Based on the original units provided by the sensor, convert the data to the target units, for example, convert ppm to percentage concentration. Make sure all data is in the same units.

[0131] B4. Attach a first timestamp to the environmental data after unit conversion.

[0132] It should be noted that the environmental data subsequently analyzed by the preset anomaly detection logic is the environmental data obtained in step B4 and attached with the first timestamp.

[0133] The first timestamp may be attached by obtaining a timestamp of the current system time or the time when the environmental data is received and appending it to each environmental data record. The ISO 8601 standard may be used to ensure a uniform timestamp format.

[0134] It can be seen that in the present application, data will not be lost even during a network failure, thus ensuring data integrity.

[0135] In an exemplary embodiment, the edge computer can also be used to: analyze environmental data through preset anomaly detection logic; if an anomaly is found, generate a first alarm signal, and send the first alarm signal to a display device and a downhole alarm system, the first alarm signal including at least one of the following: a first timestamp that matches the environmental data, and a first identifier of a detection device that matches the environmental data.

[0136] In addition, the first alarm signal can also be sent to the ground host.

[0137] Specifically, according to the characteristics of each type of environmental data, the preset anomaly detection logic is first embedded in the edge computer.

[0138] Anomaly detection logic may include:

[0139] For each type of harmful gas, a corresponding first safety threshold is set. If the detected gas concentration exceeds the corresponding first safety threshold, it is determined to be abnormal. For example, the first safety threshold of gas concentration is 2%, and the first safety threshold of carbon monoxide concentration is 0.0024%. As long as the detected gas concentration exceeds 2%, or as long as the detected carbon monoxide concentration exceeds 0.0024%, it is determined to be abnormal. Monitor the trend of gas concentration changes. If the gas concentration rises sharply in a short period of time and exceeds the preset range, it is also determined to be abnormal. For example, if the gas concentration of a harmful gas rises by 10% within 5 minutes, it is determined to be abnormal.

[0140] For gas flow, set a normal flow range, such as ±10% standard deviation. If the flow suddenly exceeds this normal flow range, it is considered abnormal. If the gas flow is lower than the minimum safe flow for a long time (such as continuously lower than the set value within 30 minutes), it is also considered abnormal. The minimum safe flow is the minimum value in the normal flow range.

[0141] For atmospheric pressure, the normal pressure difference range of the atmospheric pressure inside and outside the mine is set, such as ±5hPa. If the actual pressure difference exceeds this range, it is judged as abnormal. And or, if the atmospheric pressure changes by more than a preset range (such as ±2hPa / minute) in a short period of time (such as within 10 minutes), it is judged as abnormal.

[0142] For the ambient temperature, a suitable temperature range (e.g., 16°C to 28°C) is set for the working surface. If the temperature exceeds this range, it is judged as abnormal. And or, if the temperature changes by more than a preset range (e.g., ±3°C / hour) within a short period of time (e.g., 1 hour), it is judged as abnormal.

[0143] For the ambient humidity, set an appropriate humidity range (such as 40% to 80%). If the humidity exceeds this range, it is judged as abnormal. And or, if the humidity changes by more than a preset range (such as ±10% / hour) within a short period of time (such as within 1 hour), it is judged as abnormal.

[0144] Once an abnormality is detected, the edge computer generates a first alarm signal.

[0145] The first alarm signal includes a first timestamp and a first identifier. The first timestamp is used to record the specific time when the abnormality occurs, and the first identifier is used to uniquely identify the specific detection device that generates the abnormal data, so as to help technicians quickly locate the source of the problem.

[0146] In other embodiments of the present application, the first alarm signal may further include an alarm reason, which may be in text form, or different alarm codes may be used to represent different alarm reasons. For example, if the aforementioned gas concentration exceeds the first safety threshold, the alarm code A001 may be used to represent it, and if the gas concentration rises by 10% within 5 minutes, the alarm code A002 may be used to represent it. Those skilled in the art may flexibly design it according to actual needs, which will not be elaborated here.

[0147] The edge computer sends the first alarm signal to the display device and the underground alarm system, which includes an audible and visual alarm to alert on-site personnel by sounding an alarm and flashing lights, and playing voice prompts through the broadcasting system. The selection of audible alarms and visual signals needs to ensure that they can be noticed even in a noisy environment. These devices should be installed in places that are easy to hear and see to cover as many areas as possible.

[0148] In addition, the edge computer can also generate regular reports (such as daily, weekly or monthly) based on the analysis results of the environmental data through the preset anomaly detection logic, using easy-to-interpret intuitive charts, curves and other graphical elements to display key data, and transmit the regular reports to the ground host or send them to the on-site display device. Of course, the above operations can also be performed by the ground host.

[0149] Display devices include host computer display devices and field display devices. Host computer display devices are usually set up in the central control room on the ground in the form of multi-screen displays or large displays for use by managers and technicians to comprehensively monitor the operation of the entire mine. Field display devices can be fixed displays, which can be small display screens installed at key locations underground to directly display important operating information or warning messages to nearby workers. Field display devices can also be mobile terminal devices, such as tablets, smart phones or other portable electronic devices, allowing technicians to flexibly view data on site and receive notifications in a timely manner. Field display devices can also be smart wearable devices, such as smart watches or helmets with built-in displays, to provide personalized information push for individual staff members, especially when working away from fixed displays. Field display devices can also be portable handheld devices that can respond quickly when needed. Display devices can be electronic displays or ink screens.

[0150] In addition to the above-mentioned alarm signals, the edge computer can also send the environmental data obtained from each detection device to the on-site display device for display. Specifically, the edge computer can summarize the environmental data within 1 minute, process it accordingly (for example, set its format to gas typesetting), and then send it to the on-site display device for display.

[0151] Edge computers can perform operational control on on-site display devices, for example, controlling their display format, refresh time, etc.

[0152] Furthermore, users can access configuration options through the web interface of the local or remote management platform provided by the edge computer. On this interface, users can select different display formats (such as tables, graphs, digital displays, voice broadcasts, etc.) for the connected display devices and set the time interval for screen refresh (such as every second, every minute, or other custom time). The edge computer and the display device follow the preset communication protocol (such as HTTP, RS-232 / 485, etc.). Once the user sets the new display format and refresh time on the configuration interface, the edge computer will generate corresponding configuration commands based on these settings. These commands are sent to the display device through the communication protocol, telling the display device to display data in the new format and set the refresh frequency. For example, if the user selects "graph" as the display mode, the edge computer will send instructions to the display screen to display the historical data trend in a graphical way.

[0153] In one example, suppose a user wants to view the changing trend of gas concentration in the form of a curve graph, and refresh the display every 10 seconds. Then, on the configuration interface, select "curve graph" as the display format and set the refresh time to 10 seconds. The edge computing box will periodically send the latest data to the display screen according to these settings and ensure that it is accurately presented in a graphical manner.

[0154] The following describes the interaction between the edge computer and the ground host.

[0155] As mentioned above, the edge computer can monitor the connection status with the ground host, and if the connection is abnormal, the environment data is stored locally, and after the connection is restored, the environment data is sent to the ground host. In an exemplary embodiment, Figure 3 As shown, in this aspect, the edge computer is specifically used for:

[0156] Sending a first heartbeat packet to the ground host at a first preset time interval, where the first heartbeat packet includes at least one of the following: a second identifier of the edge computer and a second timestamp (the second identifier is used to uniquely identify the identity of the edge computer, and the second timestamp is used to record the exact time when the first heartbeat packet is sent, so as to track the communication status of the edge computer);

[0157] If the response of the ground host is not received within the first time threshold for m consecutive times, it is determined that there is an abnormal connection between the edge computer and the ground host; otherwise, the connection between the edge computer and the ground host is normal; m is a natural number;

[0158] When the connection is determined to be abnormal, the environmental data is written into the time series database as cumulative data;

[0159] After determining that the connection is abnormal, if the ground host response time is less than or equal to the first threshold for M consecutive times, it is determined that the edge computer and the ground host are restored to connection; otherwise, the edge computer and the ground host are abnormally connected, and the subsequent steps after the above-mentioned connection abnormality are continued.

[0160] Read the accumulated data from the time series database and upload the accumulated data in batches to the ground host in chronological order.

[0161] Those skilled in the art can flexibly design the values ​​of m and M, for example, equal to 1, 2, 3, etc., which will not be described in detail here. m and M can be the same or different.

[0162] By sending heartbeat packets regularly, the connection status between the edge computer and the ground host can be continuously monitored to ensure real-time performance.

[0163] There are two situations in which the response from the ground host is not received within the first time threshold. One situation is that the response from the ground host is received, but the response time exceeds the first time threshold. For example, assuming m=3, the first threshold is 1 second, and the ground host response time for three consecutive heartbeat packets is 1.2 seconds, 1.5 seconds, and 1.8 seconds, respectively, all greater than 1 second. At this time, the edge computer will determine that the connection is abnormal. Another situation is that the response from the ground host has not been received. Using the previous example, the heartbeat packet is sent three times in a row, and no response is received until the first time threshold of the third heartbeat packet times out. It can also be determined as a connection abnormality.

[0164] Once the connection is determined to be abnormal, the edge computer immediately writes the collected environmental data into the local time series database to form cumulative data, which ensures that even during a network outage, critical safety monitoring data will not be lost. After determining the abnormality, for example, assuming M = 5, if the response time of 5 consecutive heartbeat packets is within 1 second, it means that the connection between the edge computer and the ground host has returned to normal. After confirming that the connection has been restored, the edge computer reads the cumulative data during the interruption from the local time series database and uploads it to the ground host in batches in chronological order. In order to avoid network congestion caused by transmitting a large amount of data at one time, you can choose to upload in batches, or dynamically adjust the upload speed according to the network bandwidth.

[0165] In an actual application scenario, edge computers are deployed deep in a mine to monitor gas concentration and other safety parameters. The edge computer sends a heartbeat packet to the control center on the ground every 5 minutes. At a certain moment, due to an underground cable failure, the edge computer's response time for sending heartbeat packets for three consecutive times exceeded the first threshold of 1 second, so it was judged to be a connection abnormality. At this time, all newly collected environmental data are saved in the local time series database. Subsequently, the cable problem was repaired, and the edge computer received a response from the ground host for five consecutive times, indicating that the connection has returned to normal. Then, the edge computer began to upload the environmental data such as gas concentration accumulated during this period back to the ground host in batches in chronological order. This not only ensures the integrity and accuracy of the data, but also does not affect the current real-time monitoring task, avoiding the possibility of missed inspections during off-duty shifts.

[0166] Furthermore, from the perspective of coal mine safety, the normal operation of edge computers, as an important part of the underground safety monitoring system, is crucial to ensuring mine safety. Since edge computers rely on electricity to perform their functions, power protection measures are usually established to prevent power outages through backup power systems (such as generators, uninterruptible power supplies) to ensure the continuous operation of edge computers and other key equipment. The circuit breakers can also be controlled by edge computers.

[0167] In an exemplary embodiment, after determining that the edge computer is connected to the ground host again, the edge computer in all the above embodiments is further used to: receive a time synchronization instruction from the ground host, the time synchronization instruction includes a third timestamp provided by the ground host; and perform time calibration on the local clock according to the time synchronization instruction. The edge computer may include a real-time clock module as the local clock.

[0168] It should be noted that after determining that the edge computer and the ground host have restored the connection, in addition to processing the upload of accumulated data, the edge computer is also used to receive time synchronization instructions from the ground host. When the edge computer first establishes a connection with the ground host or recovers from a long-term disconnection, the edge computer will request a time synchronization, and the ground host will respond with a time synchronization instruction containing the current time. The edge computer adjusts its real-time clock module based on this time synchronization instruction.

[0169] The ground host will automatically broadcast the time synchronization instruction at a fourth preset time interval, such as every hour or every day. The time synchronization instruction can be sent through the existing communication channel to ensure that all edge computers can receive the latest time information and adjust their own clocks accordingly.

[0170] Furthermore, before executing a system update or data transfer operation, the ground host will send a time synchronization command to ensure that the time of all related devices is consistent. After the operation is completed, the time synchronization command is sent again to confirm the final time consistency.

[0171] When a new edge computer is added to the network or an existing device is removed, the ground host will also send a time synchronization command to ensure that the time base of all online devices is consistent, avoiding time asynchrony problems caused by device changes. In addition, the administrator can manually trigger the time synchronization process through the ground host interface to ensure that the time of all devices is calibrated in a timely manner during system maintenance.

[0172] In other exemplary embodiments, if the edge computer is connected to the ground host normally, the edge computer in all the above embodiments is also used to: compensate for the drift error of the real-time clock module through a configured periodic time synchronization mechanism.

[0173] The periodic time synchronization mechanism is exemplified as follows:

[0174] Configure the time interval (e.g., hourly, daily) and the maximum allowed time deviation (e.g., 1 second) for time synchronization on the edge computer or host computer. These parameters can be saved in the configuration file of the edge computer or host computer. The edge computer periodically sends time synchronization requests to the ground host, or receives time synchronization instructions periodically broadcast by the ground host. The time synchronization instruction received by the edge computer contains a latest timestamp, which the edge computer parses and compares with its own clock. If the time difference exceeds the preset threshold, the clock is adjusted according to the timestamp. For smaller time differences, you can adjust directly; for larger time differences, you can adjust in steps to avoid sudden time jumps. After each time synchronization, record the difference before and after the time adjustment to form historical data. The historical data can be used to analyze the clock drift trend and optimize the subsequent time synchronization strategy. Use historical data to predict future drift trends and make fine adjustments in advance. For example, if you find that the clock is gradually getting faster or slower, you can adjust the clock before the next synchronization to reduce the future time difference.

[0175] In one embodiment, if an edge computer fails or cannot connect to the ground host due to a communication link, in addition to the aforementioned method of storing accumulated data locally, other edge computers may be attempted to forward the data of the edge computer.

[0176] Of course, the premise of attempting to forward is that the edge computers must communicate with each other. The communication between the edge computers can be achieved by the following steps C1-C4:

[0177] C1. Each edge computer sends a broadcast message to surrounding edge computers at a third preset time interval. The broadcast message contains the edge computer's own identifier, the edge computer's IP address, and the signal strength. When any other edge computer receives the broadcast message, it sends a confirmation message to the sender and records the sender's identifier and IP address. All the recorded identifiers, IP addresses, and signal strengths are used to generate a dynamically updated neighbor list.

[0178] The self identifier in step C1 is the second identifier mentioned above for uniquely identifying the edge computer. In addition, the signal strength can be measured by RSSI (received signal strength indication). The higher the RSSI value, the stronger the signal and the better the communication quality.

[0179] The values ​​of the preset time intervals in this embodiment can be flexibly designed according to actual needs, for example, 0.1 seconds, 0.01 seconds, 0.02 seconds, etc., which will not be elaborated here.

[0180] To avoid too many broadcast messages, the third preset time interval may be greater than other preset time intervals. For example, a broadcast message may be sent every several hours, every day, or every two days or even longer.

[0181] C2. Assign priority to each neighbor node based on signal strength.

[0182] C3. As mentioned above, the edge computer sends a heartbeat packet to the ground host at a first preset time interval. If the response time is greater than the set first threshold for m consecutive times, it is considered that there is a connection abnormality. If the connection is determined to be abnormal, the edge computer immediately writes the environmental data into the local time series database. At the same time, the edge computer selects the edge computer with the highest priority from its own neighbor list as a potential forwarding node.

[0183] C4. The edge computer may try to send a forwarding request to the selected forwarding node. The forwarding request content includes a data packet and its own second identifier and second timestamp. If the ground host receives the data forwarded by the forwarding node, the ground host feeds back confirmation information to the forwarding node to prove that the forwarding is completed. The forwarding node then forwards the confirmation information to the edge computer that sent the forwarding request content. After receiving the confirmation information, the edge computer clears the corresponding accumulated data from the local time series database.

[0184] It should be noted that after step C4, the processing after the connection is restored as described above needs to be continued. If the ground host response time is less than or equal to the first threshold for M consecutive times, it is considered that the connection is restored normally. After confirming that the connection is restored, computer A can directly read the remaining accumulated data from the local database and upload it to the ground host in batches in chronological order. No further details will be given here.

[0185] In one embodiment, for step C1, each edge computer sends a broadcast message to surrounding edge computers at a third preset time interval. When multiple edge computers send requests to the same node at the same time, the forwarding node may receive damaged data packets or data that cannot be correctly parsed. Therefore, when any other edge computer does not receive any broadcast message, it is considered that a conflict has occurred and a backoff algorithm needs to be used. The backoff algorithm is implemented by the following steps C11-C14:

[0186] C11. Set the initial backoff window W0, the maximum number of retries K and the conflict counter i. The conflict counter i is used to record the current number of conflicts.

[0187] C12. Increase the conflict counter i=i+1. If i>K, abandon the current transmission. Otherwise, continue to execute the subsequent steps of the backoff algorithm.

[0188] C13. Calculate the new backoff window W i , Wi =2 i ×W0.

[0189] C14, in [0, W i ] Randomly select a backoff time T in the interval, T = Random (0, W i ), resend the broadcast message according to the backoff time T.

[0190] Specifically, when the edge computer fails to send, it waits for a while before trying to send again, thereby reducing the probability of conflict. The backoff algorithm introduces a randomized waiting time so that the retries after the conflict will not be concentrated at the same time again, thereby reducing the possibility of subsequent conflicts. After each conflict, the backoff time window W will increase exponentially.

[0191] For example, assuming that the initial backoff window W0 = 1 second and the maximum number of retries N = 6:

[0192] After the first conflict, W1=2 1 ×1=2 seconds, randomly select T from [0, 2] seconds.

[0193] After the second conflict, W2 = 2 2 ×1=4 seconds, randomly select T from [0, 4] seconds.

[0194] After the third conflict, W3 = 2 3 ×1=8 seconds, randomly select T from [0, 8] seconds.

[0195] And so on, until the maximum number of retries N=6 is reached.

[0196] In another embodiment, after receiving a broadcast message, the edge computer may add its own identifier to the broadcast message and then broadcast it. Assuming that a broadcast message sent by edge computer A is forwarded and broadcasted by edge computer B, the broadcast message contains the identifiers of A and B when it reaches the edge computer, which helps edge computer C understand the communication route. When it is impossible to forward the message directly to the ground host through the neighbor edge computer (if the neighbor edge computer happens to be disconnected from the ground host at the same time, it may not be possible to forward the message directly to the ground host through the neighbor edge computer), other routes can be tried.

[0197] In order to prevent edge computers from malfunctioning and causing them to be unable to process the acquired data, multiple edge computers can not only communicate with each other, but also perform redundant backup and failover to jointly complete comprehensive monitoring of the mine environment.

[0198] To achieve redundant backup and failover between multiple edge computers, each edge computer can be connected to other edge computers through a direct point-to-point communication link. The connection method can be wireless (such as Wi-Fi, Zigbee) or wired (such as Ethernet, optical fiber).

[0199] For example, in a large coal mine, edge computers E1 and E2 are deployed in Area A and Area B respectively. Both edge computers can obtain environmental data sent by detection equipment in the corresponding areas and report them to the ground host. E1 and E2 communicate with each other to form a redundant backup. Assume that Area A contains multiple coal mining faces and a complex ventilation system. Therefore, a large number of gas sensors and temperature sensors are deployed in Area A. Area B has only one main tunnel and a small number of branch tunnels, and the number of detection equipment is relatively small. Then E1 can be designed to obtain environmental data sent by all detection equipment in Area A, and regularly back up the data in Area A to E2 in Area B. If E1 fails, E2 replaces E1, receives detection data from Area A and Area B at the same time, and monitors the situation in Area A based on the detection data of Area A until E1 is repaired and back online. In some cases, E2 can send the backed-up data within a certain period of time to the ground host.

[0200] In a real-time manner, the edge computer is repaired and brought back online through the following steps A1-A5:

[0201] A1, edge computer E1 sends a heartbeat signal or a broadcast message to any adjacent edge computer (e.g., E2) at a fifth preset time interval. If the adjacent edge computer does not receive the heartbeat signal or the broadcast message within the second preset time, it is determined that a communication anomaly occurs. The cause of the communication anomaly may be a failure of the edge computer E1 and / or a communication link failure.

[0202] A2, the adjacent edge computer (e.g., E2) starts the takeover process (e.g., sending the backup data to the ground host, receiving the real-time environmental data of the detection equipment in the area where E1 is located, and sending it to the ground host), and sending the communication abnormality reminder information to the display device, the downhole alarm system, and the ground host.

[0203] The technicians attempt to perform maintenance based on the communication abnormality reminder information, such as communication link detection, hardware replacement, or remote update or reinstallation of the system.

[0204] A3. The edge computer E1 after maintenance confirms the legitimacy of the edge computer to be connected through a preset identity authentication mechanism. The preset identity authentication mechanism includes the certificate verification and key exchange process of the edge computer to be connected.

[0205] A4. After maintenance, the edge computer E1 obtains the operation record during the communication abnormality from the adjacent edge computer (eg, E2), so that the data of the edge computer is consistent with that of the adjacent edge computer.

[0206] A5. After being maintained, the edge computer E1 sends its own online notification to the ground host.

[0207] At this point, the faulty edge computer can function normally.

[0208] The above description describes that edge computers can support mutual communication. In one embodiment, Figure 2 As shown, the edge computer also supports communication with underground working equipment with communication capabilities (such as ventilation equipment).

[0209] Specifically, ventilation equipment includes but is not limited to fans and exhaust blowers. The edge computer can be directly connected to the fan and exhaust blower controller through a standard industrial interface (such as RS-485, Modbus) or wireless communication (such as Wi-Fi, Zigbee), and in some cases, it can send start or adjustment instructions to it.

[0210] For example, one situation is: the edge computer obtains the concentration of harmful gases through detection equipment and evaluates the concentration of harmful gases according to the preset abnormal detection logic. If the evaluation result shows that there is a risk, the edge computer will generate a trigger instruction to start the corresponding ventilation equipment.

[0211] More specifically, taking the aforementioned edge computer E1 as an example, after E1 detects that the gas concentration in area A exceeds the standard, it sends an acceleration command to the exhaust fan through the RS-485 interface to quickly dilute the harmful gas. When E1 detects that the gas concentration in area A is lower than the gas concentration threshold, the edge computer can further generate an adjustment command to control the exhaust fan to reduce the wind speed, thereby saving energy.

[0212] For example, when edge computers can communicate with each other, when E1 detects that the gas concentration in area A exceeds the standard, E1 can not only start the local exhaust fan, but also notify E2 to adjust the ventilation settings in area B to ensure the safety of adjacent areas.

[0213] The underground working equipment, detection equipment, and field display equipment mentioned above can be controlled by an edge computer in some embodiments. Therefore, the above-mentioned equipment can be called subordinate equipment of the edge computer.

[0214] The edge computer can periodically verify the network communication status (see the above record), working status, and data storage of the lower-level equipment, and can summarize the various statuses of each lower-level equipment and provide them to the ground host or designated customers in order to provide effective maintenance guidance and calibration. In addition, since the edge computer can control the lower-level equipment, even if a network failure occurs between the ground host and the edge computer, it will not cause control interruption of the lower-level equipment or on-site display errors.

[0215] In an exemplary embodiment, a UWB base station system may also be deployed underground, the UWB base station system comprising at least three UWB base stations, and at least one two-dimensional plane may be determined by the at least three UWB base stations.

[0216] The number of UWB base stations is determined according to the layout of the underground environment, the required positioning accuracy, and the coverage range to ensure reliable positioning services throughout the mine area. The internal structure of the mine is complex, including multiple mine tunnels, working faces, and tunnels. UWB base stations need to be reasonably distributed in these areas to ensure that the signal coverage is not dead. There may be a large number of metal equipment and other obstacles in the mine, which will affect the propagation of UWB signals. Therefore, the number and location of base stations need to take these factors into account to ensure the effective transmission of signals. The effective coverage range of each UWB base station is limited, usually between tens of meters and hundreds of meters. In order to ensure that the entire mine area can receive the signal, a sufficient number of base stations need to be arranged according to the actual terrain and distance. In order to improve the reliability and fault tolerance of the system, some redundant base stations are usually added to prevent the failure of a single base station from causing positioning failure. In this embodiment, at least three UWB base stations are deployed underground, which are used to receive position pulse signals from UWB tags and forward the signals to the edge computer.

[0217] UWB (Ultra-Wideband) tags are small electronic devices based on ultra-wideband wireless communication technology. The tags periodically (e.g., once per second) send location pulse signals containing a fourth identifier and a fourth timestamp. The fourth identifier is an ID that uniquely identifies the UWB tag, and the fourth timestamp is used to record the sending time of the location pulse signal.

[0218] UWB base stations and UWB tags can be used to locate some mobile targets, such as miners. Each miner can be assigned a unique UWB tag.

[0219] Edge computers can be combined with UWB technology to complete the positioning of mobile targets, such as miners. To achieve the positioning function, edge computers can also be used to perform the following operations:

[0220] Operation D1: continuously receiving a position pulse signal forwarded by the UWB base station system, where the position pulse signal includes a fourth identifier and a fourth timestamp; wherein the position pulse signal is sent by a UWB tag worn by a miner;

[0221] Exemplarily, each UWB tag uniquely matches a miner;

[0222] UWB tags use the UWB communication protocol to send position pulse signals to ensure low latency and high accuracy. Each position pulse signal contains the following fields:

[0223] Type: Indicated as Echo Request or similar identifier.

[0224] Identifier (fourth identifier): UWB tag that distinguishes different miners.

[0225] Timestamp (fourth timestamp): records the time when the signal is sent.

[0226] Sequence Number: An increasing sequence number used to match requests and replies.

[0227] For example, suppose miner Zhang San wears a UWB tag with the ID "Tag_006", which sends a location pulse signal containing a timestamp once a second. These signals will be received by the UWB base stations distributed in the mine and forwarded to the edge computer.

[0228] Operation D2: Obtain the location information of the UWB tag through a multi-point ranging algorithm;

[0229] After the edge computer receives the location pulse signals forwarded by multiple UWB base stations, it uses a multi-point ranging algorithm (such as TDOA or AOA) to determine the location of the UWB tag.

[0230] The location of a UWB tag is relative to the location of a UWB base station, usually expressed in two-dimensional or three-dimensional coordinates. For example:

[0231] x-coordinate: The horizontal position of the label.

[0232] y coordinate: the vertical position of the label (if it is positioned in a two-dimensional plane).

[0233] z coordinate: the label's position in the height direction (if it is three-dimensional positioning).

[0234] The above TDOA (Time Difference of Arrival) refers to calculating the location of the tag by measuring the time difference between the signal reaching different base stations. The above AOA (Angle of Arrival) refers to measuring the angle of the signal reaching the base station, which can be used to assist positioning, and any UWB base station can be selected as the coordinate origin.

[0235] If at least three UWB base stations are deployed, at least a two-dimensional plane position can be determined. If there are more base stations, three-dimensional positioning can be performed to provide more accurate position information.

[0236] For example, after the edge computer receives the position pulse signals forwarded from the three base stations, it uses the TDOA algorithm to calculate that Zhang San's current position is (x=160 meters, y=80 meters, z=30 meters).

[0237] Operation D3: based on the underground environment map information, convert the location information of the UWB tag (referred to as the tag location) into the real-time location coordinates of the miner in the underground environment, and then convert the real-time location coordinates of the miner in the underground environment into a location description with geographical significance in the underground environment;

[0238] The above-mentioned underground environment map information is pre-stored in the edge computer, or stored in any space accessible to the edge computer (such as the storage medium of the ground host).

[0239] Underground environment map information refers to the detailed geographical layout data inside the mine, which is usually stored in a local database of the edge computer in digital format. For example:

[0240] Mine tunnel name and number: such as "Mine Tunnel A", "Working Face 1", etc.

[0241] Tunnel layout: including the connection relationship, branch points and intersections between various mine tunnels.

[0242] Location of key facilities: such as ventilation holes, drainage systems, emergency exits, etc.

[0243] Usually, a global three-dimensional coordinate system (X, Y, Z) is established with the mine entrance or a fixed reference point as the origin, and the real-time position coordinates of the miners underground are represented by the three-dimensional coordinate system.

[0244] For example, underground environmental map information can be obtained by professional surveyors through laser scanning, GPS-assisted measurement, etc., and imported into the database of the edge computer in a standard format (such as GeoJSON, Shapefile).

[0245] The real-time location coordinates of the underground environment are introduced below.

[0246] When converting, the edge computer finds the map location closest to the tag location as the real-time location coordinates based on the pre-stored underground environment map information and the coordinates of the UWB base station in the map, thereby converting the miner's real-time location coordinates underground into a geographically meaningful location description in the underground environment. Ultimately, the edge computer generates real-time location information containing the name of the mine tunnel where the miner is located, the working face number and the precise coordinates. The real-time location information can be further uploaded to the ground host for management personnel to monitor and analyze.

[0247] For example, the ID of the UWB tag worn by miner Zhang San is "Tag_006", and the position of the UWB tag is calculated by a multi-point ranging algorithm as (x=160 meters, y=80 meters, z=30 meters).

[0248] The edge computer performs the following steps:

[0249] The location information of the UWB tag is converted into the real-time location coordinates of miner Zhang San in the underground environment, assuming that it is (X=260 meters, Y=180 meters, Z=130 meters). The edge computer queries the underground environment map database, and combined with the electronic map of the mine, converts the real-time coordinates into a geographically meaningful location description, that is, "mine tunnel A, working face 1", and finally generates Zhang San's real-time location description as "mine tunnel A, working face 1, coordinates (X=260 meters, Y=180 meters, Z=130 meters)".

[0250] Operation D4: Match the miner's real-time location description in the underground environment with the miner's identity information stored in the HRMS, so that each UWB tag corresponds to a unique miner;

[0251] The HRMS (Human Resources Management System) contains the identity information of all miners, such as name, work number, position, etc. HRMS maintains real-time data synchronization with edge computers through API interfaces, database synchronization or message queues, ensuring that the latest miner identity information is always available. Each UWB tag has a unique fourth identifier (Tag ID). When the UWB tag is assigned to a miner, the unique identifier of the UWB tag will be bound to the miner's identity information.

[0252] Optionally, a special registration system (such as an RFID card reader, handheld device, etc.) is set up at the entrance of the mine to record the process of miners picking up or replacing UWB tags. Every time a miner picks up a new tag, the registration system will update the association between his identity information and the new tag ID. For example, when a miner swipes his card when entering the mine, the system automatically associates the miner's identity information with the UWB tag ID he is wearing.

[0253] The edge computer continuously receives location pulse signals forwarded from the UWB base station, each signal containing a fourth identifier and a fourth timestamp. After receiving the signal, the edge computer parses the fourth identifier to determine which UWB tag sent the signal. Based on the parsed fourth identifier, the edge computer queries the miner's identity information in the HRMS and finds the corresponding miner record. If there is a record in the HRMS that is exactly the same as the fourth identifier, it is considered that the tag belongs to the miner. In addition, the system to be protected by this application can be further used to check the working status of the miner (such as whether he has entered the mine or whether he is on shift) to ensure the accuracy of the match.

[0254] Action D5: Upload at least a real-time description of the miners' location in the underground environment to a surface host for monitoring and analysis by management personnel.

[0255] Among them, if the UWB tag is associated with a miner, the information uploaded to the ground host may also include the associated miner's identity information, otherwise, the miner's identity information is not included.

[0256] In other embodiments of the present application, if the UWB tag is not a legitimate tag, or the real-time location information indicates that the mobile target is in a dangerous area, an alarm may be triggered.

[0257] The following is an exemplary application of an underground safety monitoring system incorporating UWB technology.

[0258] In a mine environment, all personnel who legally enter the mine must wear registered UWB tags. These tags periodically send location pulse signals, which are received by the UWB base station deployed underground and forwarded to the edge computer for processing. The edge computer is integrated with the human resources management system to ensure that each UWB tag corresponds to a unique authorized miner.

[0259] Assume that at a certain moment, all normal working shifts have ended and the mine entrance has been closed. The edge computer suddenly receives a position pulse signal sent by an unregistered UWB tag ID "Tag_666". The edge computer recognizes that this is an unregistered tag and triggers an alarm. The alarm information includes the time, location and tag ID of the illegal entry into the mine, which is automatically sent to the ground host and the safety monitoring center at the wellhead. After receiving the alarm, the safety monitoring center immediately dispatched the relevant person in charge to the working face 2 of mine tunnel B for inspection.

[0260] For example, a mine implements a strict attendance system, and all miners must clock in and out of the mine using a UWB tag. The edge computer is responsible for receiving and processing the position pulse signal sent by the UWB tag and automatically generating detailed attendance records. These records are stored in the human resources management system for managers to view and manage.

[0261] Clocking in at the mine: At 7 o'clock every morning, miners enter the mine one after another to start work. The UWB tag worn by each miner will automatically send a location pulse signal containing a fourth identifier and a fourth timestamp.

[0262] Punching in before leaving the mine: At 5 o'clock that evening, the miners finished their work and left the mine one after another, and also punched in by sending location pulse signals through UWB tags.

[0263] After receiving the location pulse signal of each UWB tag, the edge computer automatically records the miner's entry and exit time. The fourth identifier of each tag is associated with the miner ID in the human resources management system to ensure that the record is accurate. The system automatically generates an attendance report every day, including each miner's entry and exit time and actual working hours. The report is automatically uploaded to the human resources management system for management personnel to review and statistics.

[0264] If a miner fails to enter or exit the mine on time, the system will automatically generate a reminder message and send it to the relevant person in charge for verification.

[0265] In an exemplary embodiment, the edge computer can also form a local area network. In terms of forming a local area network, the edge computer can be used to:

[0266] Monitor all DHCP requests in the LAN. DHCP requests include: unknown devices in the LAN trying to connect to the network and requesting the edge computer IP address;

[0267] Record unknown device MAC addresses and unknown device IP addresses;

[0268] Query the local database. If the MAC address of the unknown device does not match the MAC address of the known legal device in the local database, the initialization setting process is triggered and the unknown device is confirmed as a new device.

[0269] The initial setup process includes:

[0270] If the new device supports a web interface, complete the configuration of the new device through a unique URL connection or QR code;

[0271] If the new device supports the API interface, complete the configuration of the new device by calling the preset API;

[0272] Completing the configuration of the new device includes: allocating a second serial number to the new device, associating the second serial number with the MAC address of the new device and the IP address of the new device, and storing the result in a local database.

[0273] Completing the configuration of a new device also includes: receiving and storing configuration information entered by the user, such as network settings (Wi-Fi network name), user authentication information (user name and password), etc.

[0274] It should be noted that the edge computer continuously monitors all DHCP requests in the LAN. These requests are usually sent by unknown devices when trying to connect to the network in order to obtain an available IP address. The edge computer acts as a DHCP server and receives DHCP Discover messages (i.e. the aforementioned DHCP requests) from devices in the LAN.

[0275] Exemplarily, the edge computer uses a network interface card (NIC) or a dedicated software tool (such as tcpdump or dhcpd) to capture and parse all DHCP request packets. The MAC address (hardware address) of the device is extracted from the DHCP request packet. For a device connected for the first time, the request packet only contains the MAC address. The edge computer (as a DHCP server) assigns an IP address to the new device and stores the extracted MAC address and the assigned IP address in a temporary database or memory cache.

[0276] To prevent the newly assigned IP address from duplicating with the IP addresses of other devices, when the edge computer is ready to assign an IP address, the edge computer will send an ARP (Address Resolution Protocol) request to all devices in the local area network (LAN) in the form of a broadcast. If there is already a device in the LAN using the IP address, the device will reply with an ARP response to tell the sender (i.e., the edge computer) that it is using the IP address. If an ARP response is received, the edge computer knows that the IP address is already occupied, so it will select another available IP address for allocation. If no response is received, the edge computer will continue its allocation process and assign the IP address to the new device that requested it. This ensures that the IP address assigned by the edge computer is unique in the LAN, thus avoiding the problem of IP address conflicts.

[0277] The edge computer accesses the local database to find out whether there is a record that matches the received MAC address. Specifically, SQL query or other database query languages ​​can be used to compare the MAC address. If the match is successful, the device is confirmed to be a known legitimate device and is allowed to access the network. If it does not match, the initialization setup process is triggered and the device is confirmed as a new device.

[0278] Mark the device as a "new device" in a temporary database or memory cache and generate a corresponding identifier. Send a notification to the administrator or automatically start the initialization process to ensure that the new device can be configured correctly.

[0279] Generate a unique URL for the new device that points to a preconfigured web page for device configuration. Alternatively, encode the unique URL as a QR code so that users can scan it for configuration. Alternatively, inform users how to access the URL or scan the QR code for configuration via SMS, email, or local notification. Alternatively, provide a user-friendly web interface that allows users to enter necessary configuration information (such as network settings, username, password, etc.). According to the API documentation of the new device, write scripts or use existing tools to call the necessary API endpoints for configuration. Pass configuration parameters (such as IP address, subnet mask, gateway, etc.) to the new device through the API. After calling the API, verify whether the configuration is successful and record the configuration status.

[0280] A serial number generation algorithm (such as an auto-increment ID or UUID) is used to generate a unique second serial number for the new device. The generated second serial number, the MAC address and the IP address of the new device are stored together in the local database to form a complete device record.

[0281] For example, suppose a new surveillance camera (an unknown device) attempts to connect to the mine’s LAN. The edge computer performs the following steps:

[0282] The edge computer uses the network interface card to capture the DHCPDiscover message sent by the new surveillance camera, which contains the MAC address "00:1A:2B:3C:4D:5E".

[0283] The edge computer queries the local database to check whether the MAC address "00:1A:2B:3C:4D:5E" exists in the list of known legitimate devices. If no match is found, it is confirmed that this is a new device.

[0284] The edge computer acts as a DHCP server and selects an IP address (e.g., "192.168.1.100") from the available IP address pool and assigns it to the device.

[0285] Trigger the initial setup process:

[0286] Generate unique URL: Generate a unique URL "http: / / example.com / config / 12345" for the new device.

[0287] QR code generation: Encode the URL into a QR code to facilitate technicians to scan and configure.

[0288] The technician scans the QR code to enter the web configuration page, completes the configuration of the new device, and generates a unique second serial number "SEQ_00001" for the new device.

[0289] "SEQ_00001", MAC address "00:1A:2B:3C:4D:5E" and IP address "192.168.1.100" are stored together in the local database.

[0290] In an exemplary embodiment, the edge computer and the detection system are integrated on the inspection robot body to achieve underground safety monitoring through the inspection robot. In addition, the inspection robot body can also integrate a laser radar, an ultrasonic sensor, and an image processing device. The functions are described below:

[0291] LiDAR, used to build a 3D map of the underground environment from LiDAR data, or for long-range obstacle detection;

[0292] In one example, LiDAR can continuously scan the surrounding environment, generate high-precision distance measurement data, and convert this data into a point cloud to form a three-dimensional representation of the environment. Using a simultaneous localization and mapping (SLAM) algorithm, a three-dimensional map of the underground environment is constructed and updated in real time based on the point cloud data and stored in the local database of the edge computer for navigation. In addition, LiDAR can also parse the position and shape information of distant obstacles. When a potential obstacle is detected, an early warning mechanism is triggered to notify the inspection robot to adjust its path or stop moving forward to avoid a collision.

[0293] Ultrasonic sensors for close-range obstacle detection;

[0294] In one example, an ultrasonic sensor transmits sound waves and receives the reflected signals to calculate the distance of obstacles.

[0295] A safety distance threshold can be set, and an alarm is triggered when the detected obstacle distance is less than the threshold.

[0296] Furthermore, the inspection robot's path can be adjusted according to the obstacle location information to ensure safe navigation. Ultrasonic sensors and lidar complement each other, covering the obstacle detection needs within different distance ranges and improving the inspection robot's obstacle avoidance ability.

[0297] An image processing device for performing at least one of the first to third processes;

[0298] The first process includes: obtaining photos of working equipment and uploading them to a ground host, and checking at least one of the operating status, cleanliness and connection status of the working equipment through the photos of the working equipment, wherein the working equipment includes at least one of key facilities such as a motor, a pump and a conveyor belt;

[0299] In one example, the image processing equipment can take photos of these working equipment regularly and analyze the operating status of the equipment through image recognition technology, such as whether there is abnormal vibration or temperature change; evaluate the cleanliness of the equipment surface, detect whether there is dust or dirt that affects normal operation; confirm whether the connection of the equipment (the connection between the components on the equipment and / or the connection between the equipment and other equipment) is firm, and whether there are loose or damaged parts. The photos of the working equipment taken are uploaded to the ground host for remote viewing and analysis by relevant personnel to ensure that the equipment is always in good condition.

[0300] The second process includes: obtaining a photo of the underground sign, confirming the current position of the inspection robot through the photo of the sign, and uploading the photo of the underground sign and / or the current position to the ground host;

[0301] In one example, after the image processing device takes a photo of an underground sign, it can use optical character recognition technology to extract text information on the sign, such as the mine tunnel name, working face number, etc. The extracted text information is matched with the pre-stored map data to determine the current position of the inspection robot. This not only helps the robot navigate accurately, but also provides managers with real-time location information to ensure the smooth progress of the inspection task.

[0302] The third process includes: obtaining the underground environment video and uploading it to the ground host, so as to provide a virtual on-site perspective for the surface monitoring personnel through the underground environment video, so that the ground monitoring personnel can view and analyze the underground environment in real time, so as to respond to emergencies and take corresponding measures.

[0303] In one example, the image processing equipment continuously records the video of the underground environment, compresses and encodes the video, and uploads it to the surface host in real time through a wireless network or wired connection. The monitoring personnel on the well observe the underground environment in real time through the video stream, and promptly detect and respond to emergencies such as equipment failures or safety hazards. This real-time monitoring function greatly improves the speed and accuracy of emergency response.

[0304] Through the above integration, the inspection robot can effectively use lidar, ultrasonic sensors and image processing equipment to achieve 3D map construction, obstacle detection and various image processing tasks of the underground environment. These functions not only improve the accuracy and efficiency of underground safety monitoring, but also provide real-time virtual on-site perspectives for monitoring personnel on the surface, helping them to quickly respond to emergencies and ensure the safe operation of the mine.

[0305] Furthermore, taking gas inspection as an example, according to the different locations of gas inspection sites, location A is configured with 60-way drilling groups and location B is configured with 100-way drilling groups. "Road" refers to different paths extending from a centralized starting point (such as monitoring equipment), and each path can have one or more drill holes. The inspection robot automatically collects gas concentration data at a set frequency (for example, once every 2 seconds) through integrated sensors, and transmits the gas concentration data to the edge computer for analysis and processing. At the same time, the edge computer synchronously uploads it to the ground host for storage, and\or transmits it to the display device for screen projection in the "gas layout" format.

[0306] After the ground host receives the gas concentration data, it reads the data through the geographic information system and spatially associates it with the pre-defined underground map. The ground host will automatically compile gas shift reports based on preset time periods (such as daily, weekly or monthly). When installing the sensor, the technicians will set the specific location for each monitoring point according to the layout of the mine and record it. This location information, together with the unique identification of the sensor, is uploaded to the ground host when the system is first set up. After that, when the sensor collects data and sends it to the ground host, the ground host knows the specific location of each data from the mine, and uses the location coordinates of each monitoring point to determine its exact location on the map. Relevant personnel can view the status of all monitoring points on the geographic information system interface.

[0307] In an exemplary embodiment, based on the same inventive concept, Figure 4 As shown, the embodiment of the present application also provides an underground safety monitoring method based on an edge computer, which is executed by an edge computer and includes the following steps S101 to S103. Among them:

[0308] Step S101, receiving environmental data, the environmental data including at least one of the following parameters: harmful gas concentration, gas flow, atmospheric pressure, ambient temperature and ambient humidity.

[0309] Step S102: monitor the connection status with the ground host. If the connection is abnormal, store the environmental data locally, and send the environmental data to the ground host after the connection is restored.

[0310] Step S103, the environmental data is analyzed by a preset anomaly detection logic. If an anomaly is found, a first alarm signal is generated and sent to a display device and an underground alarm system. The first alarm signal includes at least one of the following: a first timestamp that matches the environmental data, and a first identifier of a detection device that matches the environmental data.

[0311] Based on the same inventive concept, the embodiment of the present application also provides an edge computer for implementing the above-mentioned. The implementation scheme for solving the problem provided by the edge computer is similar to the implementation scheme recorded in the above-mentioned system and method, so the specific limitations in one or more edge computer embodiments provided below can refer to the above-mentioned limitations on the underground safety monitoring system based on the edge computer, which will not be repeated here.

[0312] In an exemplary embodiment, Figure 5 As shown, an edge computer is provided, including:

[0313] The first receiving module 510 is used to receive environmental data sent by the detection system, and the environmental data includes at least one of the following parameters: harmful gas concentration, gas flow, atmospheric pressure, ambient temperature and ambient humidity;

[0314] The monitoring module 520 is used to monitor the connection status with the ground host. If the connection is abnormal, the environmental data is stored locally, and after the connection is restored, the environmental data is sent to the ground host;

[0315] An analysis module 530 is used to analyze environmental data using a preset anomaly detection logic;

[0316] If an abnormality is analyzed, a first alarm signal is generated and sent to a display device and an underground alarm system. The first alarm signal includes at least one of the following: a first timestamp matching the environmental data, and a first identifier of a detection device matching the environmental data.

[0317] Optionally, the edge computer further includes:

[0318] A real-time clock module, configured to generate and / or store a first timestamp;

[0319] A denoising module, for denoising the environmental data before analyzing it through a preset anomaly detection logic;

[0320] An outlier removal module is used to remove outliers from the environmental data after denoising;

[0321] A unit conversion module is used to convert the units of the environmental data after the outliers are removed;

[0322] An additional module, used for attaching a first timestamp to the environmental data after unit conversion, where the first timestamp is used to make each environmental data have a corresponding time reference;

[0323] The environmental data analyzed by the analysis module 530 includes environmental data with a first timestamp attached.

[0324] As an optional implementation, the real-time clock module is further used to generate and / or store a second timestamp. The monitoring module 520 specifically includes:

[0325] A first sending module is used to send a heartbeat packet to a ground host at a first preset time interval, where the heartbeat includes at least one of the following: a second identifier of the edge computer and a second timestamp;

[0326] The first determination module is used to determine that there is a connection abnormality between the edge computer and the ground host if the ground host response time is greater than a first threshold for m consecutive times; m is a natural number;

[0327] A writing module is used to write the environmental data as accumulated data into the time series database when the connection is determined to be abnormal;

[0328] The second determination module is used to determine that the edge computer and the ground host are connected again if the ground host response time is less than or equal to the first threshold for M consecutive times; M is a natural number;

[0329] The reading module is used to read the accumulated data from the time series database and upload the accumulated data in batches to the ground host in chronological order.

[0330] As an optional implementation, the edge computer further includes:

[0331] A second receiving module, used for receiving a time synchronization instruction from a ground host, wherein the time synchronization instruction includes a third timestamp provided by the ground host;

[0332] The adjustment module is used to adjust the real-time clock module according to the time synchronization instruction, so as to perform time calibration on the real-time clock module.

[0333] As an optional implementation, the edge computer further includes:

[0334] The time compensation module is used to compensate the drift error of the real-time clock module through the configured periodic time synchronization mechanism when the edge computer is connected to the ground host normally.

[0335] As an optional implementation, the edge computer further includes:

[0336] a setting module, used to pre-set a link priority list, the link priority list includes a priority order of each communication link, and the communication link includes at least one of the following: 4G / 5G, Wi-Fi and wired connection; when the system is initialized, randomly select one from all available communication links for communication;

[0337] A checking module, used for regularly checking the key performance indicators of each communication link, where the key performance indicators include at least one of the following: packet loss rate, delay time, bandwidth utilization and connection stability, where the connection stability includes interruption and no interruption;

[0338] The adjustment module is used to adjust the weight of each communication link according to the key performance indicators, and update the link priority list according to the adjustment result.

[0339] As an optional implementation, the first receiving module 510 includes:

[0340] A first sending module is used to send an ICMPEcho Request data packet to the detection device IP address for n consecutive times according to a second preset time interval, where the ICMP Echo Request data packet carries a third identifier and a first sequence number for verification; n is a natural number;

[0341] The third determination module is used to determine that the connection between the edge computer and the detection device is normal if an ICMP EchoReply data packet returned by the detection device is received within a first preset time and passes verification; otherwise, it is determined that the connection between the edge computer and the detection device is abnormal, and a second alarm signal is generated and sent to the display device and the downhole alarm system, and the second alarm signal includes at least one of the following: the detection device ID and the detection device type; the Reply data packet carries the environmental data collected by the corresponding detection device, as well as an identifier and a serial number used for verification; wherein, when the identifier and the serial number carried by the Reply data packet match the third identifier and the first serial number respectively, the Reply data packet passes the verification.

[0342] As an optional implementation, the edge computer further includes:

[0343] A third receiving module is used to continuously receive a position pulse signal forwarded by the UWB base station system, the position pulse signal includes a fourth identifier and a fourth timestamp; wherein the position pulse signal is sent by a UWB tag worn by a miner; each UWB tag matches a miner; the fourth identifier is used to identify the UWB tag, and the fourth timestamp includes the sending time of the position pulse signal; the UWB base station system includes at least three UWB base stations deployed underground, and at least one two-dimensional plane can be determined by at least three UWB base stations;

[0344] An acquisition module is used to obtain the location information of the UWB tag through a multi-point ranging algorithm;

[0345] A conversion module is used to convert the location information of the UWB tag into the real-time location coordinates of the miner in the underground environment according to the underground environment map information;

[0346] The matching module is used to match the real-time location coordinates of the miners in the underground environment with the miners’ identity information stored in the HRMS, so that each UWB tag corresponds to a unique miner;

[0347] The upload module is used to upload the real-time location coordinates of miners in the underground environment to the ground host.

[0348] As an optional implementation, the edge computer further includes:

[0349] The monitoring module is used to monitor all DHCP requests in the LAN. The DHCP request is used for: unknown devices in the LAN try to connect to the network and request an IP address from the edge computer;

[0350] Recording module, used to record unknown device MAC addresses and IP addresses;

[0351] A query module is used to query the local database. If the MAC address of the unknown device does not match the MAC address of the known legal device in the local database, the initialization setting process is triggered and the unknown device is confirmed as a new device.

[0352] Based on the initialization setup process, the query module specifically includes:

[0353] A first configuration module, used to complete the configuration of the new device through a unique URL or a QR code if the new device supports a Web interface;

[0354] The second configuration module is used to complete the configuration of the new device by calling a preset API if the new device supports the API interface;

[0355] The allocation module is used to allocate a second serial number to the new device, associate the second serial number with the MAC address and IP address of the new device, and store it in the local database.

[0356] In an exemplary embodiment, a computer device is provided. The computer device may be an edge computer or a detection device. The internal structure diagram thereof may be as follows: Figure 6As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the aforementioned accumulated data, the second identifier, the underground environment map information, etc. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the various steps of the underground safety monitoring method performed by the above-mentioned edge computer or detection device are implemented.

[0357] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0358] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0359] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0360] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0361] It should be noted that the user information (including but not limited to user device information, user personal information, miner identity information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0362] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0363] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0364] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0365] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. An underground safety monitoring system based on edge computers, characterized in that: including a detection system and at least one edge computer; The detection system includes at least one detection device; the categories of environmental data collected by the at least one detection device include: at least one of harmful gas concentration, gas flow, atmospheric pressure, ambient temperature and ambient humidity; the edge computer supports communication with the detection device; The edge computer is used to: Receiving environmental data sent by the detection device; Monitor the connection status with the ground host, if the connection is abnormal, store the environmental data locally, and send the environmental data to the ground host after the connection is restored; Analyzing the environmental data using a preset anomaly detection logic; If an abnormality is analyzed, a first alarm signal is generated and sent to a display device and an underground alarm system. The first alarm signal includes at least one of the following: a first timestamp matching the environmental data, and a first identifier of the detection device matching the environmental data.

2. The underground safety monitoring system based on edge computer according to claim 1 is characterized in that: Before analyzing the environmental data through the preset anomaly detection logic, the edge computer is also used to: Performing denoising on the environmental data; Performing outlier removal processing on the environmental data after the denoising processing; Performing unit conversion on the environmental data after the outlier removal process; Attaching the first timestamp to the environmental data after unit conversion; The environmental data analyzed by the preset anomaly detection logic includes the environmental data with the first timestamp attached.

3. The underground safety monitoring system based on edge computer according to claim 1, characterized in that: In terms of monitoring the connection status with the ground host, storing the environmental data locally if the connection is abnormal, and sending the environmental data to the ground host after the connection is restored, the edge computer is specifically used for: Sending a first heartbeat packet to the ground host at a first preset time interval, wherein the first heartbeat packet includes at least one of the following: a second identifier of the edge computer and a second timestamp; If the response time of the ground host is greater than the first threshold for m consecutive times, it is determined that there is a connection abnormality between the edge computer and the ground host; m is a natural number; When the connection is determined to be abnormal, the environmental data is written into a time series database as accumulated data; After determining that the connection is abnormal, if the response time of the ground host is less than or equal to the first threshold for M consecutive times, it is determined that the edge computer and the ground host are restored to be connected; M is a natural number; Read the accumulated data from the time series database, and upload the accumulated data to the ground host in batches in chronological order; After determining that the edge computer is connected to the ground host again, the edge computer is further used to: receiving a time synchronization instruction from the ground host, wherein the time synchronization instruction includes a third timestamp provided by the ground host; According to the time synchronization instruction, the local clock is time-calibrated.

4. The underground safety monitoring system based on edge computer according to claim 1, characterized in that: In terms of supporting communication with the detection device, the edge computer is specifically used for: Presetting a link priority list, the link priority list includes a priority order of each communication link, the communication link includes at least one of the following: 4G / 5G, Wi-Fi, and wired connection; When the system is initialized, one of all available communication links is randomly selected for communication; Periodically checking a key performance indicator of each of the communication links, wherein the key performance indicator includes at least one of the following: packet loss rate, delay time, bandwidth utilization, and connection stability, wherein the connection stability includes interruption and no interruption; According to the key performance indicators, the weight of each of the communication links is adjusted, and the link priority list is updated according to the adjustment result.

5. The underground safety monitoring system based on edge computer according to claim 1, characterized in that: In terms of receiving the environmental data sent by the detection device, the edge computer is specifically used for: Sending an ICMP Echo Request data packet to the detection device IP address for n consecutive times at a second preset time interval, wherein the ICMP Echo Request data packet carries a third identifier and a first sequence number for verification; n is a natural number; If an ICMP Echo Reply data packet returned by the detection device is received within the first preset time and passes verification, it is determined that the connection between the edge computer and the detection device is normal; otherwise, it is determined that the connection between the edge computer and the detection device is abnormal, and a second alarm signal is generated and sent to the display device and the downhole alarm system, the second alarm signal including at least one of the following: a detection device ID and a detection device type; the ICMP Echo Reply data packet carries environmental data collected by the corresponding detection device, as well as an identifier and a serial number used for verification; wherein, when the identifier and the serial number carried by the ICMPEcho Reply data packet match the third identifier and the first serial number respectively, the ICMP Echo Reply data packet passes verification.

6. The underground safety monitoring system based on edge computer according to claim 1, characterized in that: The edge computer is also used to: Continuously receiving a position pulse signal forwarded by a UWB base station system, wherein the position pulse signal includes a fourth identifier and a fourth timestamp; wherein the position pulse signal is sent by a UWB tag worn by a miner; each UWB tag matches a miner; the fourth identifier is used to identify the UWB tag, and the fourth timestamp includes the sending time of the position pulse signal; the UWB base station system includes at least three UWB base stations deployed underground, and at least one two-dimensional plane can be determined by at least three UWB base stations; Acquire the location information of the UWB tag through a multi-point ranging algorithm; According to the underground environment map information, the location information of the UWB tag is converted into the real-time location coordinates of the miner in the underground environment; Matching the real-time location coordinates of the miner in the underground environment with the miner identity information stored in the HRMS, so that each UWB tag corresponds to a unique miner; The real-time position coordinates of the miner in the underground environment are uploaded to the ground host.

7. The underground safety monitoring system based on edge computer according to claim 3 is characterized in that: The edge computer is also used to: Monitor all DHCP requests in the LAN, where unknown devices in the LAN attempt to connect to the network and request an IP address from the edge computer; Record unknown device MAC addresses and unknown device IP addresses; Query the local database, if the unknown device MAC address does not match any of the known legitimate device MAC addresses in the local database, trigger the initialization setting process and confirm the unknown device as a new device; The initialization setting process includes: If the new device supports a web interface, complete the configuration of the new device through a unique URL link or a QR code; If the new device supports the API interface, the configuration of the new device is completed by calling the preset API; A second serial number is allocated to the new device, and after associating the second serial number with the new device MAC address and the new device IP address, the second serial number is stored in the local database.

8. The underground safety monitoring system based on edge computer according to any one of claims 1 to 7, characterized in that: The edge computer and the detection system are integrated on the inspection robot body to achieve underground safety monitoring through the inspection robot; The inspection robot body also integrates a laser radar, an ultrasonic sensor and an image processing device; The laser radar is used to construct a three-dimensional map of the underground environment through laser radar data, or to detect obstacles at a long distance; The ultrasonic sensor is used for close-range obstacle detection; The image processing device is used to perform at least one of the first processing to the third processing; The first processing includes: obtaining a photo of the working equipment and uploading it to the ground host, and checking at least one of the operating status, cleanliness and connection status of the working equipment through the photo of the working equipment, wherein the working equipment includes at least one of a motor, a pump and a conveyor belt; The second process includes: obtaining a photo of an underground sign, confirming the current position of the inspection robot through the photo of the sign, and uploading the photo of the underground sign and / or the current position to the ground host; The third process includes: acquiring a downhole environment video and uploading it to the surface host, so as to provide a virtual on-site perspective for uphole monitoring personnel through the downhole environment video, so as to respond to emergencies.

9. A method for underground safety monitoring based on edge computers, characterized in that: The downhole safety monitoring system based on edge computer according to any one of claims 1 to 8, wherein the downhole safety monitoring method based on edge computer comprises: Receiving environmental data, the environmental data including at least one of the following parameters: harmful gas concentration, gas flow, atmospheric pressure, ambient temperature and ambient humidity; Monitor the connection status with the ground host, if the connection is abnormal, store the environmental data locally, and send the environmental data to the ground host after the connection is restored; The environmental data is analyzed by a preset abnormality detection logic. If an abnormality is found, a first alarm signal is generated and sent to a display device and an underground alarm system. The first alarm signal includes at least one of the following: a first timestamp that matches the environmental data, and a first identifier of the detection device that matches the environmental data.

10. An edge computer, characterized in that: The edge computer comprises: A first receiving module, used to receive environmental data sent by the detection system, wherein the environmental data includes at least one of the following parameters: harmful gas concentration, gas flow, atmospheric pressure, ambient temperature and ambient humidity; A monitoring module is used to monitor the connection status with the ground host, and if the connection is abnormal, the environmental data is stored locally, and after the connection is restored, the environmental data is sent to the ground host; An analysis module, used to analyze the environmental data using a preset anomaly detection logic; If an abnormality is analyzed, a first alarm signal is generated and sent to a display device and an underground alarm system. The first alarm signal includes at least one of the following: a first timestamp matching the environmental data, and a first identifier of the detection device matching the environmental data.

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