Mine communication method and device, electronic device, and storage medium

Abstract

This application provides a mine communication method, apparatus, electronic device, and storage medium, belonging to the field of mine wireless communication technology. The method includes: acquiring the node identification identifiers of each fixed node within the mine; broadcasting detection signal frames via a mobile node; designating each fixed node receiving the detection signal frames as candidate nodes and performing target operations to obtain measurement values ​​corresponding to each candidate node; determining a primary communication node and a backup communication node based on the measurement values ​​and through spatial location prediction and group decision-making; establishing a communication link between the mobile node and the primary communication node, controlling the backup communication node, monitoring the communication quality of the communication link, and switching to the backup communication node if a communication link failure occurs, updating the backup communication node to the primary communication node, and broadcasting a switchover notification message. This application can reduce the probability of communication interruption and improve the quality of intelligent communication in complex environments.

Description

Technical Field

[0001] This application belongs to the field of mine wireless communication technology, and more specifically, relates to a mine communication method and device, electronic device, and storage medium. Background Technology

[0002] Mine communication is a core infrastructure for safe production and intelligent operations in mines, spanning the entire process of mine dispatching, environmental monitoring, equipment control, and emergency rescue. With breakthroughs in technologies such as 5G, the sixth-generation wireless network standard (IEEE 802.11ax, Wi-Fi 6), and Time-Sensitive Networking (TSN), mine communication systems are upgrading from traditional voice dispatching to multi-service convergence (e.g., high-definition video surveillance, remote control, and intelligent inspection). However, the unique characteristics of the mine environment, such as long and winding roadways, rapid signal attenuation, strong electromagnetic interference, and high explosion-proof requirements, pose severe challenges to the stability, reliability, and dynamic adaptability of communication systems.

[0003] Existing mine communication status monitoring, at the link maintenance level, lacks dynamic fault prediction and rapid recovery capabilities. Once a communication node fails due to environmental changes or its own malfunction, communication is interrupted, making it difficult to meet the extremely high reliability requirements of underground emergency rescue and remote real-time control. Summary of the Invention

[0004] The purpose of this application is to provide a mine communication method, device, electronic equipment, and storage medium to address the technical problem that existing mine communication systems lack dynamic fault prediction and rapid recovery capabilities at the link maintenance level. This leads to communication interruptions when communication nodes fail, making it difficult to meet the extremely high reliability requirements of underground emergency rescue and remote real-time control. The aim is to improve the stability and reliability of the mine communication system, ensuring rapid switching of communication links in case of failure, and guaranteeing safe production and intelligent operation in the mine. To achieve the above objective, the technical solution provided by this application is as follows: Firstly, a mine communication method is provided, including: Obtain the node identity identifiers of each fixed node within the mine; The mobile node broadcasts a probe signal frame; the probe signal frame includes the mobile node's identification and a frame sequence number. Each fixed node that receives the probe signal frame is taken as a candidate node, and the target operation is performed to obtain the measurement value corresponding to each candidate node. Based on the node identity identifiers and corresponding measurement values ​​of each candidate node, and through spatial location prediction and group decision-making, the primary communication node and backup communication node are determined. Establish a communication link between the mobile node and the primary communication node, control the backup communication node, monitor the communication quality of the communication link, and if the communication link fails, switch to the backup communication node, update the backup communication node to the primary communication node, and broadcast a switch notification message. The switch notification message is used to notify other candidate nodes and mobile nodes, and the backup communication node is updated to the primary communication node. The target operations include: Obtain the corresponding signal strength value reported by each candidate node; Obtain the signal-to-noise ratio reported by each candidate node when receiving the probe signal frame; The detection signal frames are parsed to obtain the frame sequence number. The frame continuity index within a preset statistical window is determined based on the frame sequence number. The frame continuity index is used to characterize the ratio between the maximum continuous reception length of the frame sequence number within the preset statistical window and the total number of detection signal frames received within the preset statistical window.

[0005] Secondly, a mine communication device is provided, comprising: The identifier acquisition module is used to acquire the node identity identifiers of each fixed node within the mine. The signal broadcasting module is used to broadcast detection signal frames via mobile nodes; the detection signal frames include the mobile node's identification and frame sequence number. The target measurement module is used to identify each fixed node that receives the detection signal frame as a candidate node, perform target operations, and obtain the measurement value corresponding to each candidate node. The communication node determination module is used to determine the primary communication node and backup communication nodes based on the node identity identifier and corresponding measurement value of each candidate node, and through spatial location prediction and group decision-making. The communication node switching module is used to establish a communication link between the mobile node and the primary communication node, control the backup communication node, monitor the communication quality of the communication link, and if the communication link fails, switch to the backup communication node, update the backup communication node to the primary communication node, and broadcast a switching notification message. The switching notification message is used to notify other candidate nodes and mobile nodes, and the backup communication node is updated to the primary communication node. Specifically, during the execution of the target operation, the target measurement module is used for: Obtain the corresponding signal strength value reported by each candidate node; Obtain the signal-to-noise ratio (SNR) reported by each candidate node. The SNR is the SNR of each candidate node when it receives the probe signal frame. The detection signal frames are parsed to obtain the frame sequence number. The frame continuity index within a preset statistical window is determined based on the frame sequence number. The frame continuity index is used to characterize the ratio between the maximum continuous reception length of the frame sequence number within the preset statistical window and the total number of detection signal frames received within the preset statistical window.

[0006] Thirdly, embodiments of this application also provide an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the mine communication method provided by any possible implementation of the first aspect.

[0007] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the mine communication method provided by any possible implementation of the first aspect.

[0008] The beneficial effects of the technical solution provided in this application are as follows: Compared with related technologies, the mine communication method, apparatus, electronic device, and storage medium provided in this application have the following advantages: First, they obtain measured values ​​(signal strength, signal-to-noise ratio, and frame continuity index) through target operation, and use these measured values ​​to reflect the stability of the link within a statistical window. Second, they determine the main communication node through a dual mechanism of spatial location prediction and group decision-making, avoiding random selection or selection of the main communication node through fixed priority in traditional schemes, thus improving the anti-interference capability and stability of the main communication node. Third, this embodiment monitors the communication quality of the communication link through a backup communication node. Once the main communication node fails, the backup communication node can quickly switch to become the main communication node and take over the communication link without having to reselect the main communication node, thereby improving the stability of the communication link. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0010] Figure 1 A schematic flowchart illustrating the mine communication method provided in an embodiment of this application; Figure 2 A structural block diagram of a mine communication device provided in an embodiment of this application; Figure 3 A schematic block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0011] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0012] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” can be implemented as “A,” or as “B,” or as “A and B.” When describing multiple (two or more) items, if the relationship between the multiple items is not explicitly defined, the multiple items can refer to one, several or all of the multiple items. For example, the description of "parameter A includes A1, A2, A3" can be implemented as parameter A includes A1 or A2 or A3, or it can be implemented as parameter A includes at least two of the three items A1, A2 and A3.

[0013] It is understood that in the embodiments of this application, data such as user information are involved. When the embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with relevant laws, regulations and standards.

[0014] To make the objectives, technical solutions, and advantages of this application clearer, the following description will be provided in conjunction with the accompanying drawings and specific embodiments.

[0015] This application provides a mine communication method, which can be executed by a control node. The control node is a main control device deployed on the ground or underground (e.g., a ground control center or underground area controller), communicating with fixed and mobile nodes within the mine via wired or wireless means. Fixed nodes are communication devices with fixed locations, while mobile nodes are communication terminals installed on mobile devices (e.g., coal mining machines, locomotives) or carried by miners. Figure 1 As shown, the method may include: S101: Obtain the node identity identifier of each fixed node within the mine.

[0016] In this embodiment, a fixed node refers to a communication device installed at a fixed location underground in the mine. These devices typically possess signal reception, forwarding, and processing capabilities, serving as the infrastructure for constructing an underground communication network. A node identifier refers to a unique number or code used to identify each fixed node, facilitating node differentiation and retrieval; for example, a hardware address, device number, or a pre-defined logical number.

[0017] In this embodiment, the control node broadcasts an identity query command to all fixed nodes connected to the network via a wired bus or wireless query method. Upon receiving the command, each fixed node returns its stored node identity identifier to the control node via the communication link. After receiving the responses from each node, the control device associates the node's identity identifier with its corresponding communication port and three-dimensional spatial coordinates, forming a node information list. This node information list is stored in a structured data table and includes at least the node identity identifier, communication port number, and three-dimensional spatial coordinates, used for subsequent candidate node filtering and rapid spatial location coordinate lookup.

[0018] S102: Broadcast probe signal frames via mobile nodes.

[0019] In this embodiment, the detection signal frame may include the node identification identifier of the mobile node and the frame sequence number.

[0020] In this embodiment, before broadcasting the probe signal frame via the mobile node, the mobile node's parameters are initialized. Then, the control node controls the mobile node to send broadcast commands, causing the mobile node to construct the probe signal frame according to a preset format and broadcast it periodically. The probe signal frame includes at least a frame header and a payload. The frame header includes the mobile node's identifier and a frame sequence number. The payload embeds a known training sequence of preset length. The known training sequence can be a pseudo-random binary sequence (e.g., an m-sequence), and its position and length are pre-fixed in the mine communication protocol of this embodiment. The known training sequence is used for signal-to-noise ratio estimation. In this embodiment, the mobile node's identifier refers to a unique identifier used to distinguish different mobile nodes and ensure communication accuracy. The frame sequence number refers to the sequence number contained in the probe signal frame, used to identify the order of different probe frames sent by the same mobile node.

[0021] In this embodiment, the mobile node repeatedly transmits probe signal frames at a set broadcast period. During the transmission intervals, the node can enter a low-power mode or listen to the channel to save power. The broadcast process is unaffected by the response from the fixed node; that is, the mobile node broadcasts continuously without waiting for a reply.

[0022] S103: Take each fixed node that receives the detection signal frame as a candidate node, and perform the target operation to obtain the measurement value corresponding to each candidate node.

[0023] In this embodiment, within a preset detection period, each fixed node receiving a detection signal frame is designated as a candidate node. Specifically, if any fixed node successfully receives at least one detection signal frame from the mobile node (the mobile node broadcasting the detection signal frame), it is marked as a candidate node for that mobile node. For each mobile node, its candidate nodes are all fixed nodes capable of receiving its detection signal frames. The preset detection period refers to a set time window for collecting detection signal frames broadcast by mobile nodes to determine which fixed nodes can be considered as candidate nodes. The length of this preset detection period can be comprehensively set based on factors such as the mine environment, the movement speed of the mobile node, and communication requirements. For example, the preset detection period can be set to 5 seconds.

[0024] In this embodiment, after the mobile node periodically broadcasts probe signal frames (e.g., 10 frames per second, each frame containing the mobile node's identification identifier and an incrementing frame sequence number), each fixed node continuously monitors the wireless channel. When a fixed node correctly receives a probe signal frame (i.e., a probe frame), that fixed node is designated as a candidate node, and a target operation is performed (the specific implementation steps of this target operation are described in the following embodiment). The measured values ​​corresponding to the candidate node are obtained, including signal strength, signal-to-noise ratio, and frame continuity index.

[0025] In this embodiment, after obtaining the measurement values ​​corresponding to each candidate node, the node identity identifier of each candidate node and the corresponding measurement values ​​are packaged into a measurement data, forming a set of measurement values ​​indexed by the node identity identifier of the candidate node.

[0026] Specifically, the target operation may include: Obtain the corresponding signal strength value reported by each candidate node; Obtain the signal-to-noise ratio (SNR) reported by each candidate node. The SNR is the SNR reported by each candidate node when it receives the probe signal frame. The detection signal frames are parsed to obtain the frame sequence number. The frame continuity index within a preset statistical window is determined based on the frame sequence number. The frame continuity index is used to characterize the ratio between the maximum continuous reception length of the frame sequence number within the preset statistical window and the total number of detection signal frames received within the preset statistical window.

[0027] In this embodiment, the frame continuity index is used to evaluate the stability of the communication link between the mobile node and the fixed node within a preset time window. The preset statistical window is a continuous time interval set for statistically analyzing link stability. The length of this preset statistical window needs to be determined comprehensively based on the rate of change of the mine environment and the real-time requirements of communication; for example, it can be set to 3 to 10 seconds. For example, in areas where mobile nodes (such as coal mining machines) move rapidly, this window can be set to 5 seconds to respond quickly to changes.

[0028] In this embodiment, the signal strength value is obtained as follows: the candidate node can read the received signal strength indication of the currently received probe signal frame from the register of the wireless transceiver chip, obtain the signal strength value (in dBm) corresponding to the received probe signal frame, and report the signal strength value to the control node. In this embodiment, the register of the wireless transceiver chip can be integrated into the hardware register inside the wireless communication chip.

[0029] Furthermore, the signal-to-noise ratio of each candidate node is determined in the following way: A known training sequence of a preset length is embedded in the probe signal frame; the known training sequence is a pseudo-random binary sequence, and the position and length of the known training sequence in the probe signal frame are fixed in advance; The received training sequence is extracted from the probe signal frame. The received training sequence is obtained after the known training sequence has been transmitted wirelessly. Obtain the reference training sequence corresponding to the candidate node; Based on the received training sequence and the reference training sequence, and through sliding correlation operation, the correlation function corresponding to the candidate node is obtained; The maximum value of the correlation function is taken as the signal correlation peak value corresponding to the candidate node; The average amplitude of the correlation function at time delay points other than the preset interval on the time delay axis is used as the noise basis estimate for the candidate node. The signal-to-noise ratio (SNR) of the candidate node when receiving probe signal frames is determined based on the signal correlation peak value and the noise floor estimate.

[0030] In this embodiment, the received training sequence refers to the training sequence fragment extracted by the candidate node from a specified position (e.g., a fixed field after the preamble and before the data payload) of the received probe signal frame. Due to noise, interference, and multipath effects superimposed during wireless transmission, this sequence is a distorted version of the original known training sequence.

[0031] In this embodiment, the reference training sequence refers to a locally stored sequence that is the same as a known training sequence.

[0032] The preset interval refers to the area around the peak position that needs to be avoided to prevent signal sidelobes or multipath components from contaminating the noise estimation. The width of this preset interval needs to be set according to the autocorrelation sidelobe width and multipath delay spread of the training sequence; for example, it can be set to 5 chip widths to the left and right of the peak position.

[0033] The time delay axis refers to the independent variable of the correlation function, representing the relative time offset between the received training sequence and the reference training sequence, usually in units of sampling points or chips.

[0034] In this embodiment, when a mobile node broadcasts a probe signal frame, a known training sequence is inserted at a fixed position in the physical layer frame structure for each frame. This sequence is generated by the mobile node according to a preset generation method (e.g., a 63-bit m-sequence), and all fixed nodes store the same copy of the reference training sequence.

[0035] For each candidate node, a received training sequence is extracted from a specified position (e.g., after the preamble) of the received probe signal frame. Specifically, after receiving a probe signal frame, the candidate node extracts a received training sequence (63 bits in length) from a specified field according to a predefined mine communication protocol frame format (e.g., based on IEEE 802.11 series standards or mine-specific communication protocols, at a fixed position after the preamble and before the data payload of the physical layer protocol data unit (the transmission unit formed by the physical layer encapsulating upper-layer data, which is the basic transmission frame structure of the physical layer in wireless communication). This received training sequence exists in the form of a binary bit stream, reflecting the signal after channel distortion. The candidate node then calls a locally stored reference training sequence.

[0036] In this embodiment, the reference training sequence is slid chip by chip relative to the received training sequence on the time axis. At each chip position, the cross-correlation value of the two sequences at that alignment position is calculated, resulting in a set of correlation values ​​that vary with relative time delay, i.e., the correlation function. The sliding range in this embodiment should cover possible multipath delay spread, for example, from -20 chips to +20 chips, to ensure that the peak value falls within this range.

[0037] This embodiment performs peak detection on the correlation function and finds the maximum value from the obtained correlation function. This maximum value is the signal correlation peak value, which reflects the energy of the strongest path in the received signal. Its position corresponds to the arrival time of the main path of the signal.

[0038] In this embodiment, noise sampling is performed at delay points far from the peak position in the correlation function. To avoid interference from signal sidelobes and multipath components, the preset interval set in this embodiment is centered on the peak position, with a range of M chip widths (e.g., M=5) to the left and right, and is not included in noise estimation. At all delay points outside this preset interval (including negative delays and positive delays exceeding the interval), the average value of the correlation amplitude is calculated to obtain the noise floor estimate, which characterizes the average power of background noise and interference.

[0039] This embodiment calculates the signal-to-noise ratio (SNR) of the candidate node when receiving the current probe signal frame based on the estimated value of the signal correlation peak and the noise floor, using the SNR calculation formula. The SNR calculation formula can be: ,in, This represents the signal-to-noise ratio when a candidate node receives the current probe signal frame. Indicates the correlation peak value of the signal. This represents the noise basis estimate.

[0040] In this embodiment, candidate nodes report the calculated signal-to-noise ratio (SNR), their node identity, and the frame sequence number of the current frame to the control node (such as the surface control center or the underground area controller) via a wired network (e.g., industrial Ethernet or fieldbus). If multiple frames of detection signals are received within a preset statistical window, the SNR of each frame can be averaged, and the average SNR can be used as the SNR of the candidate node.

[0041] As can be seen from the above, this embodiment utilizes the good autocorrelation characteristics of pseudo-random sequences to effectively separate signal energy from noise, and can accurately estimate the signal-to-noise ratio even under strong background noise and interference, thereby improving anti-interference performance. In the sliding correlation process, this embodiment can capture the principal path energy in the probe signal frame, and at the same time avoid the influence of signal self-interference on noise estimation by avoiding peak regions when estimating the noise floor, thus obtaining a high-precision signal-to-noise ratio measurement value.

[0042] In one embodiment of this application, determining the frame continuity index within a preset statistical window based on the frame sequence number includes: Obtain the sequence number list reported by each candidate node. The sequence number list is obtained by sorting the frame sequence numbers of the received detection signal frames of each candidate node in the order of reception time within the preset statistical window. Starting from the first frame sequence number in the sequence number list, if the next frame sequence number is 1 greater than the previous frame sequence number, the continuous reception length is incremented by 1, and the process continues to check the next frame. If the next frame sequence number is not 1 greater than the previous frame sequence number, the current continuous reception length is reset to 1, and the process continues to check the next frame sequence number as the new starting point, until all frame sequence numbers in the sequence number list have been traversed. Get the maximum value of all consecutive received lengths within the preset statistics window, and use it as the maximum consecutive received length; The ratio between the maximum continuous reception length and the total number of probe signal frames in the sequence number list is used as the frame continuity index.

[0043] In this embodiment, the sequence number list is a sequence number list for the current mobile node. This sequence number list is obtained by sorting the frame sequence numbers of the probe signal frames received from the current mobile node in the order of reception time, within a preset statistical window, for each candidate node. In this embodiment, the continuous reception length refers to the number of frames in a continuously increasing sequence if two adjacent sequence numbers in the sequence number list are strictly increasing and the difference is 1.

[0044] In this embodiment, within a preset statistical window (e.g., 10 seconds), each time a candidate node successfully receives a probe signal frame, it extracts the frame sequence number from that frame and appends it to a temporary list in chronological order of reception. After the preset statistical window ends, this temporary list is designated as a sequence number list, which records the sequence numbers of all successfully received probe signal frames within the window. For example, the frame sequence numbers received within the preset statistical window are: [100, 101, 102, 104, 105, 106, 107, 109].

[0045] This embodiment starts traversing from the first element of the sequence number list (the starting frame sequence number) and initializes the current continuous length counter to 1 (indicating that the first frame itself is the starting point of the continuous segment). The traversal rules are as follows: Compare the sequence number of the current frame with the sequence number of the next frame. If the sequence number of the next frame is equal to the sequence number of the current frame plus 1, it means that the two frames are consecutive. Increment the current consecutive length by 1 and continue to check the next frame. If the sequence number of the next frame is not equal to the sequence number of the current frame plus 1 (i.e., a skip number appears), it indicates that the continuous segment is interrupted here. At this time, the current continuous length is recorded (as a candidate value), then the current continuous length is reset to 1, and the next frame is used as the starting point of the new continuous segment to continue traversing backward; Repeat the above process until all frames in the list have been traversed, resulting in multiple consecutive segments (multiple candidate values).

[0046] For example, taking the list [100,101,102,104,105,106,107,109] as an example: starting from 100, 101=100+1, the continuous length is 2; 102=101+1, the continuous length is 3; the next frame 104≠102+1, at this time the continuous segment is interrupted, the continuous length is recorded as 3, the current length is reset to 1, and the next frame (104) is taken as the starting point of the new continuous segment; 105=104+1, the continuous length is 2; 106=105+1, the continuous length is 3; 107=106+1, the continuous length is 4; the next frame 109≠107+1, at this time the continuous segment is interrupted, the continuous length is recorded as 4, the current length is reset to 1, and the next frame (109) is taken as the starting point of the new continuous segment; since 109 is the last one in the sequence number list, the continuous length is recorded as 1. At this time, the continuous segments recorded during the traversal include: 3, 4, 1.

[0047] In this embodiment, the maximum value among all acquired continuous segments is selected as the maximum continuous reception length. The total number of elements in the sequence number list is counted, which is the total number of probe signal frames received within the preset statistical window. The ratio of the maximum continuous reception length to the total number of probe signal frames received within the preset statistical window is used as the frame continuity index.

[0048] For example, in this example, the maximum continuous reception length is 4, and the total number of detection signal frames received within the preset statistical window is 8. At this time, the frame continuity index is 0.5.

[0049] Candidate nodes will report the calculated frame continuity index, their own node identity, signal strength value, signal-to-noise ratio, and other measured values ​​to the control node (e.g., the ground control center or the downhole area controller) via the downhole wired network.

[0050] As can be seen from the above, this embodiment measures the continuous connectivity of the link in the time dimension through the frame continuity index, which can reveal whether there are frequent interruptions or sudden packet loss in the channel, effectively supplementing the evaluation of the long-term behavior of the link; furthermore, this embodiment can avoid the misselection of unstable nodes as the main communication node through the frame continuity index, thereby improving the stability of link communication.

[0051] S104: Based on the node identity identifiers and corresponding measurement values ​​of each candidate node, and through spatial location prediction and group decision-making, determine the primary communication node and the backup communication node.

[0052] In one embodiment of this application, the primary communication node and backup communication nodes are determined based on the node identity identifiers and corresponding measurement values ​​of each candidate node, and through spatial location prediction and group decision-making, including: Obtain the spatial coordinates of each candidate node; Based on the location change trajectory of the mobile node within a preset time period and the movement speed of the mobile node, the spatial position of the mobile node at the next moment is predicted, and the predicted position coordinates are obtained. Determine the spatial distance between the spatial coordinates of each candidate node and the predicted coordinates; The length of the mining face is obtained. The mining face represents the mining operation area arranged along the coal seam in the mine. Its length is the straight-line distance between the fixed nodes at the beginning and end of the mining direction. The dimensional parameters are determined based on the length of the mining face and the total number of fixed nodes; For each candidate node, the distance factor is obtained based on the spatial distance between the scale parameter and the corresponding candidate node, using an exponential decay function. The exponential decay function is as follows: ,in, This represents the distance factor of the i-th candidate node. This represents the spatial distance between the i-th candidate node and its predicted location coordinates. Indicates the scale parameter; Using the node identity identifier of each candidate node as an index, the signal strength value, signal-to-noise ratio, frame continuity index and distance factor are combined to obtain the multi-dimensional feature vector corresponding to each candidate node; Based on the multi-dimensional feature vectors, and through the density peak clustering algorithm, the primary communication node and backup communication node are determined from the candidate nodes.

[0053] In this embodiment, a preset time period in the past is used as a reference time window for predicting the future location of the mobile node. Its length needs to be set according to the moving speed and trajectory change rate. If the mobile node moves quickly (e.g., an electric locomotive), the preset time period window can be set shorter (e.g., 3 seconds); if it is a walking miner, the preset time period window can be set longer (e.g., 8 seconds). In this embodiment, the preset time period window is set to 5 seconds.

[0054] In this embodiment, the distance factor represents a dimensionless quantity obtained after performing an exponential nonlinear transformation on the spatial distance, used to map distance information to an interval positively correlated with communication quality. This exponential nonlinear transformation matches the exponential attenuation law of wireless signals with distance in mine roadways, enabling a more accurate quantification of the attenuation effect of spatial distance on communication quality.

[0055] In this embodiment, the multi-dimensional feature vector is a four-dimensional feature vector composed of signal strength value, signal-to-noise ratio, frame continuity index and distance factor, indexed by the node identity of the candidate node, used to comprehensively characterize the suitability of the candidate node as the main communication node.

[0056] In this embodiment, after obtaining the signal strength, signal-to-noise ratio, and frame continuity index of each candidate node, the corresponding spatial coordinates are queried from a pre-set mine fixed node deployment database based on the node identification of each candidate node. This database is used to establish and store the mapping relationship between the node identification of each fixed node and its three-dimensional spatial coordinates in the Mine Geographic Information System (GIS). It can be entered during initialization and updated when the roadway is extended or the node is adjusted.

[0057] This embodiment obtains the position sequence of a mobile node over a preset time period (e.g., the past 5 seconds) using a mine locator (e.g., Ultra-Wide Band (UWB) or inertial navigation), and obtains the instantaneous velocity of the mobile node through position differential. A prediction time step is set according to preset communication handover requirements. This prediction time step is used to balance prediction accuracy and handover response speed, and can be determined or adjusted based on the average moving speed of the mobile node and the handover time between the primary and backup nodes. For example, this embodiment sets the preset time step to 2 seconds.

[0058] This embodiment determines the predicted position coordinates of the mobile node based on its current position coordinates, instantaneous velocity, and predicted time step, using a predicted position coordinate calculation formula. The predicted position coordinate calculation formula can be: ,in, This represents the predicted location coordinates of the moving node. This represents the current position coordinates of the mobile node. This represents the instantaneous velocity of the moving node, measured in meters per second. This represents the prediction time step, in seconds. In this embodiment, the mobile node maintains a constant instantaneous velocity magnitude and direction within the prediction time step.

[0059] In this embodiment, for each candidate node, the spatial distance between the candidate node and the moving node is determined based on the candidate node's spatial coordinates and predicted spatial coordinates. The spatial distance can be calculated as follows: ,in, This represents the spatial coordinates of the i-th candidate node.

[0060] In this embodiment, the length of the mining face and the total number of fixed nodes deployed within the mining face are obtained. Under the premise that the fixed nodes are uniformly deployed along the mining face, the ratio of the length of the mining face to the total number of fixed nodes within the mining face is used as the scale parameter. If the fixed nodes within the mining face are not uniformly deployed, the average distance between adjacent fixed nodes is used as the scale parameter. If no fixed nodes are deployed within the mining face, the average deployment distance of fixed nodes in the mine roadway is used as the scale parameter.

[0061] For each candidate node, the distance factor is obtained based on the spatial distance between the scale parameter and the corresponding candidate node, using an exponential decay function. The exponential decay function can be: , This represents the distance factor of the i-th candidate node. This represents the spatial distance between the i-th candidate node and its predicted location coordinates, in meters. The scale parameter, in meters, represents the factor that decays to approximately [value missing]. The distance value corresponding to the time.

[0062] In this embodiment, the exponential decay function is used to ensure that nodes with spatial distances smaller than the scale parameter obtain a larger distance factor, for example... When the value is 0, =1; The value is the scale parameter. hour, ≈0.368; if the spatial distance is much larger than the scale parameter, the distance factor approaches 0.

[0063] This embodiment normalizes the signal strength value and signal-to-noise ratio (SNR) to obtain normalized signal strength value and normalized SNR. Using the node identity identifier of the candidate node as an index, this embodiment combines the normalized signal strength value, normalized SNR, frame continuity index, and distance factor to form a four-dimensional feature vector: ,in, Let represent the four-dimensional feature vector of the i-th candidate node. This represents the normalized signal strength value. This represents the normalized signal-to-noise ratio. Represents the frame continuity index. Let represent the distance factor of the i-th candidate node.

[0064] In this embodiment, based on the four-dimensional feature vector obtained above, a density peak clustering algorithm is used to make group decisions to determine the primary communication node and the backup communication node from each candidate node.

[0065] As can be seen from the above, this embodiment predicts the future location of mobile nodes by their movement trends, and prioritizes the selection of nearby fixed nodes as the main communication nodes to avoid signal attenuation caused by nodes moving away, thus achieving a smooth transition of the communication link. This embodiment integrates signal strength, signal-to-noise ratio, link stability (frame continuity index), and spatial distance factor into a four-dimensional feature vector, which comprehensively reflects the communication quality of candidate nodes at the physical layer, link layer, and spatial geometry level, avoiding the one-sidedness of a single indicator. This embodiment also integrates time (frame continuity), space (distance factor), and quality (signal strength, signal-to-noise ratio) information, which can effectively cope with challenges such as rapid signal attenuation, strong interference, and node mobility in mine roadways, significantly reducing the probability of communication interruption and improving the quality of intelligent communication.

[0066] In one embodiment of this application, based on multi-dimensional feature vectors and using a density peak clustering algorithm, a primary communication node and a backup communication node are determined from each candidate node through group decision-making, including: Calculate the Euclidean distance between every two candidate nodes based on the multi-dimensional feature vectors. The local density of each candidate node is determined based on a preset cutoff distance. The local density of each candidate node is used to characterize the number of other candidate nodes contained in a spherical neighborhood centered on the candidate node and with the cutoff distance as the radius. The cutoff distance is a constant preset based on the distribution of all Euclidean distances. For each candidate node, calculate the minimum Euclidean distance between the candidate node and other candidate nodes with a local density higher than that candidate node; Candidate nodes that simultaneously meet the preset first condition are determined as primary communication nodes. The candidate node with the smallest Euclidean distance from the main communication node (excluding the main communication node) is determined as the backup communication node. The first pre-defined condition includes: The local density of this candidate node is higher than the local density of all other candidate nodes in its spherical neighborhood; The minimum Euclidean distance of the candidate node is greater than the preset distance threshold.

[0067] In this embodiment, other candidate nodes refer to the remaining unselected candidate nodes after the primary communication node and backup communication node have been determined through group decision-making.

[0068] In this embodiment, the truncation distance is used to define the neighborhood range of each candidate node. It determines the sensitivity of the local density calculation. The truncation distance is a pre-defined constant based on the distribution of Euclidean distances between all candidate nodes, typically taken as a certain percentile (e.g., 2%) of all distance values.

[0069] Local density represents the number of other candidate nodes contained within a spherical neighborhood centered on the node and with a cutoff distance as its radius. In this embodiment, a higher local density indicates that more nodes with similar communication quality characteristics are clustered around the node, meaning that the region is a "dense" region in the feature space.

[0070] The preset distance threshold is a preset parameter used to filter cluster centers. It can be determined based on the statistical distribution of the minimum distance of all candidate nodes. For example, it can be the mean of all minimum distances, or determined based on empirical values. For example, the preset distance threshold can be 0.5.

[0071] In this embodiment, the Euclidean distance between any two candidate nodes is determined based on the multi-dimensional feature vector (four-dimensional feature vector) corresponding to each candidate node and using the Euclidean distance calculation formula. The Euclidean distance calculation formula can be: ,in, Let represent the Euclidean distance between the i-th candidate node and the j-th candidate node. This represents the k-th eigenvector value of the i-th candidate node. This represents the k-th eigenvector value of the j-th candidate node.

[0072] Arrange all non-zero Euclidean distances from the acquired Euclidean distances in ascending order to obtain a distance list.

[0073] In this embodiment, the 2nd percentile is set as the cutoff distance based on experience. If the number of candidate nodes is small (e.g., less than 10), the percentile can be appropriately increased to 5% to ensure that there are enough candidate nodes in the neighborhood of each candidate node to determine the local density.

[0074] In this embodiment, for each candidate node i, the other candidate nodes j that satisfy the following conditions are counted. The number of nodes with a distance less than the cutoff distance is taken as the local density of the candidate node. In this embodiment, the local density is a non-negative integer, used to reflect the degree of clustering of the candidate node i in the feature space.

[0075] For each candidate node i, perform the following operation to determine the minimum Euclidean distance: If there exist other candidate nodes j whose local density is greater than that of candidate node i, then find all candidate nodes j that satisfy the condition, calculate the Euclidean distance between candidate node i and all candidate nodes j, and take the minimum value among them as the minimum Euclidean distance of candidate node i.

[0076] If there is no node j with a local density greater than candidate node i, then the maximum Euclidean distance between candidate node i and all other candidate nodes is taken as the minimum Euclidean distance of candidate node i.

[0077] This embodiment filters out nodes that simultaneously meet the following two conditions by traversing all candidate nodes: Condition A: The local density of candidate node i is higher than the local density of all other candidate nodes in its neighborhood. That is, the local density of candidate node i is greater than the local density of all candidate nodes whose distance from it is less than the cutoff distance, to ensure that candidate node i is the density peak point in the local region.

[0078] Condition B: The minimum Euclidean distance of the candidate node i is greater than the preset distance threshold to ensure that the candidate node i has sufficient distinguishability from other high-density regions.

[0079] In this embodiment, candidate nodes that satisfy the above two conditions (condition A and condition B) are used as cluster centers. If only one candidate node satisfies the conditions, that candidate node is determined as the primary communication node. If multiple candidate nodes satisfy the conditions, further selection can be made based on engineering experience. For example, the candidate node with the highest local density can be selected as the primary communication node, or the candidate node with the largest minimum Euclidean distance can be selected as the primary communication node. In this embodiment, the candidate node with the highest local density is preferred as the primary communication node, as the candidate node with the highest local density can represent the center of the densest region.

[0080] In this embodiment, after determining the primary communication node (e.g., node M), the node with the smallest Euclidean distance to the primary communication node M in the feature space is selected from the remaining candidate nodes as the backup communication node.

[0081] This embodiment records the node identity identifiers of the identified primary and backup communication nodes and sends notifications to mobile nodes and relevant fixed nodes to prepare for establishing communication links and monitoring tasks.

[0082] As can be seen from the above, this embodiment does not require manual setting of priorities or thresholds. Instead, it automatically discovers cluster centers with high local density and obvious distinguishability as the main communication nodes based on the distribution characteristics of the candidate nodes themselves, so as to better adapt to the dynamically changing communication environment downhole. This embodiment performs clustering in the feature space, integrating information from multiple dimensions such as signal strength, signal-to-noise ratio, link stability, and spatial distance, avoiding the misselection of the main communication node caused by a single indicator (e.g., relying solely on signal strength). This embodiment also effectively eliminates abnormal candidate nodes caused by transient interference by utilizing the density peak clustering algorithm's insensitivity to noise points and outliers, thereby improving the reliability of the main communication node selection.

[0083] S105: Establish a communication link between the mobile node and the primary communication node, control the backup communication node, monitor the communication quality of the communication link, and if the communication link fails, switch to the backup communication node, update the backup communication node to the primary communication node, and broadcast a switchover notification message.

[0084] In this embodiment, after determining the primary communication node, the mobile node needs to establish a formal communication link with this node to transmit business information such as production control data, ensuring the real-time performance and reliability of mine operations. Simultaneously, the control node controls the backup communication node to enter a listening state, continuously monitoring the communication quality of this link.

[0085] In this embodiment, the handover notification message is used to notify other candidate nodes and mobile nodes to designate the backup communication node as the new primary communication node. The communication quality of the communication link includes packet forwarding quality, acknowledgment frame verification quality, and signal-to-noise ratio quality.

[0086] In this embodiment, the node identity identifier of the master communication node is sent to the mobile node, enabling the mobile node to initiate a wireless connection establishment process with the master communication node (e.g., association authentication, key negotiation). After the communication link is established, the mobile node begins to send production control data packets (e.g., coal mining machine advance command, gas concentration query) through the link. The master communication node is responsible for receiving the data packets and uploading them to the control node via the wired bus, while simultaneously replying to the mobile node with an acknowledgment frame.

[0087] In this embodiment, the control node sends the node identity identifier of the backup communication node to the mobile node and controls the backup communication node to start a monitoring task. The backup communication node switches to listening mode, and its wireless receiver maintains the same channel and parameter configuration as the mobile node, enabling it to receive data packets sent by the mobile node and acknowledgment frames replied by the primary communication node. Simultaneously, the backup communication node monitors the forwarding behavior of the primary communication node via a wired bus.

[0088] In this embodiment, the backup communication node monitors the communication quality of the communication link. If the communication quality is determined to be faulty, the handover process is immediately initiated. The backup communication node activates its wired forwarding function and acknowledgment frame reply function, and begins to work as the new primary communication node. The backup communication node sends a handover indication frame to the mobile node (or uses the acknowledgment frame of the next data packet to carry the handover flag), informing the mobile node that the target for subsequent data transmission has switched to the backup communication node.

[0089] In this embodiment, the backup communication node has maintained a wireless link connection (synchronous reception) with the mobile node during the monitoring period. When switching, it activates its own wired forwarding and acknowledgment frame reply functions to achieve seamless takeover without having to re-establish the connection between the mobile node and the backup communication node.

[0090] In this embodiment, the new primary communication node (original backup communication node) broadcasts a handover notification message via a wired bus or wireless means. The notification message includes the node identification identifier of the original primary communication node, the node identification identifier of the new primary communication node, and a handover timestamp. This notification message is used for: Notify other candidate nodes to update neighbor information and be aware that the current primary communication node has changed, so as to avoid other candidate nodes mistakenly believing that the original primary communication node is still the primary communication node and causing conflicts.

[0091] The mobile node is notified to confirm the handover is complete, and the mobile node will then send subsequent data packets to the new primary communication node.

[0092] By recording network topology changes through control nodes, it is easier to conduct operation and maintenance monitoring.

[0093] In one embodiment of this application, the communication quality of the communication link is determined by the backup communication node in the following manner: Regarding forwarding quality, within a preset first continuous data transmission period, it is detected whether the main communication node forwards the production control data packets it receives via the wired bus; if no forwarding action is detected within the preset first continuous data transmission period, the forwarding quality is determined to be abnormal. To verify the quality of the confirmation frame, within a preset second continuous data transmission period, a wireless interaction confirmation frame between the mobile node and the main communication node is acquired; if the preset second condition is met, the quality of the confirmation frame verification is determined to be abnormal. Regarding signal-to-noise ratio (SNR) quality, within a preset third consecutive data transmission period, the instantaneous SNR sequence of the wireless link between itself and the mobile node is obtained, and the average SNR within the preset third consecutive data transmission period is calculated. If the average signal-to-noise ratio is lower than a preset first signal-to-noise ratio threshold, and the number of times the instantaneous signal-to-noise ratio is lower than a preset second signal-to-noise ratio threshold exceeds a preset number threshold, then the signal-to-noise ratio quality is determined to be abnormal; wherein, the preset first signal-to-noise ratio threshold is greater than the preset second signal-to-noise ratio threshold; If a communication link fails, the system switches to a backup communication node, including: If at least one of the forwarding quality, acknowledgment frame quality, or signal-to-noise ratio quality is determined to be abnormal, the communication link is determined to be faulty, and the backup communication node is made into the new primary communication node. The second pre-defined condition includes any one of the following: The backup communication node receives the production control data packet sent by the mobile node, but does not detect the acknowledgment frame replied by the primary communication node within the acknowledgment period corresponding to the data packet. During the preset second continuous data transmission cycle, the backup communication node did not receive the production control data packet sent by the mobile node, but detected the main communication node sending an acknowledgment frame during the acknowledgment cycle corresponding to the data packet.

[0094] In this embodiment, the backup communication node can be manually checked for normal operation within a preset period.

[0095] In this embodiment, the preset first continuous data transmission period refers to a time window used to determine forwarding quality anomalies. The length of this time window can be set according to the transmission frequency of production control data packets and the equipment's tolerance for faults. If the data packet transmission interval is 100ms (i.e., 10 packets per second), the preset first continuous data transmission period can be set to 1 second (corresponding to 10 data packets). If no forwarding action is detected within this time window, the forwarding function can be considered to have failed.

[0096] In this embodiment, the preset second continuous data transmission period refers to the time window used to determine the quality of the acknowledgment frame verification. The length of this time window needs to cover a sufficient number of acknowledgment interactions to avoid misjudgment due to momentary packet loss. For example, this time window can be the transmission period of 5 consecutive data packets. If the data packet interval is 100ms, then the window is approximately 500ms.

[0097] In this embodiment, the preset third continuous data transmission period refers to the time window used to determine signal-to-noise ratio (SNR) quality anomalies. This time window needs to be long enough to obtain stable SNR statistics, but it cannot be too long to avoid delaying fault detection. For example, this time window can be 2 seconds (corresponding to 20 data packet transmission periods).

[0098] In this embodiment, a first signal-to-noise ratio (SNR) threshold is preset as a threshold for evaluating whether the average SNR is too low. Based on mine testing experience, when the SNR is below 15dB, the bit error rate increases significantly, affecting communication quality. In this embodiment, the first SNR threshold can be set to 15dB. A second SNR threshold is preset as a threshold for evaluating whether the instantaneous SNR is severely degraded. When the SNR is below 8dB, the link is highly susceptible to interruption. In this embodiment, the second SNR threshold can be set to 8dB. The first SNR threshold is greater than the second SNR threshold to ensure a comprehensive evaluation from both average and instantaneous dimensions.

[0099] Specifically, the communication quality of the communication link is determined by the backup communication node in the following ways: Regarding forwarding quality, in this embodiment, the backup communication node continuously monitors the data stream on the bus through a wired network interface (e.g., an industrial Ethernet port). The backup communication node can identify the wired MAC address or IP address of the primary communication node and can identify data packets forwarded by the primary communication node.

[0100] In this embodiment, the preset first continuous data transmission period is set to 1 second (if the data packet interval is 100ms, it corresponds to 10 consecutive data packet transmission opportunities). Within each 1-second time window, the backup communication node checks whether there is at least one forwarding action from the primary communication node (i.e., the primary node successfully sends the data packet received from the mobile node onto the bus). If no forwarded data packets are detected within the entire time window, the forwarding quality is considered abnormal. If forwarded data packets are detected within the entire time window, the forwarding quality is considered normal.

[0101] Regarding frame verification quality, in this embodiment, the wireless receiver of the backup communication node operates on the same channel as the mobile node and the main communication node, enabling it to simultaneously receive data packets sent by the mobile node and acknowledgment frames replied by the main node.

[0102] In this embodiment, the preset second continuous data transmission period is set to the transmission period of 5 consecutive data packets (e.g., an interval of 5 data packets, approximately 500ms). Within this time window, the backup communication node continuously monitors the wireless interaction confirmation frames and data packet transmission behavior between the mobile node and the primary communication node, and checks whether any of the following conditions are met: Scenario A: The backup communication node successfully receives the production control data packet sent by the mobile node, but no acknowledgment frame is detected from the primary communication node within the corresponding acknowledgment period of the data packet. This indicates that the primary communication node may have failed to process the data packet correctly or that there is a downlink failure. This acknowledgment period can be set according to the real-time latency requirements of the mine wireless communication protocol. For example, it can be set to 10~20ms; in this embodiment, it is set to 10ms.

[0103] Scenario B: During the preset second continuous data transmission period, the backup communication node did not receive the production control data packet sent by the mobile node, but detected the primary communication node sending an acknowledgment frame during the acknowledgment period corresponding to the data packet.

[0104] If any of the above conditions occur within this time window, the confirmation frame verification quality is deemed abnormal. Otherwise, the confirmation frame interaction is considered normal.

[0105] This embodiment verifies the accuracy of the monitoring results (Scenario A and Scenario B) of the backup communication node using the following methods: For scenario A, the backup communication node sends a first message to the primary communication node. If the primary communication node replies with the first message, it is determined that the primary communication node is not faulty; if the primary communication node does not reply with the first message, it is determined that the verification quality of the confirmation frame is abnormal.

[0106] For scenario B, a second message is sent from the backup communication node to the mobile node. If the mobile node does not reply with the second message to the backup communication node, it is determined that the mobile node has not sent the production control data packet. If an acknowledgment frame is detected from the primary communication node, it is determined that the acknowledgment frame verification quality is abnormal.

[0107] Regarding signal-to-noise ratio (SNR) quality, in this embodiment, the backup communication node utilizes its wireless link with the mobile node to measure the SNR of each frame of signal received from the mobile node within a preset third continuous data transmission period (e.g., 2 seconds), obtaining an instantaneous SNR sequence. The arithmetic mean of the instantaneous SNR sequences is then calculated to obtain the average SNR. The number of times the instantaneous SNR sequence falls below a preset second SNR threshold (8dB) is counted.

[0108] If the average signal-to-noise ratio (SNR) is lower than a preset first SNR threshold (15dB), and the number of times the instantaneous SNR sequence is lower than a preset second SNR threshold (8dB) exceeds a preset number threshold (3 times), then the SNR quality is determined to be abnormal; otherwise, the SNR quality is determined to be normal. This preset number threshold can be determined based on the frequency of data packet transmission.

[0109] The backup communication node combines the judgment results of the above three dimensions (forwarding quality, acknowledgment frame verification quality, and signal-to-noise ratio quality). If at least one of them is judged as abnormal, the backup communication node considers the primary communication link to have failed and immediately initiates the handover process. The backup communication node activates its own wired forwarding and acknowledgment frame reply functions, switching to the new primary communication node. Simultaneously, it broadcasts a handover notification message wirelessly or via wired means to inform the mobile node and other candidate nodes of the change in the "primary communication node." The control node controls the backup communication node to report the communication quality judgment results (including anomalies, handover timestamps, etc.) via wired bus or wireless means. The control node records the network status, updates the node information list, and uses this information for subsequent operational decisions and network status monitoring. Based on this result, it also autonomously decides whether to trigger a handover. After receiving the notification message, the mobile node sends subsequent data packets to the new primary communication node.

[0110] As can be seen from the above, this embodiment comprehensively evaluates the health status of the communication link from three dimensions: forwarding quality, acknowledgment frame verification quality, and signal-to-noise ratio quality. It covers a variety of fault scenarios such as equipment failure, uplink network outage, wireless interference, and channel fading, avoiding misjudgment based on a single indicator. This embodiment, through real-time monitoring of the communication link by the backup communication node, can detect anomalies and trigger switching at the first moment when the primary node fails or the link deteriorates, greatly shortening the fault detection time and ensuring that the backup node takes over immediately after a fault is detected, achieving seamless switching at the link layer.

[0111] Based on the same principle as the mine communication method provided in the embodiments of this application, the embodiments of this application also provide a mine communication device, such as... Figure 2 As shown, the mine communication device 20 may specifically include: an identification acquisition module 21, a signal broadcasting module 22, a target measurement module 23, a communication node determination module 24, and a communication node switching module 25.

[0112] Among them, the identifier acquisition module 21 is used to acquire the node identity identifier of each fixed node in the mine; Signal broadcasting module 22 is used to broadcast detection signal frames through the mobile node; the detection signal frame includes the mobile node's identification and frame sequence number; The target measurement module 23 is used to take each fixed node that receives the detection signal frame as a candidate node, and perform target operation to obtain the measurement value corresponding to each candidate node. The communication node determination module 24 is used to determine the primary communication node and backup communication node based on the node identity identifier and corresponding measurement value of each candidate node, and through spatial location prediction and group decision-making. The communication node switching module 25 is used to establish a communication link between the mobile node and the primary communication node, control the backup communication node, monitor the communication quality of the communication link, and if the communication link fails, switch to the backup communication node, update the backup communication node to the primary communication node, and broadcast a switching notification message. The switching notification message is used to notify other candidate nodes and mobile nodes, and the backup communication node is updated to the primary communication node. Specifically, during the execution of the target operation, the target measurement module 23 is used for: Obtain the corresponding signal strength value reported by each candidate node; Obtain the signal-to-noise ratio (SNR) reported by each candidate node. The SNR is the SNR of each candidate node when it receives the probe signal frame. The detection signal frames are parsed to obtain the frame sequence number. The frame continuity index within a preset statistical window is determined based on the frame sequence number. The frame continuity index is used to characterize the ratio between the maximum continuous reception length of the frame sequence number within the preset statistical window and the total number of detection signal frames received within the preset statistical window.

[0113] In one embodiment of this application, when determining the primary communication node and backup communication nodes based on the node identity identifiers and corresponding measurement values ​​of each candidate node, and through spatial location prediction and group decision-making, the communication node determination module 24 is specifically used for: Obtain the spatial coordinates of each candidate node; Based on the location change trajectory of the mobile node within a preset time period and the movement speed of the mobile node, the spatial position of the mobile node at the next moment is predicted, and the predicted position coordinates are obtained. Determine the spatial distance between the spatial coordinates of each candidate node and the predicted coordinates; The spatial distances are processed to obtain the corresponding distance factors; Using the node identity identifier of each candidate node as an index, the signal strength value, signal-to-noise ratio, frame continuity index and distance factor are combined to obtain the multi-dimensional feature vector corresponding to each candidate node; Based on the multi-dimensional feature vectors, and through the density peak clustering algorithm, the primary communication node and backup communication node are determined from the candidate nodes.

[0114] In one embodiment of this application, when determining the primary communication node and backup communication nodes from among the candidate nodes based on multi-dimensional feature vectors and using a density peak clustering algorithm for group decision-making, the communication node determination module 24 is specifically used for: Calculate the Euclidean distance between every two candidate nodes based on the multi-dimensional feature vectors. The local density of each candidate node is determined based on a preset cutoff distance. The local density of each candidate node is used to characterize the number of other candidate nodes contained in a spherical neighborhood centered on the candidate node and with the cutoff distance as the radius. The cutoff distance is a constant preset based on the distribution of all Euclidean distances. For each candidate node, calculate the minimum Euclidean distance between the candidate node and other candidate nodes with a local density higher than that candidate node; Candidate nodes that simultaneously meet the preset first condition are determined as primary communication nodes. The candidate node with the smallest Euclidean distance from the main communication node (excluding the main communication node) is determined as the backup communication node. The first pre-defined condition includes: The local density of this candidate node is higher than the local density of all other candidate nodes in its spherical neighborhood; The minimum Euclidean distance of the candidate node is greater than the preset distance threshold.

[0115] In one embodiment of this application, when determining the frame continuity index within a preset statistical window based on the frame sequence number, the target measurement module 23 is specifically used for: Obtain the sequence number list reported by each candidate node. The sequence number list is obtained by sorting the frame sequence numbers of the received detection signal frames of each candidate node in the order of reception time within the preset statistical window. Starting from the first frame sequence number in the sequence number list, if the next frame sequence number is 1 greater than the previous frame sequence number, the continuous reception length is incremented by 1, and the process continues to check the next frame. If the next frame sequence number is not 1 greater than the previous frame sequence number, the current continuous reception length is reset to 1, and the process continues to check the next frame sequence number as the new starting point, until all frame sequence numbers in the sequence number list have been traversed. Get the maximum value of all consecutive received lengths within the preset statistics window, and use it as the maximum consecutive received length; The ratio between the maximum continuous reception length and the total number of probe signal frames in the sequence number list is used as the frame continuity index.

[0116] In one embodiment of this application, when determining the signal-to-noise ratio of each candidate node, the target measurement module 23 is specifically used for: A known training sequence of a preset length is embedded in the probe signal frame; the known training sequence is a pseudo-random binary sequence, and the position and length of the known training sequence in the probe signal frame are fixed in advance; The received training sequence is extracted from the probe signal frame. The received training sequence is obtained after the known training sequence has been transmitted wirelessly. Obtain the reference training sequence corresponding to the candidate node; Based on the received training sequence and the reference training sequence, and through sliding correlation operation, the correlation function corresponding to the candidate node is obtained; The maximum value of the correlation function is taken as the signal correlation peak value corresponding to the candidate node; The average amplitude of the correlation function at time delay points other than the preset interval on the time delay axis is used as the noise basis estimate for the candidate node. The signal-to-noise ratio (SNR) of the candidate node when receiving probe signal frames is determined based on the signal correlation peak value and the noise floor estimate.

[0117] In one embodiment of this application, the communication quality of the communication link includes packet forwarding quality, acknowledgment frame verification quality, and signal-to-noise ratio quality; when determining the communication quality of the communication link, the communication node switching module 25 is specifically used for: Regarding forwarding quality, within a preset first continuous data transmission period, it is detected whether the main communication node forwards the production control data packets it receives via the wired bus; if no forwarding action is detected within the preset first continuous data transmission period, the forwarding quality is determined to be abnormal. To verify the quality of the confirmation frame, within a preset second continuous data transmission period, a wireless interaction confirmation frame between the mobile node and the main communication node is acquired; if the preset second condition is met, the quality of the confirmation frame verification is determined to be abnormal. Regarding signal-to-noise ratio (SNR) quality, within a preset third consecutive data transmission period, the instantaneous SNR sequence of the wireless link between itself and the mobile node is obtained, and the average SNR within the preset third consecutive data transmission period is calculated. If the average signal-to-noise ratio is lower than a preset first signal-to-noise ratio threshold, and the number of times the instantaneous signal-to-noise ratio is lower than a preset second signal-to-noise ratio threshold exceeds a preset number threshold, then the signal-to-noise ratio quality is determined to be abnormal; wherein, the preset first signal-to-noise ratio threshold is greater than the preset second signal-to-noise ratio threshold; If a communication link fails, the system switches to a backup communication node, including: If at least one of the forwarding quality, acknowledgment frame quality, or signal-to-noise ratio quality is determined to be abnormal, the communication link is determined to be faulty, and the backup communication node is made into the new primary communication node. The second pre-defined condition includes any one of the following: The backup communication node receives the production control data packet sent by the mobile node, but does not detect the acknowledgment frame replied by the primary communication node within the acknowledgment period corresponding to the data packet. During the preset second continuous data transmission cycle, the backup communication node did not receive the production control data packet sent by the mobile node, but detected the main communication node sending an acknowledgment frame during the acknowledgment cycle corresponding to the data packet.

[0118] In one embodiment of this application, when processing the spatial distances to obtain the corresponding distance factors, the communication node determination module 24 is specifically used for: The length of the mining face is obtained. The mining face represents the mining operation area arranged along the coal seam in the mine. Its length is the straight-line distance between the fixed nodes at the beginning and end of the mining direction. The dimensional parameters are determined based on the length of the mining face and the total number of fixed nodes; For each candidate node, the distance factor is obtained based on the spatial distance between the scale parameter and the corresponding candidate node, using an exponential decay function. The exponential decay function is as follows: ,in, This represents the distance factor of the i-th candidate node. This represents the spatial distance between the i-th candidate node and its predicted location coordinates. Indicates the scale parameter.

[0119] The apparatus in this application embodiment can execute the method provided in this application embodiment, and the implementation principle is similar. The actions performed by each module in the apparatus of each embodiment of this application correspond to the steps in the method of each embodiment of this application. For detailed functional descriptions of each module of the apparatus, please refer to the descriptions in the corresponding methods shown above, which will not be repeated here.

[0120] Figure 3A schematic diagram of the structure of an electronic device to which this application embodiment applies is shown, such as... Figure 3 As shown, the electronic device can be used to implement the methods provided in any embodiment of this application.

[0121] like Figure 3 As shown, the electronic device 300 can be the aforementioned control node. The electronic device 300 mainly includes at least one processor 301. Figure 3 The diagram shows components such as a memory 302, a communication module 303, and an input / output interface 304. Optionally, these components can be connected and communicate with each other via a bus 305. It should be noted that... Figure 3 The structure of the electronic device 300 shown is merely illustrative and does not constitute a limitation on the electronic devices to which the methods provided in the embodiments of this application are applicable.

[0122] The memory 302 can be used to store operating systems and applications, etc. The applications may include computer programs that implement the methods shown in the embodiments of this application when invoked by the processor 301, and may also include programs for implementing other functions or services. The memory 302 may be ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices that can store information and computer programs, or it may be EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disk storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0123] Processor 301 is connected to memory 302 via bus 305 and implements corresponding functions by calling the application programs stored in memory 302. Processor 301 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0124] Electronic device 300 can connect to a network via communication module 303 (which may include, but is not limited to, components such as a network interface) to communicate with other devices (such as user terminals or servers) through the network and achieve data interaction, such as sending data to or receiving data from other devices. Communication module 303 may include wired network interfaces and / or wireless network interfaces, meaning the communication module may include at least one of wired or wireless communication modules.

[0125] The electronic device 300 can connect to necessary input / output devices, such as a keyboard and display device, via the input / output interface 304. The electronic device 300 itself may have a display device, and other display devices can also be connected externally via the interface 304. Optionally, a storage device, such as a hard drive, can also be connected via the interface 304 to store data from the electronic device 300, read data from the storage device, or store data from the storage device in the memory 302. It is understood that the input / output interface 304 can be a wired interface or a wireless interface. Depending on the actual application scenario, the device connected to the input / output interface 304 can be a component of the electronic device 300 or an external device connected to the electronic device 300 when needed.

[0126] The bus 305 used to connect the components may include a path for transmitting information between the components. The bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Depending on its function, the bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0127] Optionally, for the solution provided in the embodiments of this application, the memory 302 can be used to store a computer program that executes the solution of this application, and the processor 301 runs the computer program. When the processor 301 runs the computer program, it implements the operation of the method or apparatus provided in the embodiments of this application.

[0128] Based on the same principle as the method provided in the embodiments of this application, the embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the corresponding content of the aforementioned method embodiments.

[0129] It should be noted that the terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the figures or text.

[0130] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0131] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0132] The above are only optional implementation methods for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. A mine communication method, characterized by, include: Obtain the node identity identifiers of each fixed node within the mine; Probe signal frames are broadcast via mobile nodes; The detection signal frame includes the identity identifier of the mobile node and the frame sequence number; Each fixed node that receives the detection signal frame is taken as a candidate node, and the target operation is performed to obtain the measurement value corresponding to each candidate node. Based on the node identity identifiers and corresponding measurement values ​​of each candidate node, and through spatial location prediction and group decision-making, the primary communication node and backup communication node are determined. A communication link is established between the mobile node and the primary communication node, and the backup communication node is controlled. The communication quality of the communication link is monitored. If the communication link fails, the system switches to the backup communication node, updates the backup communication node to the primary communication node, and broadcasts a switching notification message. The switching notification message is used to notify other candidate nodes and the mobile node, and the backup communication node is updated to the primary communication node. The target operation includes: Obtain the corresponding signal strength value reported by each candidate node; Obtain the signal-to-noise ratio reported by each candidate node, where the signal-to-noise ratio is the signal-to-noise ratio when each candidate node receives the probe signal frame; The detection signal frame is parsed to obtain the frame sequence number. The frame continuity index within a preset statistical window is determined based on the frame sequence number. The frame continuity index is used to characterize the ratio between the maximum continuous reception length of the frame sequence number within the preset statistical window and the total number of detection signal frames received within the preset statistical window. The step of determining the primary and backup communication nodes based on the node identity identifiers and corresponding measurement values ​​of each candidate node, and through spatial location prediction and group decision-making, includes: Obtain the spatial coordinates of each candidate node; Based on the position change trajectory of the mobile node within a preset time period and the movement speed of the mobile node, the spatial position of the mobile node at the next moment is predicted to obtain the predicted position coordinates. Determine the spatial distance between the spatial coordinates of each candidate node and the predicted coordinates; The length of the mining face is obtained. The mining face represents the mining operation area arranged along the coal seam in the mine. Its length is the straight-line distance between the fixed nodes at the beginning and end of the mining direction. The dimensional parameters are determined based on the length of the mining face and the total number of fixed nodes; For each candidate node, a distance factor is obtained based on the spatial distance between the scale parameter and the corresponding candidate node, using an exponential decay function. The exponential decay function is: ,in, This represents the distance factor of the i-th candidate node. This represents the spatial distance between the i-th candidate node and the predicted location coordinates. Indicates the scale parameter; The signal strength value and the signal-to-noise ratio are normalized to obtain the normalized signal strength value and the normalized signal-to-noise ratio; Using the node identity identifier of each candidate node as an index, the normalized signal strength value, the normalized signal-to-noise ratio, the frame continuity index, and the distance factor are combined to obtain the multi-dimensional feature vector corresponding to each candidate node. Based on the multi-dimensional feature vectors, and through a density peak clustering algorithm, the primary communication node and the backup communication node are determined from the candidate nodes.

2. The method as described in claim 1, characterized in that, The step of determining the primary communication node and the backup communication node from the candidate nodes based on the multi-dimensional feature vectors and using a density peak clustering algorithm for group decision-making includes: Based on the multi-dimensional feature vectors described above, calculate the Euclidean distance between every two candidate nodes; The local density of each candidate node is determined according to a preset cutoff distance; the local density of each candidate node is used to characterize the number of other candidate nodes contained in a spherical neighborhood centered on the candidate node and with the cutoff distance as the radius, the cutoff distance being a constant preset according to the distribution of all Euclidean distances; For each candidate node, calculate the minimum Euclidean distance between the candidate node and other candidate nodes with a local density higher than that candidate node; Candidate nodes that simultaneously meet the preset first condition are determined as primary communication nodes. The candidate node with the smallest Euclidean distance to the main communication node (excluding the main communication node) is determined as the backup communication node. The preset first condition includes: The local density of this candidate node is higher than the local density of all other candidate nodes within its spherical neighborhood; The minimum Euclidean distance of the candidate node is greater than the preset distance threshold.

3. The method as described in claim 2, characterized in that, The step of determining the frame continuity index within a preset statistical window based on the frame sequence number includes: Obtain the sequence number list reported by each candidate node. The sequence number list is obtained by sorting the frame sequence numbers of the received detection signal frames by each candidate node in the order of reception time within a preset statistical window. Starting from the first frame sequence number in the sequence number list, if the next frame sequence number is 1 greater than the previous frame sequence number, the continuous reception length is incremented by 1, and the process continues to check the next frame. If the next frame sequence number is not 1 greater than the previous frame sequence number, the current continuous reception length is reset to 1, and the process continues to check the next frame sequence number as the new starting point, until all frame sequence numbers in the sequence number list have been traversed. Obtain the maximum value of all consecutive received lengths within the preset statistical window, and use it as the maximum consecutive received length; The ratio between the maximum continuous reception length and the total number of probe signal frames in the sequence number list is used as the frame continuity index.

4. The method of claim 1, wherein, The signal-to-noise ratio of each candidate node is determined in the following way: A known training sequence of a preset length is embedded in the detection signal frame; the known training sequence is a pseudo-random binary sequence, and the position and length of the known training sequence in the detection signal frame are fixed in advance; The received training sequence is extracted from the probe signal frame, wherein the received training sequence is obtained after the known training sequence is transmitted wirelessly. Obtain the reference training sequence corresponding to the candidate node; Based on the received training sequence and the reference training sequence, and through sliding correlation operation, the correlation function corresponding to the candidate node is obtained; The maximum value of the correlation function is taken as the signal correlation peak value corresponding to the candidate node; The average amplitude of the correlation function at time delay points other than the preset interval on the time delay axis is used as the noise basis estimate for the candidate node. The signal-to-noise ratio (SNR) of the candidate node when receiving the probe signal frame is determined based on the signal correlation peak value and the noise floor estimate.

5. The method of claim 4, wherein, The communication quality of the communication link includes packet forwarding quality, acknowledgment frame verification quality, and signal-to-noise ratio quality. The communication quality of the communication link is determined by the backup communication node in the following way: Regarding forwarding quality, within a preset first continuous data transmission period, it is detected whether the main communication node forwards the production control data packets it receives via the wired bus; if no forwarding action is detected within the preset first continuous data transmission period, the forwarding quality is determined to be abnormal. To verify the quality of the confirmation frame, within a preset second continuous data transmission period, a wireless interaction confirmation frame between the mobile node and the main communication node is acquired; if a preset second condition is met, the verification quality of the confirmation frame is determined to be abnormal. Regarding signal-to-noise ratio (SNR) quality, within a preset third consecutive data transmission period, the instantaneous SNR sequence of the wireless link between itself and the mobile node is obtained, and the average SNR within the preset third consecutive data transmission period is calculated. If the average signal-to-noise ratio is lower than a preset first signal-to-noise ratio threshold, and the number of times the instantaneous signal-to-noise ratio is lower than a preset second signal-to-noise ratio threshold exceeds a preset number threshold, then the signal-to-noise ratio quality is determined to be abnormal; wherein, the preset first signal-to-noise ratio threshold is greater than the preset second signal-to-noise ratio threshold; If the communication link fails, the system switches to the backup communication node, including: If at least one of the forwarding quality, the acknowledgment frame verification quality, or the signal-to-noise ratio quality is determined to be abnormal, then the communication link is determined to have failed, and the backup communication node is made into the new primary communication node. The preset second condition includes any one of the following: The backup communication node receives the production control data packet sent by the mobile node, but does not detect the confirmation frame replied by the main communication node within the confirmation period corresponding to the data packet; During the preset second continuous data transmission period, the backup communication node did not receive the production control data packet sent by the mobile node, but detected that the main communication node sent an acknowledgment frame during the acknowledgment period corresponding to the data packet.

6. A mine communication device according to any one of claims 1-5, characterized in that, include: The identifier acquisition module is used to acquire the node identity identifiers of each fixed node within the mine. The signal broadcasting module is used to broadcast detection signal frames via mobile nodes; The detection signal frame includes the identity identifier of the mobile node and the frame sequence number; The target measurement module is used to take each fixed node that receives the detection signal frame as a candidate node, and perform target operation to obtain the measurement value corresponding to each candidate node. The communication node determination module is used to determine the primary communication node and backup communication nodes based on the node identity identifier and corresponding measurement value of each candidate node, and through spatial location prediction and group decision-making. The communication node switching module is used to establish a communication link between the mobile node and the primary communication node, control the backup communication node, monitor the communication quality of the communication link, and if the communication link fails, switch to the backup communication node, update the backup communication node to the primary communication node, and broadcast a switching notification message. The switching notification message is used to notify other candidate nodes and the mobile node, and the backup communication node is updated to the primary communication node. Specifically, when performing the target operation, the target measurement module is used for: Obtain the corresponding signal strength value reported by each candidate node; Obtain the signal-to-noise ratio reported by each candidate node, where the signal-to-noise ratio is the signal-to-noise ratio when each candidate node receives the probe signal frame; The detection signal frame is parsed to obtain the frame sequence number. The frame continuity index within a preset statistical window is determined based on the frame sequence number. The frame continuity index is used to characterize the ratio between the maximum continuous reception length of the frame sequence number within the preset statistical window and the total number of detection signal frames received within the preset statistical window.

7. An electronic device, comprising: The electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the mine communication method according to any one of claims 1 to 5 when running the computer program.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the mine communication method according to any one of claims 1 to 5.

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