An intelligent integrated automatic pollution discharge and spray dust reduction system for a coal mine tunnel

Abstract

The application discloses a kind of intelligent integrated automatic pollution discharge spray dust reduction systems for coal mine roadway, it is related to the field of automation.The system includes: double-channel sensing component, central controller, mine communication link and integrated pollution discharge spray terminal group;Central controller obtains dust image and ground height image at the same time in combination with double-channel sensing component, generates roadway working condition grid chart and completes dust grade marking and ground height marking, on this basis, dust cluster and transition zone are extracted and pollution discharge component list is loaded, and then descending chain is constructed from the outer edge of dust cluster and ridge chain backbone is selected, finally, cooperative control instruction set is generated and issued to integrated pollution discharge spray terminal group, and snapshot acceptance is carried out using double-channel sensing component after execution.The application can ensure accurate dust control, smooth sewage discharge, high resource utilization, and maintain the stability and long-term effectiveness of system operation in complex environment.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and in particular to an intelligent integrated automatic sewage spray dust suppression system for coal mine roadways. Background Technology

[0002] Dust and wastewater issues during coal mine roadway operations have always been core challenges in mine safety and environmental management. To suppress dust concentrations, ensure miners' breathing environment, and prevent secondary dust generation and equipment corrosion caused by wastewater accumulation, various solutions have been proposed. A common approach is to use spray devices to suppress dust at fixed times or locations within the roadway, combined with drainage ditches, sump pits, and pump pits to remove water and sediment. These technologies can reduce dust concentrations to some extent and maintain basic cleanliness of the roadway surface, but they still have many limitations.

[0003] In dust suppression spraying, traditional spraying systems often employ fixed nozzles or manually moved spraying equipment. These systems typically spray at time intervals, rather than based on the real-time distribution of dust within the tunnel. Due to a lack of intelligent sensing, the spray location often mismatches with dust concentration areas, resulting in insufficient spraying in high-concentration areas and excessive spraying in low-concentration areas. This uneven spraying effect not only increases water consumption but can also lead to localized water accumulation in the tunnel. Furthermore, the water vapor and dust mixture generated by the spray settles along low-lying areas, but current technologies lack a process design to propel the dust towards drainage components, preventing efficient discharge of the settled material and causing it to accumulate at lower levels in the tunnel. Regarding wastewater discharge, current technologies primarily rely on fixed drainage ditches, sump pits, and pump pits. These facilities are often located during the construction phase and lack dynamic adaptability. When the flow direction of the post-spray liquid-solid mixture does not match the existing drainage components, discharge efficiency is significantly reduced. In actual operation, water accumulation and dust deposition often occur in areas without drainage components, causing localized blockages and potentially triggering secondary disasters. Although some studies have suggested using portable water pumps or temporary hoses to improve drainage, these measures rely on manual deployment, are inefficient, and lack automation. Summary of the Invention

[0004] In view of this, the present invention provides an intelligent integrated automatic sewage spray dust suppression system for coal mine roadways, which realizes synchronous perception of dust and terrain, coordinated control of spraying and sewage discharge, and automatic verification of effects. It can form a continuous dust suppression and sewage discharge process in coal mine roadways, thereby ensuring precise dust control, smooth sewage discharge, high resource utilization, and maintaining the stability and long-term effectiveness of system operation in complex environments.

[0005] The technical solution adopted in this invention is as follows:

[0006] A smart integrated automatic dust suppression spray system for coal mine roadways includes: a dual-channel sensing component, a central controller, a mine communication link, and an integrated dust suppression spray terminal group. The central controller is used to: acquire dust images and ground elevation images simultaneously through the dual-channel sensing component; generate a roadway condition grid map, complete dust level labeling and ground elevation labeling, extract dust clusters and transition zones, and load a list of dust suppression components; based on the roadway condition grid map and the list of dust suppression components, construct a descending chain from the outer edge of the dust cluster according to the eight-way adjacency rule, select the backbone of the ridge chain based on the number of passes, and implement minimum bypass for single grid gaps caused by blockages. Tracing forward along the ridge chain from the end, priority is given to locking the junctions adjacent to or at the same position as those in the list of sewage discharge components. If no junction is found, a backup junction is determined at a relatively low grid unit where multiple chains intersect. A spray induction belt is laid along the outer edge of the dust cluster, and turning spray positions and end spray positions are set. The corresponding sewage extraction nodes are determined. The spray induction belt and the sewage extraction nodes form a phase-locked belt with spray first and sewage followed, and are executed according to priority and staggered peak times. A collaborative control command set is generated and sent to the integrated sewage spray terminal group for execution via the mine communication link. After the collaborative control command set is executed, the dual-channel sensing components are controlled to obtain a snapshot of the same working condition for acceptance.

[0007] Furthermore, the dual-channel sensing component includes a dust imaging channel and a ground depth channel, acquiring a single snapshot simultaneously. The dust imaging channel is a dust camera installed on the roof or sidewall of the tunnel, and its output is a single-frame dust image. The central controller calls its built-in thresholding and grading function to divide the dust image into three categories: high, medium, and low, to obtain a dust level labeling map. The ground depth channel is a depth scanner facing the tunnel floor, and its output is a single-frame ground elevation and elevation image. The central controller performs built-in plane correction and attitude compensation to align the ground elevation and elevation images to a unified coordinate system, generating a ground elevation and elevation labeling map, where each position is labeled as relatively high, relatively medium, or relatively low.

[0008] Furthermore, the list of sewage components is pre-installed in the static engineering table of the central controller during equipment installation and commissioning, including the fixed positions of drainage ditch outlets, sump pits, pump pits, and guide channel valves; the central controller uses the roadway baseline as a longitudinal reference and divides the roadway into equidistant grids according to the effective coverage width of a single spray nozzle to generate a roadway condition grid map; the dust level label map and the ground elevation label map are projected onto the roadway condition grid map, so that each grid unit has a dust level label, ground elevation label, and obstacle status label; if a protruding obstacle is identified in the ground depth channel, the obstacle status of the grid unit is marked as blocked, otherwise it is passable.

[0009] Furthermore, on the roadway condition grid map, the central controller defines a set of adjacent grid cells marked as high dust levels as a dust cluster; the adjacent middle-level grid cells are bound to the dust cluster as a transition zone; for any passable grid cell, if the ground elevation of any adjacent grid cell is lower than that of the grid cell, the adjacent grid cell is recorded as its descending adjacency; the adjacency relationship adopts an eight-way adjacency centered on the grid cell; for each passable grid cell on the outer edge of a dust cluster, all its descending adjacencies are collected to form a descending candidate set for the grid cell; if there are no descending adjacencies, the grid cell is marked as a locally low-level grid cell.

[0010] Furthermore, the process by which the central controller obtains several clearly defined descending chains from each dust cluster includes: selecting all high-area grid cells covering the outer edge of each dust cluster as the set of descending chain starting points; starting from any descending chain starting point, extending grid by grid in the following order: if there are relatively low-level grid cells in the descending candidate set, then prioritize entering the one closest to the direction of the line connecting to the starting point; if there are only relatively mid-level grid cells, then enter any one of them with the smallest change from the current direction of travel; if an obstruction is encountered ahead, then terminate the branch at the obstruction point; when a grid cell has two or more descending adjacencies, parallel branches are generated to continue growing separately; when entering a local low-level grid cell and none of its adjacent grid cells have a lower label, the branch is terminated.

[0011] Furthermore, the central controller counts the number of times each grid cell is traversed by all descending chains of the same dust cluster, and defines the connecting path with the highest number of traversals as the backbone of the dust cluster. If there are parallel paths, the one with the shorter total length is selected as the backbone. For a single grid gap caused by an obstruction on the backbone, it is allowed to bypass the gap by the grid cell with the smallest span adjacent to the gap, and the bypassed grid cell is incorporated into the backbone. Tracing back from the end of the backbone, it searches for a grid cell that is adjacent to or at the same position as any position in the list of discharge components, and the first position hit is defined as the port of the dust cluster. If there are multiple candidates, the one with the smaller Manhattan distance from the end of the backbone is selected. If no position in the list is hit, a relatively low grid cell that intersects with two or more descending chains is selected from the end of the backbone and its neighborhood as a backup port, and the grid cell is recorded as a temporary extraction point.

[0012] Furthermore, the side of the dust cluster facing the ridge chain is used as the reference for laying the spray induction belt; several spray induction positions are sequentially designated on the spray induction belt according to the interval sequence of the execution template set by the terminal group; the fan-shaped area of ​​each spray induction position faces the ridge chain, and an additional turning spray position is set in the turning grid unit at the turning point to suppress lateral overflow; at the end of the ridge chain near the confluence, an end spray position is set, the function of which is to directionally press the dust along the ridge chain to the confluence.

[0013] Furthermore, if the port corresponds to a fixed facility in the list of sewage components, the location of that facility shall be designated as a sewage extraction node; if a spare port is used, a mobile sewage port shall be set in the direction of the adjacent grid at that location and designated as a sewage extraction node, and the connection relationship shall be completed according to the standard interface of the terminal group.

[0014] Furthermore, the central controller pairs the spray induction zone with the sewage extraction node, forming a phase-locked zone where spraying precedes sewage extraction. The advancing direction is along the ridge chain from the dust cluster to the confluence. When the phase-locked zones of two or more dust clusters need to occupy the same spray nozzle or valve group within the same time window, the number of grid cells in the high zone of the dust cluster is used as the priority, with the higher one proceeding first and the lower one following. The following result is written into the staggered sequence of the collaborative control instruction set. If there are passable grid cells on the outer edge of the dust cluster that are not covered by any spray induction position, a compensation spray position is automatically added between the grid cell and the ridge chain and incorporated into the current phase-locked zone. The central controller writes the advancing order and staggered sequence of the ridge chain, confluence, spray induction zone, sewage extraction node, and phase-locked zone corresponding to each dust cluster into the collaborative control instruction set, and sends it to the integrated sewage spray terminal group for execution through the mine communication link, so that the dust is continuously pushed along the ridge chain to the confluence and simultaneously extracted to complete dust suppression and sewage extraction.

[0015] By adopting the above technical solutions, this invention achieves the following beneficial effects: By extracting dust clusters and transition zones, the central controller can clearly define the boundaries of the treated objects, thereby reducing excessive action and improving resource utilization during spray coverage. After loading the list of sewage discharge components, the algorithm can precisely connect the extraction path with existing facilities, preventing the accumulation of liquid-solid mixtures in areas without emission capacity. Furthermore, by tracing back along the backbone from the end to the front, priority is given to locking the access point. If no match is found, a relatively low position with multiple chain intersections is selected as a backup access point, thus ensuring that the liquid-solid mixture is guided to a reliable sewage discharge node within the shortest path. The laying of the spray induction zone and the setting of the turning spray position and the end spray position ensure that the propulsion surface remains geometrically continuous and fully covered, effectively preventing dust from overflowing and spreading at corners or the end. By forming a phase-locked zone with the spray induction zone and the sewage extraction node, where spraying precedes sewage discharge, the central controller can achieve phased and rhythmic treatment, ensuring the coupled execution of spraying and extraction actions, and improving the overall dust suppression and sewage discharge efficiency. Prioritization and off-peak execution strategies further avoid resource conflicts between spray nozzles and extraction equipment, enabling the system to remain stable in complex environments. The generation and distribution of collaborative control command sets ensure that all actions are executed automatically and in an orderly manner, reducing manual intervention and improving response speed. Finally, a snapshot of the same operating condition is taken again after execution for acceptance testing, achieving self-checking and one-time correction of the treatment effect, thus maintaining the continuous effectiveness of dust suppression and pollution discharge in the dynamic and complex environment of coal mine roadways. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the system structure of an intelligent integrated automatic sewage spray dust suppression system for coal mine roadways according to an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the roadway working condition grid and dust cluster ridge chain construction analysis in an embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the coordinated execution timing and peak-shaving control of the integrated sewage spray terminal group in an embodiment of the present invention. Detailed Implementation

[0019] All features disclosed in this specification, or all steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps.

[0020] Any feature disclosed in this specification, unless otherwise stated, may be replaced by other equivalent or similar features. That is, unless otherwise stated, each feature is merely one example of a series of equivalent or similar features.

[0021] refer to Figure 1 A smart integrated automatic sewage spray dust suppression system for coal mine roadways, comprising: a dual-channel sensing component, a central controller, a mine communication link, and an integrated sewage spray terminal group.

[0022] During the installation and commissioning phase, the central controller records the installation position, orientation, and relative distance of the dust imaging channel and the ground depth channel in the dual-channel sensing component, establishing a unified coordinate system. This unified coordinate system uses the tunnel baseline as the longitudinal reference and the equipment mounting surface as the lateral reference. To ensure consistent geometric mapping between the two channels during operation, the central controller places fixed reference markers on the tunnel floor and records the positional relationship of these markers in the field of view of both channels, serving as long-term calibration anchor points. The advantage of this approach is that when the equipment experiences slight pose shifts due to vibration, rapid compensation can be achieved through changes in the position of the reference markers, preventing pixel misalignment during subsequent fusion and ensuring a one-to-one correspondence between the dust image and the ground elevation image within the unified coordinate system.

[0023] The central controller simultaneously sends acquisition trigger signals to both the dust imaging channel and the ground depth channel via a synchronization line, requiring both channels to begin exposure or ranging on the same trigger edge. To avoid time discrepancies caused by processing delays within the two channels, the central controller reads the hardware timestamps of both channels after triggering and sets a time consistency threshold, for example, no greater than 5 milliseconds. Acquisition results exceeding the threshold are discarded and immediately retried. This method maintains consistency at the same moment even in scenarios with rapidly changing coal dust disturbances, ensuring a strict temporal correspondence between the dust distribution reflected in the dust imagery and the terrain conditions reflected in the ground elevation imagery.

[0024] The dust imaging channel faces the tunnel space, and the central controller receives a single frame of raw image upon triggering. To suppress point-like false bright spots caused by highly reflective particles in the tunnel, the central controller first performs small-scale spatial filtering, weakening only isolated bright spots without affecting continuous dust stripes. Dynamic range compression is then performed to bring areas with large differences in brightness closer to a unified, gradable grayscale range, facilitating subsequent grading. To make the dust image focus more on suspended dust rather than the texture of fixed components, the central controller performs top-hat enhancement on the low-frequency background, highlighting the cloud-like texture formed by fine particles. Next, a thresholding grading function is called to classify pixels into high, medium, and low zones. A grading function is used instead of a single threshold because tunnel lighting has spatial non-uniformity; multi-threshold grading can adaptively balance bright and dark areas within the same frame, reducing holes or adhesion caused by missegmentation. After processing, a dust image is formed, along with a timestamp and unified coordinate index for that frame.

[0025] The ground depth channel faces the tunnel floor, and the central controller receives a single frame of ranging results upon triggering. Due to the presence of water film and slippery surfaces in the tunnel, the depth return may contain multiple echoes. The central controller analyzes the echo energy distribution of each ranging unit, selecting the main energy peak closest to the sensor as the valid echo and discarding weaker peaks further away. This effectively eliminates false distance values ​​caused by water surface reflections or distant walls, ensuring that the obtained distance is the true distance directly in contact with the ground. Subsequently, the central controller uses the attitude information recorded during the installation and commissioning phase to perform plane correction and attitude compensation, eliminating systematic deviations caused by tilted installation, making the ground appear approximately horizontally distributed in a unified coordinate system. To obtain more stable ground elevation images, the central controller performs connectivity checks within the neighborhood, retaining only depth regions connected to large areas of ground and discarding isolated depth segments with suspended objects or cables. Finally, the central controller divides the relative height into three levels: relatively high, relatively mid, and relatively low, generating ground elevation images. The reason for using a three-level division is that spray induction and sewage path arrangement focus on the relative slope and collection relationship. Overly fine continuous values ​​not only do not provide additional benefits for control decisions, but also amplify the impact of sensor noise.

[0026] The dual-channel sensing component employs a coaxial integrated solution, maximizing the optical center alignment of the dust imaging channel and the ground depth channel. The central controller controls simultaneous acquisition by both channels via a single trigger interface. This fundamentally reduces edge misalignment caused by parallax and decreases reliance on complex geometric compensation. The dust imaging channel uses short-pulse narrowband illumination, while the ground depth channel uses ranging pulses generated at the same time. The central controller interleaves the two pulses at intervals of less than 1 millisecond, maintaining consistency while preventing interference between the two light sources. This interleaving method allows the short pulses of dust imaging to freeze high-speed drifting fine particles, reducing motion blur, and minimizes light leakage during echo acquisition in the depth channel. The ground depth channel is prone to multiple reflections on slippery surfaces. The central controller generates an energy distribution for each ranging unit, selecting the main energy peak closest to the sensor as the effective echo. This selection prioritizes the shortest path return to the actual contact surface, avoiding false long-distance reflections caused by secondary reflections, thus ensuring stable ground elevation images even in environments with water and oil contamination.

[0027] On black coal surfaces and damp mud surfaces, the natural texture of the ground depth channel is insufficient. The central controller controls the depth channel to project known textures while ranging. These known textures produce stable light and dark undulations on the ground, providing the ranging algorithm with sufficient matching features. This improves the effective ranging rate under low-reflection conditions and avoids large areas of voids in the ground elevation image. To avoid crosstalk between active textures and dust images, the central controller selects a different spectral range for projection than the dust imaging channel and uses bandpass filtering during dust imaging acquisition. Bandpass filtering maximally suppresses non-target spectra, improves the contrast of particle clouds in dust images, and reduces misclassification caused by background textures.

[0028] The central controller sets a consistency tolerance for the timestamps of the two channels, for example, no more than 5 milliseconds. When there is strong convection in the tunnel or when the spray has just started, the dust distribution changes more rapidly, and the central controller automatically tightens the tolerance, for example, no more than 2 milliseconds. Through adaptive tolerance, it ensures strictness at the same moment while avoiding excessive frame loss under stable operating conditions. If small holes appear in the ground elevation and eccentricity images, the central controller searches for continuous and reliable depth regions along the longitudinal and transverse directions of the tunnel in a unified coordinate system and uses nearest-neighbor interpolation to fill the small gaps. The reason for choosing the nearest-neighbor direction is that the tunnel floor usually undulates slowly longitudinally and tilts slightly laterally during construction, and nearest-neighbor interpolation can maintain terrain continuity without introducing distant terrain features. When there is local water accumulation on the ground forming a mirror surface, strong reflective points will appear in the dust imaging channel. Based on the overlap relationship between continuous low-level areas in the ground elevation and eccentricity images and isolated strong bright spots in the dust images, the central controller marks these overlapping pixels as water surface reflections and reduces their weight in dust classification. This avoids misinterpreting bright areas on the water surface as dust in high-area areas, thus maintaining the sensitivity of dust images to real particulate clouds.

[0029] The central controller uses the tunnel baseline as a longitudinal reference, dividing the work area into equidistant square grids. The side length is taken as the effective coverage width of a single spray nozzle, ensuring that each subsequent spray command corresponds one-to-one with several grid units. The advantage of square grids is that they naturally support eight-way adjacency, facilitating the representation of slope paths along inclines without increasing computational complexity. Dust images and ground elevation images obtained at the same time are mapped to grid coordinates according to the extrinsic parameters during installation and commissioning, so that each grid unit simultaneously possesses the pixel set of the dust image and the distance measurement set of the ground elevation image. Aligning to the same grid coordinates avoids repeatedly performing coordinate transformations during the path construction stage, reduces accumulated errors, and ensures that dust information and terrain information at the same location can be directly combined for judgment.

[0030] The central controller classifies the pixel brightness distribution of dust images within a grid cell, labeling the grid as high, medium, or low. The reason for using a tiered approach instead of a single threshold is that there is uneven intensity in roadway lighting. Tiered classification can simultaneously adapt to bright and shadowed areas within the same frame, avoiding misclassification of dust of the same concentration under different lighting conditions, thus obtaining a more spatially consistent dust level labeling. Robust values ​​are selected for the ranging set within the grid cell, prioritizing the ranging values ​​corresponding to the main energy peaks closer to the sensor, while discarding weaker peaks further away. The main energy peaks closer to the sensor are more likely to originate from actual ground reflection, while weaker peaks further away are often caused by specular reflection from water surfaces or distant structures. Retaining the main energy peaks improves the representativeness of the ground elevation image to the actual terrain. Subsequently, relative height is divided into relatively high, relatively medium, and relatively low levels, so that the ground elevation labeling directly reflects the slope trend without excessively amplifying sensor noise. On the roadway working condition grid diagram, high-zone grid cells are aggregated for connectivity using eight-way adjacency, resulting in multiple connected sets. Each connected set is defined as a dust cluster. The middle-zone grid cells adjacent to the outer edge of the dust cluster are bound as transition zones. Using eight-way adjacency instead of four-way adjacency allows for the inclusion of diagonally continuous high zones into the same connected set, which aligns with the actual situation where coal dust forms a diagonally banded distribution under the influence of airflow and spray. The purpose of binding the middle zone as a transition zone is to reserve a buffer edge for subsequent spray induction, avoiding edge rebound and re-diffusion caused by acting only on the high zone.

[0031] The central controller maps the locations of drainage outlets, sump pits, pump pits, and guide channel valves from the wastewater component list to the corresponding grid indices on the roadway condition grid map, and checks whether the surrounding areas of these locations are marked as obstructions. This step does not directly change the morphology of dust clusters and transition zones, but it provides engineering anchors for the subsequent construction of descending chains from the outer edges of dust clusters and subsequent path landing point constraints, preventing the path from ultimately pointing to areas without emission capacity. All high-area grid cells adjacent to non-high-area grid cells in a dust cluster are defined as outer edges, which are used as the starting edges of the descending chains. This selection allows the path to advance from a location with a larger dust concentration gradient, making it easier to generate stable convergence towards lower elevations. For any traversable grid cell, if the ground elevation of any eight adjacent grid cells is lower than that of the cell, then that adjacent grid cell is recorded as the descending adjacency of that cell. Prioritizing "lower" as the direction of advancement allows the path to naturally advance along the slope direction, reducing back-and-forth exploration in platform areas. After selecting starting points one by one from the outer edge, the central controller extends the path in the following order: If a relatively low position exists among the descending adjacencies, it prioritizes entering the cell closest in direction to the starting point, keeping the path as straight as possible and minimizing backtracking; if only a relatively mid-position exists, it enters the cell with the smallest directional change, ensuring continuous advancement even without significant gradients; if there is an obstruction ahead, the branch terminates at the obstruction to avoid large-scale deviations caused by detours. When a grid cell has two or more descending adjacencies, parallel branches are simultaneously derived and continue to grow, fully preserving multiple possible descending channels in the terrain for subsequent statistical analysis. Through the above process, each dust cluster obtains several descending chains with clearly defined start and end points.

[0032] The number of times each grid cell is traversed by all descending chains within the same dust cluster is counted. A connected path that maximizes the total number of traversals is defined as the ridge backbone of that dust cluster. If parallel paths exist, the shorter path is selected as the ridge backbone. The advantage of using the number of traversals is that multiple independently growing descending chains will naturally converge on the most suitable slope path in the actual terrain. A high number of traversals means that the path has been repeatedly selected under different starting points and branch conditions, resulting in higher stability and repeatability. In the case of parallel paths, selecting a shorter path reduces the execution distance of spraying and extraction, lowering energy consumption and latency. When a single grid cell blocks the ridge backbone, the central controller only allows one relatively central and passable alternative grid cell to bypass the gap within eight adjacent directions, prioritizing the cell that minimizes path turning. If two candidates both satisfy the minimum turning requirement, the cell more aligned with the ridge backbone's direction of travel is selected. Allowing only the minimum detour within a single grid area allows for crossing isolated obstacles while maintaining the overall slope direction, avoiding deviation from the low-lying area due to large-scale detours, and ensuring that subsequent paths can still reliably point to the vicinity of the sewage component list.

[0033] In scenarios where the effective coverage width of the spray nozzle varies significantly, the central controller can set two levels of grid side lengths, one vertically and one horizontally. The vertical side length aligns with the spray coverage length, and the horizontal side length aligns with the spray coverage width. This allows a single spray command to cover an integer number of grid cells, reducing repetitive or missed executions at boundaries. When an individual grid cell is marked as a high area due to an isolated brightness spike but surrounded by low areas, the central controller performs consistency correction within a small local neighborhood, renaming the isolated high area as a medium area. This suppresses mis-aggregation caused by random bright particles, avoiding the formation of unnecessary micro-dust clusters, thus making the outer edges of dust clusters smoother and facilitating the descent chain to start from a continuous boundary. When the relative height of two adjacent grid cells differs only slightly and jagged edges appear continuously along the longitudinal direction of the tunnel, the central controller uniformly marks the middle section as the relative median, transforming the gradient expression from a series of fine steps to a continuous gentle slope. This helps the descent chain maintain stable progress on slightly undulating terrain without directional jitter.

[0034] For high-area grid cells located at the outer edges of multiple dust clusters, the central controller prioritizes initiating the descent chain from the outer edge position of the larger dust cluster. Larger dust clusters typically correspond to more significant source strength, and prioritizing them ensures that subsequent spraying and extraction resource allocation aligns with the treatment priority. When two descent clusters are adjacent at relatively low levels and deviate from the starting line direction by the same amount, the central controller prioritizes the cell that is more parallel to the roadway baseline. This makes it easier for the ridge chain backbone to be continuously covered by the spray fan, reducing frequent changes in spray location. When two parallel candidate ridge chain backbones have the same length and have passed through the same number of times, the central controller prioritizes the one with more sewage component listings at its end. The end is closer to existing facilities, making subsequent locking of manifolds and setting of sewage extraction nodes more direct, reducing construction modification and temporary connection costs.

[0035] The central controller reads the list of ridge chain backbones and sewage components from the roadway condition grid map. The end of the ridge chain backbone is the position where the descending chain naturally stops at a relatively low position, usually closest to the direction of gravity convergence. Tracing back grid by grid from the end allows for facility alignment on the shortest possible end segment, reducing subsequent path modifications and temporary connection lengths. At each traversal step, the relationship between the current ridge chain grid unit and the position in the sewage component list is checked: if there are eight adjacent or co-located positions in the list, that position is identified as the confluence and traversal stops. The reason for selecting "adjacent or co-located" is that when drainage ditch openings, sump pits, pump pits, and diversion channel valves maintain the shortest possible connection to the end segment of the ridge chain at the grid scale, the final convergence path for liquids and dust is shortest, resulting in higher pumping efficiency, while also reducing spray backflow and mud accumulation in the end area. If, during the backtracking along the entire ridge chain, no listed location is adjacent or in the same position, the central controller searches for grid cells at the end of the ridge chain and in its neighborhood that meet two conditions: first, the ground elevation is marked as relatively low; second, at least two descending chains intersect at this cell. The cell that first meets these conditions is designated as a backup access point and recorded as a temporary extraction point. Selecting a relatively low position allows the liquid-solid mixture after spraying to naturally settle in the lowest potential zone, avoiding backflow against the slope; selecting a multi-chain intersection concentrates dust flows from multiple starting points, allowing extraction to be completed at a single point, reducing concurrent equipment pressure. When multiple candidate access points or multiple candidate backup access points appear, the central controller prioritizes the one with the smallest Manhattan distance from the end of the ridge chain. If they are still in parallel, it selects the one marked as passable by surrounding obstacles. If they are still in parallel, it selects the one that is closer to the location of more sewage discharge components listed. This sequential determination can simultaneously meet the requirements of minimal end-stage modification, higher construction accessibility, and flexibility of subsequent connections.

[0036] The central controller selects the side facing the spine backbone on the outer edge of the dust cluster as the laying reference for the spray induction zone. Specifically, for each outer edge grid unit, it calculates whether the shortest grid path to the spine backbone is unobstructed and generally consistent in direction. If so, the outer edge unit is included in the spray induction zone. The benefit of selecting the spine backbone is that the momentum and evaporation / condensation effect of the spray are guided towards the spine backbone, and the dust is pressed down into the downward channel within the shortest lateral distance, reducing the probability of rebounding to non-target sides. The spray induction zones are continuously arranged along the outer edge, with spacing following the factory-executed template of the integrated sewage spray terminal group, ensuring overlap between adjacent spray fan surfaces at the grid level. This overlap forms a continuous advancing surface, preventing dust leakage at gaps. During laying, the central controller checks whether there are any units marked as blocked between each spray induction position and the spine backbone. If so, without changing the outer edge selection, the spray induction position is moved forward and backward by several grids until an unobstructed shortest connection is formed. When the spray induction zone changes direction along its outer edge, for example, from longitudinal to oblique or lateral, the central controller sets an additional turning spray position in the outer edge grid unit where the turning occurs. This compensates for lateral gaps in the fan-shaped coverage at the direction change, suppressing inertial spillover of dust on the outer side of the corner. This additional reinforcement at the turning point ensures continuity of the propulsion surface at geometrical discontinuities, reducing "comb-like" residue caused by the fan-shaped edge effect. Near the end of the ridge chain close to the manifold or backup manifold, the central controller sets an end spray position, directing the spray fan towards the manifold or backup manifold. The end spray position enhances directional suppression at the end, creating a complete pressure gradient from the outer edge of the dust cluster to the manifold, causing the liquid-solid mixture to flow into the lowest potential point at the manifold, rather than accumulating in the end region. End enhancement also shortens the extraction preparation time and improves the instantaneous efficiency after extraction starts.

[0037] When a manifold is adjacent to or in the same location as a drain outlet, sump, pump pit, or guide channel valve listed in the sewage component inventory, the central controller directly designates that location as the sewage extraction node. This utilizes the stable capacity of existing facilities and existing pipelines, reducing the risk of new connections and temporary discharges, while also facilitating maintenance and auditing. When a backup manifold is used, the central controller sets a mobile sewage port in the adjacent grid direction of the backup manifold and designates it as the sewage extraction node. The location must meet two requirements: first, the adjacent path must be marked as blocked to facilitate equipment access and hose installation; second, the distance from the Manhattan distance at the end of the ridge chain should be as small as possible to shorten the extraction path and reduce siltation along the way. The mobile sewage port interfaces with the extraction equipment through the standard interface of the integrated sewage spray terminal group, ensuring that the start-up and shutdown sequence can be directly scheduled by the coordinated control command set. When multiple sewage discharge component locations are adjacent to each other, the central controller selects the one with the smaller Manhattan distance from the end of the ridge chain. If they are still adjacent, it selects the one with a larger surrounding passable area in the roadway condition grid to facilitate equipment layout and safe evacuation. If they are still adjacent, it selects the one with higher reliability in historical maintenance records. Through this approach, the selection of drainage nodes can take into account distance, accessibility, and operational stability without changing the algorithm structure.

[0038] Prioritize manifold search within 5 to 10 grid squares forward of the ridge chain end. If a match is found, the manifold is directly identified, and further searches are not conducted. This method speeds up matching and maximizes the use of existing facilities in the near-terminal area, reducing the length of the final stage modification. When a backup manifold intersects with three or more descending chains, the central controller can set an additional end-spray position on each side of the backup manifold, forming a "clamping propulsion." Clamping propulsion can improve the final stage suppression capability in scenarios with a high proportion of large particulate dust, preventing reverse diffusion upstream of the backup manifold. When the outer edge length of the dust cluster exceeds 50 grid squares, the central controller divides the spray induction zone into several continuous segments and binds them sequentially with the sewage extraction nodes using phase-locking zones. Segmentation reduces the number of simultaneous sprays, alleviating the pressure of concurrent water supply and extraction, while maintaining the continuity of the propulsion surface. Within 2 to 3 grid squares around the manifold or backup manifold, the central controller prohibits the setting of new spray induction positions, retaining only the final spray positions. This prevents turbulent eddies from forming at the inlet edge, ensuring that the liquid-solid mixture flows smoothly into the drainage ditch, sump, or pump pit without accumulating at the inlet edge.

[0039] On the roadway operating grid map, the central controller pairs each spray induction position on the spray induction zone with its corresponding sewage extraction node along the ridge chain backbone, forming several phase-locked pairs. Each phase-locked pair uses a fixed sequence interval of spray first, followed by sewage extraction, which is derived from the factory execution template of the integrated sewage spray terminal group. Spray first establishes a continuous advancing surface between the spray induction zone and the ridge chain backbone, first pressing dust and its carried water vapor towards the confluence area along the slope direction; sewage extraction follows synchronously after the dust is pressed to a low position, avoiding backflow and accumulation in the low-position area. Along the ridge chain backbone from the dust cluster towards the confluence, the phase-locked pairs are arranged sequentially to obtain the advancing sequence of the phase-locked zone. The advancing sequence follows the strategy of proximity synthesis and shortest path priority: for two adjacent spray induction positions, if their corresponding sewage extraction nodes point to the same confluence or the shortest connecting path between adjacent confluences is passable, then the two are synthesized into a continuous step of the same phase-locked zone. Proximity-based synthesis reduces water supply and drainage pulsations caused by repeated start-ups and shutdowns, resulting in a smoother advancement surface in both space and time. When two or more phase-locked zones require the same spray nozzle, sewage pump, or valve assembly within the same time window, the central controller determines priority based on the number of high-priority grid cells in the dust cluster, prioritizing higher-priority zones and deferred to lower-priority zones. If the numbers are equal, the zone with the shorter Manhattan distance from the ridge chain end to the sewage component list location is selected. If still equal, the phase-locked zone with a larger surrounding passable area is selected. Off-peak execution avoids pressure drops or valve assembly malfunctions caused by resource contention by delaying the start-up time of lower-priority zones, ensuring that high-load areas are treated first and shortening the overall convergence time.

[0040] The central controller reviews the already arranged phase-locked zones: if there is a passable grid cell on the outer edge of a dust cluster that is not covered by any spray-induced position, a compensating spray-induced position is added between that position and the backbone of the ridge chain, and a new phase-locked pair is formed with the nearest sewage extraction node before the phase-locked zone is inserted; if the addition causes a resource conflict with the existing advancement sequence, the peak shifting is re-adjusted according to the above priority rules.

[0041] The central controller generates a collaborative control instruction set, which includes at least the phase-locked zone advancement sequence, spray nozzle start / stop sequence, spray fan switching sequence, sewage pump start / stop sequence, valve group switching sequence, and peak-shaving sequence. Each instruction is bound to a unique device address and a unique grid index, and records the identity information of the corresponding spray induction position or sewage extraction node, ensuring a one-to-one correspondence between the execution object and spatial location. For each phase-locked pair, the central controller encodes the sequential interval between spraying and sewage extraction as a relative time relationship, and chains them together in the advancement sequence in the form of a step chain. Using a relative time relationship approach can maintain the sequential constraints within the pair when peak-shaving adjustments occur in different phase-locked zones, reducing disturbances to the global timing. To avoid instruction loss or duplicate execution, the collaborative control instruction set assigns a unique sequence number and a one-time execution identifier to each group of spraying and extraction actions. After the integrated sewage spray terminal group executes, it sends back a status report. The central controller only proceeds to the next step when it receives a reply with the same sequence number and a one-time execution identifier indicating completion. This strategy resists communication noise and repeated transmissions, ensuring that spraying and pumping actions are not triggered multiple times. The central controller transmits the collaborative control command set to the integrated sewage spray terminal group via the mine communication link, employing a reliable transmission and acknowledgment retransmission mechanism. The significance of acknowledgment retransmission lies in the fact that multipath propagation and obstruction commonly found in roadways can cause short-term packet loss. If no acknowledgment is received, the command is retransmitted within a limited number of times according to the original sequence number, ensuring execution continuity without introducing new concurrent conflicts. The collaborative control command set is executed strictly according to the advancement sequence and staggered peak sequence on the integrated sewage spray terminal group side. When a report is received that a valve group is not in place or a sewage pump has not reached a stable speed, the central controller suspends subsequent steps involving the same equipment address and instead executes the unaffected phase-locked band first, thereby maintaining the continuity of the overall advancement face and avoiding backflow in low-level areas.

[0042] Upon receiving the completion confirmation for the final step of the coordinated control command set, the central controller immediately controls the dual-channel sensing components to capture a snapshot of the same operating condition. Immediate acquisition maximizes the preservation of the true state after spraying and extraction, reducing secondary disturbances caused by airflow changes. The central controller performs three checks on the snapshot of the same operating condition: first, whether the high zone of the dust cluster has been suppressed into a medium or low zone; second, whether no new relatively low-lying expansion has occurred near the end of the ridge chain; and third, whether no continuous unextracted stagnation zone has appeared around the inlet or backup inlet. These three checks are chosen because they correspond to the effectiveness of the propulsion, the stability of the descent path, and the smoothness of the end-stage extraction, respectively, directly reflecting whether the phase coordination between spraying and subsequent extraction has met expectations. If all three checks are met, the central controller archives the phase-locking zone and propulsion sequence as a reusable template for the field. If any check is not met, the central controller recalculates the local adjustment of the phase-locking zone based on a snapshot of the same operating condition. The adjustment range is limited to adding or deleting individual spray induction positions, fine-tuning the propulsion sequence, or replacing the nearest sewage extraction node. A set of coordinated control instructions containing only correction steps is immediately issued and executed once. Limiting the adjustment range avoids creating new disturbances to the already converged area and shortens the second execution time.

[0043] For spray induction zones exceeding 50 grids in length, the central controller divides them into several segments, each forming a phase-locked zone independently with the wastewater extraction node, and staggers peak flows by segment at the global level. This segmented approach controls the number of simultaneous spraying and extraction operations, reducing instantaneous peaks in water supply and extraction while maintaining continuity of propulsion. Near the end of the spray zone, close to the manifold or backup manifold, the central controller sets a fixed time window for the terminal spray position and the corresponding wastewater extraction node, prohibiting other phase-locked zone operations from entering this final area within the time window. This time window ensures a more uniform flow direction for the liquid-solid mixture at the lower end, reducing eddies and resuspension. When a snapshot of the same operating condition shows a significant reduction in the size of a dust cluster, the central controller lowers the priority of the corresponding phase-locked zone in subsequent steps, allocating resources to larger dust clusters. Dynamic updates accelerate overall convergence, avoiding excessive operations in areas that are already nearing completion.

[0044] like Figure 2 As shown in the schematic diagram of the dust cluster analysis in the roadway working condition raster map of the present invention, a detailed raster working condition map is generated by fusing dust images acquired by a dual-channel sensing component with ground elevation images. The map uses the roadway baseline as a longitudinal reference and divides the map into equidistant grids according to the effective coverage width of a single spray nozzle, forming a 15×12 grid matrix. Each grid unit has three attributes: dust level label, ground elevation label, and obstacle status label. Regarding the dust level label, the central controller calls a built-in thresholding classification function to classify the dust image into high-level zones (dark gray, >150mg / m³). 3), Middle zone (medium gray, 50-150 mg / m³) 3 Low-lying area (light gray, 10-50 mg / m³) 3 ) and clean area (white, <10mg / m²) 3 Four levels. Two main dust clusters were identified in the figure: Dust cluster A is located in the (4,1)-(6,2) region of the grid, containing 18 high-area grid cells; Dust cluster B is located in the (11,1)-(13,2) region of the grid, containing 12 high-area grid cells. Based on the eight-way adjacency rule, the system starts from the accessible grid cells at the outer edge of each dust cluster and collects all its descending adjacencies to form a descending candidate set. By prioritizing entry into relatively low-level grid cells and then selecting relatively mid-level grid cells, multiple descending chains with clear start and end points are constructed. The figure shows three descending chains of dust cluster A and three descending chains of dust cluster B. The connected path with the highest number of traversals is selected as the spine backbone, with lengths of 260mm and 220mm, respectively. At single grid gaps on the spine backbone caused by obstructions (obstacles represented by black grid cells), the system implements a minimum span bypass strategy, correcting the path through adjacent relatively mid-level grid cells. Tracing back along the ridge chain from the end, priority is given to locking the manifolds adjacent to or in the same position as those listed in the sewage discharge component list. The manifold for dust cluster A is a drainage ditch, and the manifold for dust cluster B is a sump. A spray induction strip is laid on the outer edge of the dust cluster facing the ridge chain. Spray induction positions are sequentially designated (marked with white circles) according to the execution template intervals set by the terminal group at the factory. The boundary of the phase locking strip (dashed box) marks the control area where spraying precedes sewage discharge, reflecting the system's coordinated control strategy.

[0045] like Figure 3As shown, the integrated terminal group collaborative execution timing diagram of this invention details the collaborative control process of the system based on priority sorting and staggered execution strategies. This timing diagram covers the complete execution cycle of three phase-locked zones (dust clusters A, B, and C), spanning 75 seconds, reflecting the priority scheduling mechanism of "higher priority first, lower priority delayed." Dust cluster A, as the highest priority unit with the most high-zone grids (18), begins execution at time 0. Its spray induction phase includes six sequential spray positions (A1-A6), started sequentially with a 2-second phase difference, each spray position lasting 4 seconds. The spray induction positions use a staggered start method to ensure continuous dust pushing along the ridge chain. At time 20, sewage extraction A starts, reflecting the 5-second sewage delay phase-locked mechanism, and continues execution for 10 seconds to complete the sewage extraction operation in this area. Dust cluster B has 12 high-zone grids and is of lower priority than dust cluster A. The system remains in a waiting state during the 0-30 second period to avoid resource conflicts with dust cluster A. Execution begins at 30 seconds, reflecting the 30-second staggered scheduling strategy. Its spray induction phase includes four sequential positions (B1-B4), also initiated sequentially with a 2-second phase difference. Wastewater extraction B starts at 40 seconds and completes its operation in 8 seconds. Dust cluster C has the fewest high-area grids (8) and the lowest priority. The system remains in a waiting state from 0-45 seconds, ensuring the first two dust clusters have completely completed before starting. Its spray induction phase includes three positions (C1-C3), and wastewater extraction C starts at 53 seconds and lasts for 6 seconds. The anomaly recovery area (60-75 seconds) demonstrates the system's fault tolerance mechanism. When an execution anomaly is detected, the system automatically activates the backup port and executes a minimum bypass strategy to ensure high reliability. The entire timing diagram demonstrates that while ensuring dust suppression effectiveness, the system achieves optimal resource allocation and maximizes execution efficiency through intelligent scheduling.

[0046] This invention is not limited to the specific embodiments described above. The invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A smart integrated automatic sewage spray dust suppression system for coal mine roadways, characterized in that, The system includes: a dual-channel sensing component, a central controller, a mine communication link, and an integrated sewage spray terminal group. The central controller is used to: acquire dust images and ground elevation images simultaneously via the dual-channel sensing component; generate a roadway condition grid map, complete dust level and ground elevation labeling, extract dust clusters and transition zones, and load a sewage component list; based on the roadway condition grid map and the sewage component list, construct a descending chain from the outer edge of the dust cluster according to an eight-way adjacency rule, select the backbone of the ridge chain based on the number of passes, and implement minimum bypass for single-grid gaps caused by blockages; and trace along the ridge chain from the end forward... First, locate the junctions adjacent to or at the same position as those in the list of sewage discharge components. If no junction is found, determine a backup junction at a relatively low-position grid unit where multiple chains intersect. Lay a spray induction belt along the outer edge of the dust cluster and set the turning spray position and the end spray position. Determine the corresponding sewage extraction node. Combine the spray induction belt and the sewage extraction node into a phase-locked belt with spray first and sewage discharge following, and execute them according to priority and staggered peak times. Generate a collaborative control instruction set and send it to the integrated sewage spray terminal group for execution via the mine communication link. After the collaborative control instruction set is executed, control the dual-channel sensing components to obtain a snapshot of the same working condition for acceptance.

2. The intelligent integrated automatic sewage spray dust suppression system for coal mine roadways as described in claim 1, characterized in that, The dual-channel sensing component includes a dust imaging channel and a ground depth channel, acquiring a single snapshot simultaneously. The dust imaging channel is a dust camera installed on the roof or sidewall of the tunnel, and its output is a single-frame dust image. The central controller calls its built-in thresholding and grading function to divide the dust image into three categories: high, medium, and low, to obtain a dust level labeling map. The ground depth channel is a depth scanner facing the tunnel floor, and its output is a single-frame ground elevation and elevation image. The central controller performs built-in plane correction and attitude compensation to align the ground elevation and elevation images to a unified coordinate system, generating a ground elevation and elevation labeling map, in which each position is labeled as relatively high, relatively medium, or relatively low.

3. The intelligent integrated automatic sewage spray dust suppression system for coal mine roadways as described in claim 2, characterized in that, The list of sewage components is pre-installed in the static engineering table of the central controller during equipment installation and commissioning, including the fixed positions of drainage ditch outlets, sump pits, pump pits, and guide channel valves. The central controller uses the roadway baseline as a longitudinal reference and divides the roadway into equidistant grids according to the effective coverage width of a single spray nozzle to generate a roadway condition grid map. The dust level label map and the ground elevation label map are projected onto the roadway condition grid map, so that each grid unit has a dust level label, ground elevation label, and obstacle status label. If a protruding obstacle is identified in the ground depth channel, the obstacle status of the grid unit is marked as blocked; otherwise, it is passable.

4. The intelligent integrated automatic sewage spray dust suppression system for coal mine roadways as described in claim 3, characterized in that, On the roadway condition grid map, the central controller defines a set of adjacent grid cells marked as high dust level as a dust cluster; the adjacent middle grid cells are bound to the dust cluster as a transition zone; for any passable grid cell, if the ground elevation of any adjacent grid cell is lower, the central controller records the adjacent grid cell as its descending adjacency; the adjacency relationship adopts an eight-way adjacency centered on the grid cell; for each passable grid cell on the outer edge of the dust cluster, all its descending adjacencies are collected to form the descending candidate set of the grid cell; if there are no descending adjacencies, the grid cell is marked as a locally low grid cell.

5. The intelligent integrated automatic sewage spray dust suppression system for coal mine roadways as described in claim 4, characterized in that, The process by which the central controller obtains several descending chains with clearly defined start and end points from each dust cluster includes: selecting all high-area grid cells covering the outer edge of each dust cluster as the set of starting points for the descending chain; starting from any descending chain starting point, extending grid by grid in the following order: if there are relatively low-level grid cells in the descending candidate set, then prioritize entering the one closest to the direction of the line connecting to the starting point; if only relatively mid-level grid cells exist, then enter any one of them with the smallest change from the current direction of travel; if an obstruction is encountered ahead, then terminate at the obstruction; when a grid cell has two or more descending adjacencies, parallel branches are generated to continue growing separately; when entering a local low-level grid cell and none of its adjacent grid cells have a lower label, then terminate.

6. The intelligent integrated automatic sewage spray dust suppression system for coal mine roadways as described in claim 5, characterized in that, The central controller counts the number of times each grid cell is traversed by all descending chains of the same dust cluster. The connected path with the highest number of traversals is defined as the backbone of the dust cluster. If there are parallel paths, the one with the shorter total length is selected as the backbone. For a single grid gap caused by an obstruction on the backbone, it is allowed to bypass the gap by the grid cell with the smallest span adjacent to the gap, and the bypassed grid cell is incorporated into the backbone. Tracing back from the end of the backbone, it searches for a grid cell that is adjacent to or at the same position as any position in the list of discharge components. The first position hit is defined as the port of the dust cluster. If there are multiple candidates, the one with the smaller Manhattan distance from the end of the backbone is selected. If no position in the list is hit, a relatively low grid cell that intersects with two or more descending chains is selected from the end of the backbone and its neighborhood as a backup port, and this grid cell is recorded as a temporary extraction point.

7. The intelligent integrated automatic sewage spray dust suppression system for coal mine roadways as described in claim 6, characterized in that, The side of the dust cluster facing the ridge chain is used as the reference for laying the spray induction belt; several spray induction positions are specified sequentially on the spray induction belt according to the interval order of the execution template set by the terminal group; the fan-shaped area of ​​each spray induction position faces the ridge chain, and an additional turning spray position is set in the turning grid unit at the turning point to suppress lateral overflow; at the end of the ridge chain near the confluence, an end spray position is set, the function of which is to directionally press the dust along the ridge chain to the confluence.

8. The intelligent integrated automatic sewage spray dust suppression system for coal mine roadways as described in claim 7, characterized in that, If the port corresponds to a fixed facility in the list of sewage components, then the location of that facility shall be designated as a sewage extraction node; if a spare port is used, then a mobile sewage port shall be set in the direction of the adjacent grid at that location and designated as a sewage extraction node, and the connection relationship shall be completed according to the standard interface of the terminal group.

9. The intelligent integrated automatic sewage spray dust suppression system for coal mine roadways as described in claim 8, characterized in that, The central controller pairs the spray induction zone with the sewage extraction node, forming a phase-locked zone where spraying precedes sewage extraction. The advancing direction is along the ridge chain from the dust cluster to the confluence. When two or more dust clusters' phase-locked zones need to occupy the same spray nozzle or valve group within the same time window, the number of high-area grid cells in the dust cluster is used as the priority, with higher-area grid cells proceeding first and lower-area grid cells following. The following result is written into the staggered sequence of the collaborative control instruction set. If there are passable grid cells on the outer edge of the dust cluster that are not covered by any spray induction position, a compensation spray position is automatically added between the grid cell and the ridge chain and incorporated into the current phase-locked zone. The central controller writes the advancing order and staggered sequence of the ridge chain, confluence, spray induction zone, sewage extraction node, and phase-locked zone corresponding to each dust cluster into the collaborative control instruction set, and sends it to the integrated sewage spray terminal group for execution through the mine communication link, so that the dust is continuously pushed along the ridge chain to the confluence and simultaneously extracted to complete dust suppression and sewage extraction.

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