Mine wireless communication link prediction control method and system, medium and product

Abstract

The invention provides a mine wireless communication link prediction control method and system, a medium and a product, and relates to the technical field of communication control. The method comprises the following steps: firstly, acquiring operation paths and time of mobile communication nodes such as a mobile mine car, predicting a space-time trajectory sequence of each node in a future preset time period in combination with a full-mine-area task route distribution diagram, and simulating a communication relative space position between the nodes at each moment according to the space-time trajectory sequence; calculating a node spacing, judging a shielding condition, screening effective links, and selecting the link with the minimum distance as an optimal link at each moment; and finally, extracting an optimal link time window and a target node combination to generate a communication space-time mapping table, issuing the communication space-time mapping table for the node to plan a transmission task, and controlling the node to access link transmission when a starting point of the time window is reached, thereby realizing advanced planning and accurate management and control of a communication link.

Description

Predictive control methods, systems, media and products for wireless communication links in mines Technical Field

[0001] This application relates to the field of communication control technology, and in particular to a predictive control method, system, medium and product for wireless communication links in mines. Background Technology

[0002] Mining operations involve complex electromagnetic environments and unstable signals. The communication links in mines are mainly between mobile devices and roadside facilities, ground monitoring centers, and other mobile devices, in order to ensure coordinated equipment operation, real-time data transmission, and the safety of personnel and equipment.

[0003] Currently, in the Mesh self-organizing network, communication links are transmitted in the mine, and each mining truck acts as a router. Specifically, when mobile nodes, including mining trucks, detect a signal strength lower than a preset threshold, the existing routing protocol will default to determining that the current parent node is too far away or the link has been broken, and thus immediately initiate a route discovery mechanism to pass the signal to the next mobile device.

[0004] However, traditional link optimization adopts a passive adjustment mode, that is, parameters are adjusted only when the link quality deteriorates. This is prone to brief communication interruptions and makes it difficult to establish alternative paths in advance to eliminate the risk of communication interruption before the link deteriorates. Summary of the Invention

[0005] This application provides a predictive control method, system, medium, and product for mine wireless communication links, which solves the problem that traditional wireless communication links rely on passive adjustment and are prone to interruption in complex mine environments.

[0006] In a first aspect, this application provides a predictive control method for wireless communication links in a mine, applied to a communication control system. The method includes: acquiring the task paths and task times of multiple mobile communication nodes within a mine scenario, wherein the mobile communication nodes include mobile mining vehicles equipped with communication devices; combining a map of the task route distribution across the entire mine area, predicting the spatiotemporal trajectory sequence of each mobile communication node traveling along the task path within a future preset time period; simulating the relative spatial position of each mobile communication node at each moment within the future preset time period based on the spatiotemporal trajectory sequence; calculating the straight-line distance between each mobile communication node based on the relative spatial position; and selecting the mobile communication nodes that will travel along the task path within a future preset time period. Links between communication nodes that are not obstructed and whose straight-line distance is less than a preset communication radius are considered valid links. The link with the highest estimated link quality among these valid links is marked as the optimal link at each time point. Based on the task's execution time, the optimal link's optimal link time window and the corresponding target node combination are extracted to generate a communication spatiotemporal mapping table. This mapping table is sent to each target node in the target node combination, allowing the target node to plan its data transmission task according to the mapping table. When a communication request command is received, if the time reaches the start of the optimal link time window, the corresponding target node is controlled to access the communication link for data transmission.

[0007] By adopting the above technical solution, and by pre-obtaining the task paths and times of each mobile communication node, combined with the task route distribution map of the entire mining area, the spatiotemporal trajectory sequence of each node can be predicted in advance over a period of time. This allows for the early determination of which nodes will form effective links at what times. Since link establishment no longer relies on passive triggering by real-time signal strength but is based on proactive prediction of future link states, alternative paths can be planned and established in advance before the current link deteriorates. This effectively avoids the brief communication interruptions caused by route reconstruction in traditional passive switching mechanisms, significantly improving the continuity and stability of communication in the complex electromagnetic environment of mines, and providing reliable guarantees for equipment collaborative operation and real-time data transmission.

[0008] In conjunction with some embodiments of the first aspect, before the step of predicting the spatiotemporal trajectory sequence of each mobile communication node traveling along the task path within a preset time period in conjunction with the task route distribution map of the entire mining area, the method further includes: at a preset detection time, obtaining the real-time positioning coordinates of the first mobile communication node; comparing the real-time positioning coordinates with the theoretical coordinates of the corresponding task process in the task path to determine the coordinate deviation; if the coordinate deviation is within a preset deviation range, determining that the positioning of the first mobile communication node is valid, and obtaining the actual relative position of the second mobile communication node based on the first mobile communication node; determining the theoretical relative position that the first mobile communication node and the second mobile communication node should have at the detection time based on the task path and the task route distribution map of the entire mining area; if the actual relative position matches the theoretical relative position, determining that the identity of the second mobile communication node matches the corresponding task process and the positioning is accurate; obtaining the real-time positioning set of each mobile communication node, matching the real-time positioning set with the task route distribution map of the entire mining area to determine the identity of the mobile communication node corresponding to each positioning point.

[0009] By adopting the above technical solution, false trajectory information caused by positioning errors, node identity confusion, or task process misalignment can be effectively eliminated, avoiding the generation of incorrect link prediction results based on erroneous location data. By improving the reliability of input data, this solution significantly enhances the accuracy of subsequent link prediction and pre-handover decisions, reduces the risk of erroneous or missed handovers caused by inaccurate positioning, and improves the robustness of the entire communication control system.

[0010] In conjunction with some embodiments of the first aspect, in some embodiments, the communication spatiotemporal mapping table is sent to each target node in the target node group so that the target node can plan the data transmission task according to the communication spatiotemporal mapping table. Specifically, this includes: during the execution of the communication task, obtaining the current location information of the target node in real time; determining the spatial cutoff point of the current optimal link in the mine map to maintain effective communication based on the spatiotemporal trajectory sequence; determining the remaining path distance from the current location information to the spatial cutoff point, and determining the remaining communication duration, which includes a first remaining communication duration and a second remaining communication duration relative to the start and end times of the optimal link time window, respectively; obtaining the dynamic speed threshold of the target node at the current time based on the remaining path distance and the remaining communication duration; and generating a speed control command based on the dynamic speed threshold and sending it to the target node to control the target node to complete the communication task before the optimal link fails.

[0011] By adopting the above technical solution, this dynamic speed control mechanism based on the remaining link status deeply couples the communication link state with the node movement state, effectively avoiding the situation where the link fails prematurely due to the node moving too fast and the communication task not being completed, thus improving the success rate and time certainty of the communication task.

[0012] In conjunction with some embodiments of the first aspect, in some embodiments, before the step of the optimal link time window begins, the method further includes: determining the target orientation of the local node to the peer node based on the predicted coordinate data of the target node combination in the next moment in the communication spatiotemporal mapping table; aligning the communication antenna of the target node with the direction of the target orientation; and adjusting the transmission power of the communication antenna by querying a preset distance-power mapping table based on the straight-line distance between each target node. The distance-power mapping table records the transmission power calibration value required to offset spatial loss and make the signal strength of the receiving end reach the minimum signal strength threshold in different distance ranges in the mine.

[0013] By adopting the above technical solution, through pre-alignment of the antenna beam and pre-configuration of the transmit power, the communication link can be in optimal receiving condition before the link is formally established, significantly shortening the time required for link establishment and reducing the packet loss rate in the initial connection phase. Furthermore, precise power control avoids unnecessary power waste while meeting minimum signal strength requirements, reducing interference to other nodes. This proactive preparation mechanism before link establishment effectively improves the speed and reliability of link connection, providing a stable link foundation for subsequent data transmission.

[0014] In conjunction with some embodiments of the first aspect, in some embodiments, after the step of sending the communication spatiotemporal mapping table to each target node in the target node combination, the method further includes: based on the trend of the linear distance between the target nodes in the optimal link at each moment in the future preset time period; if the trend of the linear distance is a trend of mutual approach, then the data packet fragment length of the data link layer is set to a first length value; if the trend of the linear distance is a trend of mutual distance, then the data packet fragment length of the data link layer is adjusted to a second length value that is less than the first length value, and the proportion of forward error correction code is increased.

[0015] By adopting the above technical solution, when nodes are close to each other, the link quality usually tends to improve. In this case, setting the fragment length to a larger first length value can improve transmission efficiency. When nodes are far apart, the link quality may gradually deteriorate. In this case, adjusting the fragment length to a smaller second length value and increasing the proportion of forward error correction codes can improve the anti-interference capability and correct reception rate of data under poor link conditions. This adaptive data frame structure adjustment mechanism based on the link distance change trend enables communication parameters to dynamically adapt to changes in link status in advance, effectively reducing the packet loss rate during link deterioration, improving the reliability and efficiency of data transmission, and achieving dynamic matching between communication performance and link status.

[0016] In conjunction with some embodiments of the first aspect, in some embodiments, if the time reaches the start time of the optimal link time window, the step of controlling the corresponding target node to access the communication link for data transmission specifically includes: obtaining the time deviation values ​​of the target nodes at both ends of the optimal link respectively, and calculating the corrected predicted relative position; based on the predicted relative position, calculating the dynamic straight-line distance between the target nodes at both ends within the execution state time window corresponding to the optimal link; if the dynamic straight-line distance exceeds the preset communication radius in a local time period of the execution state time window, the time period exceeding the limit is removed from the execution state time window, and the remaining overlapping time period is taken as the final effective communication duration; if the dynamic straight-line distance exceeds the preset communication radius throughout the entire execution state time window, the corresponding optimal link is marked as failed, and the next priority alternative link is immediately triggered.

[0017] By adopting the above technical solution, this mechanism based on real-time time deviation correction and dynamic distance verification can promptly detect link unavailability caused by node movement deviations or time asynchrony, avoiding data transmission attempts on invalid links and thus reducing the waste of communication resources. Simultaneously, by quickly switching to alternative links, potential communication interruption time can be minimized, ensuring the continuity and reliability of communication services.

[0018] In conjunction with some embodiments of the first aspect, in some embodiments, if the time reaches the start time of the optimal link time window, the step of controlling the corresponding target node to access the communication link for data transmission specifically includes: determining the communication demand instruction of the signal transmitter; after determining the signal receiver according to the communication demand instruction, calling a pre-configured communication spatiotemporal mapping table associated with the signal receiver, obtaining from it the communication time window that allows communication with the signal receiver, and the combination of target nodes applied to carry the communication demand instruction under the communication time window; controlling the signal transmitter to send signal transmission information and signal receiver information to the nearest target node in the target node combination, so as to forward the signal transmission information to the signal receiver level by level.

[0019] By adopting the above technical solution, this routing mechanism based on a communication spatiotemporal mapping table can select the nearest node with the best link quality as the next hop while meeting time window constraints, effectively reducing transmission latency and packet loss rate. Simultaneously, forwarding via pre-planned combinations of target nodes avoids the significant redundant overhead of traditional flooding route discovery, improving the efficiency and determinism of link selection.

[0020] In a second aspect, this application provides a communication control system comprising: one or more processors and a memory; the memory being coupled to the one or more processors, the memory being used to store computer program code, the computer program code including computer instructions, the one or more processors invoking the computer instructions to cause the communication control system to perform the method described in the first aspect and any possible implementation thereof.

[0021] Thirdly, this application provides a computer-readable storage medium including instructions that, when executed on a communication control system, cause the communication control system to perform the method described in the first aspect and any possible implementation thereof.

[0022] Fourthly, this application provides a computer program product, including a computer program that, when run on a communication control system, causes the communication control system to perform the method described in the first aspect and any possible implementation thereof. Attached Figure Description

[0023] Figure 1 is a flowchart illustrating a predictive control method for mine wireless communication links in an embodiment of this application.

[0024] Figure 2 is another flowchart illustrating the mine wireless communication link prediction control method in an embodiment of this application.

[0025] Figure 3 is a schematic diagram of the physical device structure of a communication control system in an embodiment of this application. Detailed Implementation

[0026] For ease of understanding, the method provided in this embodiment is described in process below. Please refer to Figure 1, which is a schematic flowchart of a mine wireless communication link predictive control method in this embodiment.

[0027] S101. Obtain the task paths and task operation times of multiple mobile communication nodes in the mining scene. The mobile communication nodes include mobile mining vehicles equipped with communication equipment.

[0028] Among them, "mobile communication node" refers to an entity with wireless signal transmission and reception capabilities in the mining Internet of Things network, such as a mining truck equipped with a relay function; "task path" is used to represent the predetermined travel route from the starting point to the destination planned by the mobile node according to the scheduling instructions.

[0029] This step is executed at the initial stage of the communication control system's link predictive control process. The execution scenario is under normal mine production operation conditions, and each mobile communication node has received and stored the day's work task instructions. The communication control system establishes a data interaction interface with the mine's production scheduling system to retrieve the work task information of each mobile communication node in real time, including node identifier, corresponding work task path coordinate set, and task start and end times. For core nodes such as mobile mining trucks, it is also necessary to synchronously obtain related parameters such as their loading capacity and driving speed limits to ensure that the obtained path and time information accurately matches the actual operational needs.

[0030] S102. Based on the task route distribution map of the entire mining area, predict the spatiotemporal trajectory sequence of each mobile communication node along the task path within a preset time period in the future.

[0031] The task route distribution map of the entire mining area can include the task routes that all mobile communication nodes in the mining area need to take. The task route distribution map of the entire mining area can include mine map data, which refers to digital map information containing mine geographical topography, roadway structure, obstacle distribution, and electromagnetic environment characteristics. The future preset time period refers to the predicted duration set by the communication control system according to the cycle of mining operation tasks and the requirements for link stability. This duration can be dynamically adjusted according to the node movement speed and the real-time requirements of communication tasks.

[0032] This step is executed after S101 is completed, and the scenario is that the task path and time information of each mobile communication node have been entered into the system, and the task route distribution map of the entire mining area has been updated and calibrated. The communication control system first matches the task path coordinates obtained in S101 with the mine map data, correcting deviations caused by terrain changes and temporary obstacles. Second, it decomposes the time slices of each node within a preset time period based on the task operation time, for example, dividing the time into 1-second intervals. Then, combining the node's rated driving speed and road speed limits, it calculates the spatial location of the node corresponding to each time slice. Finally, it arranges the spatiotemporal coordinates of all time slices in chronological order to generate a spatiotemporal trajectory sequence for each mobile communication node. This step, by predicting node position changes in advance, solves the problems of traditional networking's inability to predict node movement trends and link switching lag, achieving forward-looking analysis of link status.

[0033] In some embodiments, during the execution of a communication task, events such as positioning anomalies or confusion of mobile communication node identities may occur, leading to errors in the basic data generated for subsequent links. In this case, the system first verifies the effectiveness of the reference node's positioning: at a preset detection time, the communication control system sends a positioning acquisition command to the first mobile communication node, obtains the node's real-time positioning coordinates through the mine's BeiDou and UWB fusion positioning system, and simultaneously extracts the theoretical coordinates of the first mobile communication node at the corresponding detection time of the current task process from the work task path database—the theoretical coordinates are accurately generated based on the preset work path and task execution progress, possessing clear spatiotemporal correlation. Subsequently, the system uses a three-dimensional spatial distance algorithm to calculate the coordinate deviation between the real-time positioning coordinates and the theoretical coordinates, and compares the calculation results with a preset deviation range: the preset deviation range is comprehensively set in conjunction with the positioning system accuracy, mine road width, and work safety threshold. If the deviation is within this range, the first mobile communication node is determined to be stably and effectively positioned, and it is established as the reference carrier for subsequent verification; if the deviation exceeds the range, the system immediately selects a node with higher positioning stability as the alternative first node, and simultaneously triggers the original first node's positioning module self-check and parameter calibration to eliminate equipment failure, electromagnetic interference, and other problems.

[0034] After establishing the baseline, the system proceeds to the positioning and authentication phase for the second mobile communication node. Using the effective positioning coordinates of the first node as a reference, the system calculates the actual relative position of the second mobile communication node relative to the first node using ranging data and angle sensing information transmitted via the inter-node wireless communication link, combined with spatial geometric algorithms. This clarifies the real-time relative distance and azimuth relationship between the two nodes. Simultaneously, based on the task path and the overall mine area task route distribution map, and considering the real-time task progress of both nodes, the system deduces the theoretical relative position they should possess at the detection moment. This positional relationship ensures inter-node operational coordination and communication link feasibility, serving as the core reference for identity and positioning verification. The system performs multi-dimensional comparisons between the actual and theoretical relative positions, focusing on verifying whether the relative distance difference and azimuth deviation are within preset matching thresholds. If both thresholds are met, the second mobile communication node is determined to be accurately positioned, and its identity matches the corresponding task progress, allowing it to participate normally in subsequent communication and operations. If a mismatch occurs, the system immediately marks the node as abnormal, triggering a fault investigation and identity verification process for the positioning module. Simultaneously, the system suspends task scheduling and communication link allocation for that node to prevent erroneous data from affecting the overall system operation.

[0035] Finally, global node identity and location calibration is performed: Following the above method, the system continues to use the second mobile communication node as a reference to calibrate the third mobile communication node, and so on, collecting the real-time location coordinates of all current mobile communication nodes to form a complete real-time location set. This set is then spatially correlated and matched with the task route distribution map of the entire mining area. Combining the operation path characteristics, task-specific identifiers, historical location trajectories, and other information of each node, the identity of each location point is traced, confirming the correspondence between each location point and mobile communication node, achieving one-to-one binding of location points and node identities globally. This step effectively avoids identity confusion problems that occur when multiple nodes are operating densely and location signals overlap, ensuring that the location information and identity identifier of each node accurately correspond.

[0036] In some embodiments, the static recording device in the mine can also be used as a mobile communication node or as a redundant communication node, and the location and identity of the mobile communication node can be checked through the redundant communication node. Specifically, recording points can be set at multiple unobstructed locations within the mine at predetermined distances. These recording points can be equipped with cameras and relay devices. When a mobile communication node passes through a recording point while performing a work task, the camera can record the mobile communication node, including arrival time, arrival coordinates, and the object being visited. The recorded content is then uploaded to the communication control system. After receiving the recorded content, the system determines the theoretical arrival time and theoretical arrival coordinates corresponding to the recorded time based on the object being visited and the matching work task route and task time. The theoretical arrival time is compared with the actual arrival time to determine the first comparison result. Simultaneously, the theoretical arrival coordinates are compared with the actual arrival coordinates to determine the second comparison result. If the comparison errors of the first and second comparison results are both within a preset range, it is determined that the object being visited is performing the task as required, and the object is included in the scope of subsequent mobile communication nodes. If either comparison error exceeds the preset range, it is determined that the object being visited is not performing the task as required, and the object is excluded from the mobile communication nodes and is not used as the target for subsequent steps.

[0037] Meanwhile, redundant communication nodes can serve as fixed-location communication nodes, acting as the execution targets for subsequent steps such as determining the relative spatial position of communication links. The introduction of redundant communication nodes provides the system with more reference dimensions when calculating relative positions and determining link validity, effectively reducing link planning deviations caused by single-node positioning errors and improving the accuracy of communication link prediction and control.

[0038] S103. Based on the spatiotemporal trajectory sequence, simulate the relative spatial position of each mobile communication node at each moment within the preset future time period.

[0039] Among them, the relative spatial position of communication refers to the spatial orientation relationship between any two mobile communication nodes.

[0040] This step is executed after the spatiotemporal trajectory sequence of each node is generated, and the execution scenario is that the system has stored the spatiotemporal trajectory data of all nodes and there are no new job task adjustment instructions. For each discrete time point within a preset time period, the communication control system extracts the absolute spatial coordinates of all mobile communication nodes at that moment. Using any one node as a reference node, it calculates the three-dimensional spatial relative position parameters of that node with all other nodes, including the straight-line distance between the two points, the azimuth angle from the reference node to the target node, and the height difference between the two points. For each pair of nodes, the relative position calculation is completed, forming a matrix of the relative spatial positions of all nodes at each moment. This step, by simulating the relative positions between nodes, transforms the absolute trajectory data into the relative position information required for link judgment, solving the problem that isolated trajectory data cannot be directly used for link screening, and providing a core judgment basis for subsequent effective link determination.

[0041] S104. Calculate the straight-line distance between each mobile communication node based on the relative spatial location of the communication;

[0042] This step is performed when the system has acquired accurate obstacle data from a mine map. The communication and control system first calculates the straight-line distance between any two nodes based on their relative spatial coordinates at each time point using the Euclidean distance formula.

[0043] S105. Select links between mobile communication nodes that are not blocked and whose straight-line distance is less than the preset communication radius as valid links.

[0044] This step is executed after the distance calculation is completed. The occlusion determination algorithm is then activated, and the spatial coordinates of the two nodes are overlaid with the task route distribution map of the entire mining area. The ray tracing method is used to simulate the spatial path of the node connection and to determine whether the path intersects with obstacles in the mine map data: if the connection is completely within the roadway space without obstacles, it is determined to be unobstructed; if the connection passes through obstacles such as walls and equipment, it is determined to be occluded.

[0045] The communication control system pairs all mobile communication nodes together for each time point, or performs quality checks on adjacent mobile communication nodes to filter these pairs of links. It employs a dual filtering mechanism: the first condition is that the link connection is unobstructed, and the second condition is that the straight-line distance between nodes is less than a preset communication radius. The system iterates through all link combinations, eliminating links that do not meet either condition, and marking links that meet both conditions as valid links, generating a set of valid links for each time point. This dual-condition filtering step solves the problem in traditional networking where obstructed or excessively long links are mistakenly selected as communication links, ensuring that the selected links have the physical foundation for stable communication.

[0046] S106. Select the link with the highest link quality estimate from the effective links and mark it as the optimal link at each time point;

[0047] This step is executed after the set of valid links at each time point is generated, and the execution scenario is that the set of valid links is not empty.

[0048] The communication control system calculates the link quality value for each valid link at each time point using a link quality estimation model based on information such as straight-line distance, obstruction status, node movement direction and speed, and environmental interference models. For example, it can calculate the received signal strength based on a path loss model and estimate the bit error rate by combining the signal-to-noise ratio (SNR), or use a machine learning model to predict the current link quality based on historical link quality data. Specifically, the communication control system uses the spatiotemporal and environmental parameters of node pairs as input features, including the straight-line distance between nodes, relative speed, heading angle, elevation difference, obstruction type, and channel occupancy rate; and uses link quality quantification indicators as output features, including received signal strength and SNR. During training, historical data corresponding to the above input and output features are collected, and after denoising, normalization, and time-series alignment, the dataset is divided and trained using a lightweight machine learning model adapted to the computing power of mining equipment. During inference, the current real-time input features are input, and the model outputs the corresponding link quality quantification value. Simultaneously, the model is periodically iterated with new data increments to adapt to the dynamic electromagnetic environment, ensuring that the prediction accuracy matches the link evaluation requirements.

[0049] For multiple valid links with the same node as a source or destination node, the communication control system sorts them from highest to lowest quality and selects the link with the highest quality as the optimal link at that moment. If multiple links have similar quality, auxiliary indicators such as load balancing, link stability, and hop count can be introduced for comprehensive sorting. The communication control system associates the optimal link at each moment with the corresponding node pair, forming an optimal link sequence of "moment - node - optimal link". Through this step, the communication control system can select the best-performing communication link for each node at future moments, providing a basis for subsequently generating a communication spatiotemporal mapping table and guiding nodes to access links.

[0050] S107. Extract the optimal link time window and the corresponding target node combination of the optimal link based on the task operation time, and generate a communication spatiotemporal mapping table.

[0051] Among them, the optimal link time window refers to the time interval during which an optimal link can remain in an effective state, that is, from the start time when the link becomes the optimal link to the end time when the link no longer meets the effective link conditions due to node movement; the target node combination refers to the pairing set of at least two mobile communication nodes that constitute the optimal link.

[0052] The communication control system, based on the acquired task operation time, first clarifies the time constraints for each target node on the operation path, including dwell time, travel time, task switching nodes, and times. Then, for each optimal link, based on its continuously valid time sequence within a preset future time period, and combined with the node task operation time constraints, it determines its start and end times—ensuring that the time window does not exceed the node's corresponding task execution time period, avoiding conflicts between the link time window and the node task time period. For cases where the optimal link switches at different times due to node movement or task switching, the time period that remains continuously optimal and matches the task time period is divided into one or more time windows according to the task operation time segmentation rules. The communication control system associates each optimal link's time window with its corresponding target node and organizes them according to time order or node index to generate a communication spatiotemporal mapping table. This mapping table may contain fields such as: time window start time, time window end time, source node identifier, destination node identifier, link quality value, and corresponding task time period. The communication control system can also compress and optimize the mapping table for fast lookup. This step, by combining task time constraints with time window extraction, ensures precise matching between optimal link planning and actual node operation rhythm, avoiding a disconnect between link planning and task execution. At the same time, it integrates discrete optimal link information into a structured spatiotemporal mapping relationship, providing a directly queryable basis for subsequent node planning of data transmission tasks and control of link access, thus realizing the pre-planning and scheduling of links.

[0053] S108. Send the communication spatiotemporal mapping table to the corresponding target node combination so that the target node combination can plan the data transmission task according to the communication spatiotemporal mapping table.

[0054] This step is executed after the communication spatiotemporal mapping table is generated in S107. The execution scenario is that the mine communication network is in a normal data transmission state, and each target node combination is in a standby state to receive scheduling instructions. The communication control system sends the communication spatiotemporal mapping table to the corresponding target node combination through the wireless communication link. The transmission process uses an encrypted transmission protocol to ensure that the timetable data is not tampered with or leaked. After receiving the timetable, each target node combination parses its corresponding optimal link time window, and plans the specific data transmission scheme based on the priority and data volume of its data to be transmitted. For example, at the beginning of the time window, high-priority equipment safety status data is transmitted first, and large-capacity video monitoring data is transmitted in the middle of the time window.

[0055] In some embodiments, the communication control system maintains a low-power heartbeat link with all mobile communication nodes (such as mobile mining vehicles). This heartbeat link does not transmit business data but is only used for node identification, status reporting, and basic instruction transmission. Therefore, it can use its inherent communication capabilities to complete instruction issuance without the need to build an additional dedicated communication link. At the same time, the accurate delivery of the timetable is ensured through a directional transmission + retransmission mechanism, enabling the transmission of scheduling instructions to the target node before the optimal link takes effect.

[0056] In some embodiments, after the communication spatiotemporal mapping table is issued and before the start time of the optimal link time window, a preset configuration period is established, during which the target node combination has clearly defined its corresponding optimal link time window and distance change trend. The communication control system first extracts the straight-line distance data between nodes at each moment from the spatiotemporal trajectory sequence of the optimal link. By calculating the average of the distance differences between adjacent moments, the distance change trend is determined: if the average is negative, it is determined to be a trend of mutual approach; if the average is positive, it is determined to be a trend of mutual distance away. For the trend of mutual approach, as the node distance gradually decreases, the signal strength of the communication link will continue to increase and the transmission error rate will decrease. The system sets the data link layer data packet fragment length to a first length value to reduce the number of fragments and encapsulation overhead, thereby improving data transmission efficiency. For the trend of mutual distance away, as the node distance gradually increases, the signal strength attenuates and the error rate increases. The system adjusts the fragment length to a smaller second length value to reduce the probability of single packet transmission failure, while simultaneously increasing the proportion of forward error correction codes to enhance the anti-interference and error correction capabilities of data packets. This step solves the problem that the traditional fixed fragmentation strategy of Mesh networking cannot adapt to dynamic changes in links and is prone to packet loss or low transmission efficiency by dynamically adapting the fragmentation length and error correction code ratio, and achieves a balance between transmission reliability and efficiency under different link states.

[0057] S109. When a communication demand command is received, if the time reaches the start time of the optimal link time window, the corresponding target node is controlled to access the communication link for data transmission.

[0058] Within a certain time period before the start time of the optimal link time window for a target node combination in the communication spatiotemporal mapping table, if a communication demand command is determined, the corresponding optimal link is determined based on the communication demand command. When the time reaches the start time of the optimal link time window, the communication control system or the target node locally determines whether the current time has entered the optimal link time window. If it has, a link access command is immediately sent to the corresponding target node combination. After receiving the command, the target node combination initiates preparatory operations such as communication antenna alignment and transmission power adjustment to establish a stable communication link. After the link is established, the target node transmits and receives data in an orderly manner according to the pre-planned transmission scheme. The communication control system monitors the link transmission status in real time, and if an abnormality occurs, a backup link switching mechanism is triggered.

[0059] For example, if a communication requirement includes mobile communication node A sending video to mobile communication node B, the optimal link between A and B is retrieved from the communication spatiotemporal mapping table. The corresponding target node combination includes intermediate nodes C, D, E, and F. The optimal link time window is from T1 to T2 (during this time period, A, C, D, E, F, and B can maintain high-quality communication, forming a multi-node link A→C→D→E→F→B). Within the preset preparation time before T1, if node A generates a communication requirement command to send video to node B, the communication control system locks the optimal link corresponding to this target node combination based on the command. When time reaches T1, the communication control system determines that the time window has been entered and immediately sends a link access command to A, B, and intermediate nodes C, D, E, and F to initiate communication.

[0060] This step solves the core problem of traditional passive networking, which only switches after the link quality deteriorates and is prone to communication interruption, by using time-triggered link access control. It realizes active link access and stable transmission, ensuring the needs of collaborative operation of mining equipment and real-time data transmission.

[0061] In some embodiments, during a preset preparation period before the start of the optimal link time window, assuming the target node combination has received the communication spatiotemporal mapping table and the communication control system has completed the verification of the predicted coordinates of the nodes at the next moment, the communication control system first extracts the identification information of the target node combination and the predicted three-dimensional coordinates of the next moment from the communication spatiotemporal mapping table. A spatial rectangular coordinate system is established with the coordinates of the local node as the origin. The azimuth and elevation angles of the local node pointing to the peer node are calculated using spatial geometric formulas to determine the target azimuth parameters. Secondly, the system sends an azimuth adjustment command to the antenna control module of the local node to drive the antenna to accurately align with the target azimuth, reducing spatial scattering loss of the signal. Finally, the system calculates the real-time straight-line distance between the local node and the peer node, matches the corresponding distance interval in the preset distance-power mapping table, retrieves the transmit power calibration value under that interval, and sends a power adjustment command to the antenna power amplification module to accurately set the transmit power to the calibration value, ensuring that the received signal strength of the peer node reaches the minimum threshold. This step solves the problems of high signal loss and severe electromagnetic interference caused by the omnidirectional radiation and fixed power of traditional Mesh networking antennas through the coordinated optimization of antenna directional alignment and precise power matching. While ensuring communication quality, it reduces node energy consumption and improves the anti-interference capability and stability of the link.

[0062] In some embodiments, during the calibration period before the optimal link execution state time window is activated, assuming the target node combination has received the communication spatiotemporal mapping table and the system has completed initial trajectory prediction, the communication control system first sends a time synchronization command to both target nodes via the heartbeat link to obtain the time deviation value between the node's local clock and the system's master clock. Secondly, it calibrates the timestamps of the original spatiotemporal trajectory sequence of the nodes based on this deviation value, correcting the position prediction error caused by time asynchrony, and then calculates the predicted relative positions of the two nodes after calibration. Next, based on the corrected relative positions, it calculates the dynamic straight-line distance at each moment within the execution state time window according to a preset time slice. The system handles the calculation results in two ways: First, if only a local time period's dynamic straight-line distance exceeds the preset communication radius, the invalid time period is removed from the execution state time window, and the remaining time period is used as the final effective communication duration, ensuring that the node only transmits data within the effective time period of the link. Second, if the dynamic distance exceeds the communication radius throughout the entire execution state time window, the optimal link is directly marked as failed, and the effective link list generated in S105 is immediately retrieved, triggering the activation process of the next priority alternative link. This step addresses the link planning error caused by neglecting clock asynchrony in traditional prediction algorithms through time deviation calibration and dynamic distance verification. It also establishes an emergency mechanism for link failure to prevent communication interruptions caused by prediction deviations.

[0063] In some embodiments, the step of using the remaining overlapping period as the final effective communication duration may further include constructing a communication line-of-sight occlusion model based on the mine map data; inputting the predicted relative position into the communication line-of-sight occlusion model; detecting whether the target node falls within the shadow of a preset map occlusion area at the end of the overlapping period; if so, determining that there is a risk of communication tailing interruption, determining the critical moment when the target node enters the shadow of the map occlusion area; modifying the end point of the execution state time window to a preset protection moment before the critical moment, and inserting a link switching warning flag at the end of the data frame of the data transmission task to notify the peer node to terminate the session in advance before reaching the critical moment.

[0064] Specifically, the communication control system first calls upon high-precision 3D map data of the mine to extract the spatial parameters of all static obstructions. A ray tracing algorithm is then used to construct a communication line-of-sight obstruction model, which can determine in real time whether a link is obstructed based on node positions. Second, the predicted relative positions of target nodes at the end of the overlapping time period are input into the model to simulate the spatial path of the communication link between nodes and detect whether the link falls within the shadow of the obstruction area. If a communication tailing interruption risk is detected, the critical moment when a node enters the shadow of the obstruction area is determined by reverse calculation using the node's spatiotemporal trajectory sequence. Next, the system adjusts the end point of the execution time window from the original end of the overlapping time period to a pre-set protection time before the critical moment, compressing invalid communication periods. Finally, the system inserts a link switching warning identifier at the end of the data frame to be transmitted. This identifier contains key information such as the alternative link node identifier and the switching preparation time. When the peer node receives the data frame, it can recognize this identifier to know the link switching plan in advance and reserve time to complete the parameter configuration of the alternative link. This enables early identification of sudden obstruction risks and precise optimization of communication periods, effectively solving the problems of communication trailing interruptions and lack of buffer time for link switching caused by nodes entering obstructed areas in traditional mine wireless communication.

[0065] In the above embodiment, by employing spatiotemporal trajectory prediction based on mine node operation tasks and map data, multi-dimensional screening of link effectiveness, optimal link time window planning, and time-triggered link access, a closed-loop control system from link prediction to precise scheduling to stable access is constructed. This effectively solves the technical problems of traditional mine Mesh self-organizing networks that rely on passive signal threshold triggering for link switching, are prone to communication interruptions, and cannot adapt to dynamic node movement. As a result, proactive prediction and optimal scheduling of mine wireless communication links are realized, ensuring real-time and stable data transmission between mobile nodes and improving the reliability and safety of collaborative operation of mine equipment.

[0066] In some embodiments, such as when the speed of some mobile vehicles acting as target nodes suddenly increases or decreases, making it difficult to achieve the originally predicted optimal link, the corresponding speed prompt can be sent to the target node in the optimal link so that the driver of the mobile vehicle knows that the mobile device he is driving carries the function of communication relay.

[0067] The method provided in this embodiment will now be described in more detail. Please refer to Figure 2, which is another flowchart illustrating the predictive control method for mine wireless communication links in this embodiment.

[0068] S201. During the execution of the communication task, obtain the current location information of the target node in real time;

[0069] This step is executed throughout the entire timeframe, from the start of the optimal link time window to the completion of the communication task, assuming the target node has already connected to the link and begun transmitting data. The communication control system acquires the node's current location information through two methods: first, it relies on the node's onboard BeiDou / mining UWB dual-mode positioning module to collect the node's raw positioning data in real time; second, it can predict the current location information based on the node's real-time driving speed and the preset task path. Specifically, the communication control system retrieves the target node's task path coordinate set and combines it with the node's precise positioning data at a certain reference moment as a location anchor point; it collects the driving speed in real time through the node's onboard speed sensor and accumulates the node's mileage on the path at preset time intervals; then, it maps the mileage data to the coordinate sequence of the task path to deduce the node's predicted location information at the current moment.

[0070] S202. Based on the spatiotemporal trajectory sequence, determine the spatial cutoff point in the mine map where the current optimal link maintains effective communication;

[0071] The spatial endpoints can include communication entry points and communication exit points. A communication entry point is the spatial coordinate point at which the target node first enters the effective communication range of its adjacent node and meets the link's validity conditions while traveling along its own operational path. A communication exit point is the last spatial coordinate point at which the target node, continuing along its operational path, is about to leave the effective communication range of its adjacent node and the link is about to fail. If we consider the effective communication range as a circle, then the first intersection of the target node's operational path with the circle is the communication entry point, and the last intersection is the communication exit point. Generally, the operational path is a straight line or a curve, intersecting the circle only twice.

[0072] This step is executed in real time after the target node's current location information is obtained in S201, synchronized with the location information acquisition frequency. The communication control system calls the spatiotemporal trajectory sequence generated in S102, and combines it with the mine map (including road topology and obstacles) and the preset communication radius (effective communication circle range) of each node to deduce the changes in the positional relationship between each target node and its adjacent nodes: when a node moves to a point where the distance to its adjacent node is equal to the communication radius and the connection is unobstructed, this position is the communication entry point; when the node continues to move and reaches a point where the distance to its adjacent node is equal to the communication radius again (about to exceed it), or the connection is about to be obstructed, this position is the communication exit point. For multi-node links, entry and exit points need to be determined for each pair of adjacent nodes (AC, CD, etc.) to ensure that all segments of the entire link are within the effective communication range. For example, if the intermediate node D moves along the trajectory towards E, the coordinates when it first enters E's communication circle are the entry point, and the coordinates when it is about to leave E's communication circle are the exit point. The path between these two points is the spatial range within which D and E maintain effective communication.

[0073] S203. Determine the remaining path distance from the current location information to the spatial cutoff point, and determine the remaining communication duration. The remaining communication duration includes the first remaining communication duration and the second remaining communication duration relative to the start and end times of the optimal link time window, respectively.

[0074] The remaining path distance includes the first remaining path distance and the second remaining path distance. The first remaining path distance refers to the actual distance traveled from the current location of the target node to the communication entry point, and the second remaining path distance refers to the actual distance traveled from the current location of the target node to the communication exit point. The first remaining available time refers to the time difference between the current time and the communication entry time, representing how long it will take for the node to start communication. The second remaining available time refers to the time difference between the current time and the communication exit time.

[0075] This step is executed immediately after the communication entry and exit points are determined in S202. The communication control system first calculates the first remaining path distance from the target node's current location to the communication entry point and the second remaining path distance from the current location to the communication exit point based on the path topology of the mine map. Then, the communication control system extracts the time window parameters corresponding to the target node from the communication spatiotemporal mapping table, specifically extracting the preset communication entry and exit times for this link. Next, it determines that the first remaining communication duration = communication entry time - current time; this step is to determine whether the node can "catch up" to start communication; the second remaining communication duration = communication exit time - current time. This step maps spatial distance to time budgets, providing two key constraints for subsequent calculations of the speed threshold range.

[0076] S204. Based on the remaining path distance and the remaining communication duration, obtain the dynamic speed threshold of the target node at the current time.

[0077] The communication control system transforms spatial constraints into velocity constraints through a simple division operation:

[0078] Calculate the minimum speed threshold by dividing the first remaining path distance by the first remaining communication time. This speed ensures that if the target node travels below this speed, it will not have reached the entry point by the time communication begins, thus missing the start of the communication window. Therefore, the minimum speed threshold is the minimum travel speed that the target node must maintain to avoid being late and to ensure that it can reach the entry point at the time communication begins.

[0079] Calculate the maximum speed threshold: Divide the second remaining path distance by the second remaining communication duration. This speed ensures that if the target node travels at a speed higher than this, it will have already passed the exit point before the communication exit time, thus causing the communication to be interrupted before the end of the time window.

[0080] S205. Generate a speed control command based on the dynamic speed threshold and send it to the target node to force the target node to complete the communication task before the optimal link fails.

[0081] The communication control system encapsulates minimum and maximum speed thresholds into speed control commands, which are then sent to the target node via the established communication link. Upon receiving the command, the target node treats it as a mandatory speed constraint and immediately adjusts its speed: if the current speed is below the minimum speed threshold, it accelerates to ensure it reaches the communication entry point before the communication entry time; if the current speed is above the maximum speed threshold, it decelerates to ensure it doesn't reach the communication exit point prematurely; if the current speed is within the threshold range, it maintains its current speed. For optimal links consisting of multiple nodes, the communication control system prioritizes sending speed control commands to the core node (i.e., the mobile communication node that reaches the communication exit point first), and simultaneously synchronizes the core node's speed adjustment information to its neighboring nodes, allowing neighboring nodes to adjust their own communication parameters in advance based on the core node's speed changes, maintaining link stability. The communication control system monitors the target node's speed execution in real time. If it detects that the target node has not adjusted its speed according to the command, it resends the command with increased priority, triggering alarms or forced speed reduction if necessary, ensuring the mandatory and effective nature of speed control.

[0082] In this embodiment, the communication control system acquires the current location information of the target node in real time during the execution of the communication task, and accurately determines the communication entry point and communication exit point of each node by combining the spatiotemporal trajectory sequence. Furthermore, based on the remaining path distance from the current position to the two points and the remaining communication time, the speed adjustment threshold range of the target node is calculated. Therefore, the target node can be forced to travel within this range by issuing speed control commands, thereby ensuring that the target node enters on time according to the preset communication spatiotemporal mapping table and maintains sufficient dwell time within the effective communication range. This effectively solves the problem in traditional technology where the uncontrollable movement speed of the node causes the node to miss the communication window or leave the effective communication range in advance, thus causing communication interruption. This achieves deep coupling and precise coordination between the communication link and the node's motion state, ensuring the deterministic completion of the data transmission task before the optimal link fails.

[0083] The communication control system in the embodiments of this application is described below from the perspective of hardware processing. Please refer to Figure 3, which is a schematic diagram of the physical device structure of the communication control system in the embodiments of this application.

[0084] It should be noted that the structure of the communication control system shown in Figure 3 is only an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0085] As shown in Figure 3, the communication control system includes a Central Processing Unit (CPU) 301, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 302 or programs loaded from storage section 308 into Random Access Memory (RAM) 303, such as executing the methods described in the above embodiments. The RAM 303 also stores various programs and data required for system operation. The CPU 301, ROM 302, and RAM 303 are interconnected via a bus 304. An Input / Output (I / O) interface 305 is also connected to the bus 304.

[0086] The following components are connected to I / O interface 305: input section 306 including audio input devices, push-button switches, etc.; output section 307 including a liquid crystal display (LCD) and audio output devices, indicator lights, etc.; storage section 308 including a hard disk, etc.; and communication section 309 including a network interface card such as a LAN (Local Area Network) card, modem, etc. Communication section 309 performs communication processing via a network such as the Internet. Drive 310 is also connected to I / O interface 305 as needed. Removable media 311, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 310 as needed so that computer programs read from them can be installed into storage section 308 as needed.

[0087] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing computer programs for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 309, and / or installed from removable medium 311. When the computer program is executed by central processing unit (CPU) 301, it performs the various functions defined in the present invention.

[0088] It should be noted that specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0089] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Each block in a flowchart or block diagram may represent a module, program segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those shown in the drawings.

[0090] Specifically, the communication control system of this embodiment includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, it implements the mine wireless communication link predictive control method provided in the above embodiment.

Claims

1. A predictive control method for wireless communication links in mines, applied to a communication control system, characterized in that, The method includes: acquiring the task paths and task operation times of multiple mobile communication nodes within a mining scenario, wherein the mobile communication nodes include mobile mining vehicles equipped with communication devices; predicting the spatiotemporal trajectory sequence of each mobile communication node traveling along the task path within a future preset time period by combining a task route distribution map of the entire mining area; simulating the relative spatial position of each mobile communication node at each moment within the future preset time period based on the spatiotemporal trajectory sequence; calculating the straight-line distance between each mobile communication node according to the relative spatial position of communication; selecting links where the connection between the mobile communication nodes is not obstructed and the straight-line distance is less than a preset communication radius as valid links; selecting the link with the highest link quality estimate from the valid links and marking it as the optimal link at each moment; extracting the optimal link time window and corresponding target node combination of the optimal link according to the task operation time to generate a communication spatiotemporal mapping table; sending the communication spatiotemporal mapping table to each target node in the target node combination so that the target node can plan data transmission tasks according to the communication spatiotemporal mapping table; when there is a communication demand instruction, if the time reaches the start time of the optimal link time window, controlling the corresponding target node to access the communication link for data transmission.

2. The method according to claim 1, characterized in that, Before the step of predicting the spatiotemporal trajectory sequence of each mobile communication node along the task path within a preset time period by combining the task route distribution map of the entire mining area, the method further includes: at a preset detection time, obtaining the real-time positioning coordinates of the first mobile communication node; comparing the real-time positioning coordinates with the theoretical coordinates of the corresponding task process in the task path to determine the coordinate deviation; if the coordinate deviation is within a preset deviation range, determining that the positioning of the first mobile communication node is valid, and obtaining the actual relative position of the second mobile communication node based on the first mobile communication node; determining the theoretical relative position that the first mobile communication node and the second mobile communication node should have at the detection time based on the task path and the task route distribution map of the entire mining area; if the actual relative position matches the theoretical relative position, determining that the identity of the second mobile communication node matches the corresponding task process and the positioning is accurate; obtaining the real-time positioning set of each mobile communication node, matching the real-time positioning set with the task route distribution map of the entire mining area to determine the identity of the mobile communication node corresponding to each positioning point.

3. The method according to claim 2, characterized in that, The steps of sending the communication spatiotemporal mapping table to each target node in the target node group, so that the target nodes can plan data transmission tasks according to the communication spatiotemporal mapping table, specifically include: during the execution of the communication task, acquiring the current location information of the target node in real time; determining the spatial cutoff point of the current optimal link in the mine map to maintain effective communication according to the spatiotemporal trajectory sequence; determining the remaining path distance from the current location information to the spatial cutoff point, and determining the remaining communication duration, the remaining communication duration including a first remaining communication duration and a second remaining communication duration relative to the start and end times of the optimal link time window, respectively; obtaining the dynamic speed threshold of the target node at the current time according to the remaining path distance and the remaining communication duration; generating a speed control command according to the dynamic speed threshold and sending it to the target node to control the target node to complete the communication task before the optimal link fails.

4. The method according to claim 3, characterized in that, If the step before the start time of the optimal link time window is reached includes: determining the target orientation of the local node to the peer node based on the predicted coordinate data of the target node combination in the next time moment in the communication spatiotemporal mapping table; aligning the communication antenna of the target node with the direction of the target orientation; and adjusting the transmission power of the communication antenna by querying a preset distance-power mapping table based on the straight-line distance between each target node. The distance-power mapping table records the transmission power calibration value required to offset spatial loss and make the signal strength of the receiving end reach the minimum signal strength threshold in different distance ranges in the mine.

5. The method according to claim 1, characterized in that, After sending the communication spatiotemporal mapping table to each target node in the target node combination, the method further includes: based on the trend of the linear distance between the target nodes in the optimal link at each time point within the future preset time period; if the trend of the linear distance is a trend of moving closer to each other, then setting the data packet fragment length of the data link layer to a first length value; if the trend of the linear distance is a trend of moving further apart from each other, then adjusting the data packet fragment length of the data link layer to a second length value that is less than the first length value, and increasing the proportion of forward error correction codes.

6. The method according to claim 1 or 5, characterized in that, If the time reaches the start of the optimal link time window, the step of controlling the corresponding target node to access the communication link for data transmission specifically includes: obtaining the time deviation values ​​of the target nodes at both ends of the optimal link respectively, and calculating the corrected predicted relative position; based on the predicted relative position, calculating the dynamic straight-line distance between the two target nodes within the execution state time window corresponding to the optimal link; if the dynamic straight-line distance exceeds the preset communication radius in a local period of the execution state time window, the excess period is removed from the execution state time window, and the remaining overlapping period is taken as the final effective communication duration; if the dynamic straight-line distance exceeds the preset communication radius throughout the entire execution state time window, the corresponding optimal link is marked as failed, and the next priority alternative link is immediately triggered.

7. The method according to claim 1, characterized in that, If the time reaches the start time of the optimal link time window, the step of controlling the corresponding target node to access the communication link for data transmission specifically includes: determining the communication demand instruction of the signal transmitter; after determining the signal receiver according to the communication demand instruction, calling the pre-configured communication spatiotemporal mapping table associated with the signal receiver to obtain the communication time window that allows communication with the signal receiver, and the combination of target nodes applied to carry the communication demand instruction under the communication time window; controlling the signal transmitter to send signal transmission information and signal receiver information to the nearest target node in the target node combination, so as to forward the signal transmission information to the signal receiver level by level.

8. A communication control system, characterized in that, The communication control system includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code including computer instructions, and the one or more processors call the computer instructions to cause the communication control system to perform the method as described in any one of claims 1-7.

9. A computer-readable storage medium comprising instructions, characterized in that, When the instructions are executed on the communication control system, the communication control system performs the method as described in any one of claims 1-7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is run on the communication control system, it causes the communication control system to perform the method as described in any one of claims 1-7.

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