Electronic detonator initiation coordination control method and system based on satellite time service

Abstract

The application discloses a satellite time service based electronic detonator initiation coordination control method and system, and belongs to the technical field of electronic detonator initiation control. The method comprises the following steps: an electronic detonator initiation control host machine acquires a standard time signal broadcast by a time service satellite in real time, and calibrates a local clock of the electronic detonator initiation control host machine according to the standard time signal; a plurality of electronic detonator initiation control slave machines receive a preset initiation control instruction sent by the electronic detonator initiation control host machine to execute an execution start time; the plurality of electronic detonator initiation control slave machines acquire the standard time signal broadcast by the time service satellite in real time, and calibrate local clocks of the electronic detonator initiation control slave machines according to the acquired standard time signal; and the plurality of electronic detonator initiation control slave machines start to execute the initiation control instruction synchronously according to the preset initiation control instruction execution start time. The initiation coordination control method is favorable for improving the synchronization precision of the plurality of electronic detonator initiation control slave machines when starting to execute the initiation control instruction synchronously.

Description

Technical Field

[0001] This invention relates to the field of electronic detonator initiation control technology, and in particular to a satellite-time-based coordinated control method and system for electronic detonator initiation. Background Technology

[0002] Currently, electronic detonators are widely used in tunnel excavation, hazard removal blasting, demolition blasting, ore-rock separation, and open-pit mine blasting. Furthermore, to meet the demands of large-scale blasting, before employing existing electronic detonator initiation control methods, multiple electronic detonators are networked, and a master unit in the electronic detonator initiation control system controls multiple slave units to achieve initiation control. However, existing electronic detonator initiation control methods struggle to accurately control the simultaneous initiation of multiple slave units and cannot accurately obtain the actual start times of the initiation control commands. This makes it impossible to assess the synchronization accuracy of the initiation control command execution and hinders fault diagnosis and performance optimization of the electronic detonator initiation control system. Therefore, there is an urgent need for an initiation control method that improves the synchronization accuracy of multiple slave units simultaneously initiating the initiation control. Summary of the Invention

[0003] The purpose of this invention is to overcome at least one deficiency of the prior art and provide a satellite-time-synchronized electronic detonator initiation coordination control method that is beneficial to improving the synchronization accuracy of multiple electronic detonator initiation control slaves to start initiation control synchronously. In addition, a satellite-time-synchronized electronic detonator initiation coordination control system is also provided.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: According to one aspect of this application, a satellite-timed coordinated control method for the initiation of an electronic detonator is provided, the method comprising: The electronic detonator detonation control host acquires the standard time signal broadcast by the time synchronization satellite in real time, and calibrates the local clock of the electronic detonator detonation control host according to the acquired standard time signal, so that the local clock of the electronic detonator detonation control host is consistent with the standard time of the time synchronization satellite; wherein, the electronic detonator detonation control host is communicatively connected to the time synchronization satellite. Multiple electronic detonator detonation control slave units receive preset detonation control commands from the electronic detonator detonation control master unit at the execution start time; Multiple electronic detonator detonation control slave units acquire standard time signals broadcast by a time synchronization satellite in real time, and calibrate their local clocks according to the acquired standard time signals, so that the local clocks of the electronic detonator detonation control slave units are consistent with the standard time of the time synchronization satellite; wherein, the multiple electronic detonator detonation control slave units are respectively communicatively connected to the electronic detonator detonation control master unit, the multiple electronic detonator detonation control slave units are respectively communicatively connected to the time synchronization satellite, and each electronic detonator detonation control slave unit is networked with multiple electronic detonators; After receiving the detonation control command execution signal from the electronic detonator detonation control host, and when the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units synchronously begin executing the detonation control command according to the preset detonation control command execution start time, so that the multiple electronic detonators connected in the network to the electronic detonator detonation control slave units detonate according to the detonation control command.

[0005] The beneficial effects of this invention are as follows: In this embodiment of the electronic detonator initiation coordination control method based on satellite time synchronization, the electronic detonator initiation control host acquires the standard time signal broadcast by the time synchronization satellite in real time, and calibrates the local clock of the electronic detonator initiation control host according to the acquired standard time signal, so that the local clock of the electronic detonator initiation control host is consistent with the standard time of the time synchronization satellite, thereby helping to ensure the accuracy of the local clock of the electronic detonator initiation control host; furthermore, by having multiple electronic detonator initiation control slave devices acquire the standard time signal broadcast by the time synchronization satellite in real time, and calibrate the local clock of the electronic detonator initiation control slave devices according to the acquired standard time signal, so that the local clock of the electronic detonator initiation control slave devices is consistent with the standard time of the time synchronization satellite. The timing is consistent, which helps ensure the accuracy of the local clocks of multiple electronic detonator detonation control slave units. Furthermore, the local clocks of both the electronic detonator detonation control master unit and the multiple electronic detonator detonation control slave units are verified using the standard time of a time synchronization satellite. This ensures the unification of the local clocks of the electronic detonator detonation control master unit and the multiple electronic detonator detonation control slave units. When the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units synchronously begin executing the detonation control command according to the preset start time. This improves the synchronization accuracy of the simultaneous execution of detonation control commands by multiple electronic detonator detonation control slave units.

[0006] According to one embodiment of this application, the satellite-time-based electronic detonator initiation coordination control method further includes: While the multiple electronic detonator detonation control slave devices begin executing the detonation control command, each of the multiple electronic detonator detonation control slave devices records its local clock to obtain the local clock data of the multiple electronic detonator detonation control slave devices at the time of starting to execute the detonation control command.

[0007] In this embodiment, while multiple electronic detonator detonation control slave units begin executing detonation control commands, their local clocks are recorded. This facilitates recording the local clocks of multiple electronic detonator detonation control slave units separately, enabling subsequent calculations based on these recorded local clocks to obtain the synchronization error of the multiple electronic detonator detonation control slave units executing detonation control commands. This helps identify anomalies or malfunctions caused by poor synchronization in the detonation execution of the electronic detonator detonation control slave units, thereby facilitating fault diagnosis and performance optimization of the detonation control system of the electronic detonator detonation control system.

[0008] According to one embodiment of this application, after obtaining the local clock data of the plurality of electronic detonator initiation control slave devices at the time of starting to execute the initiation control command, the satellite-time-synchronized electronic detonator initiation coordination control method further includes: Each of the multiple electronic detonator detonation control slave units feeds back its local clock data at the moment it begins executing the detonation control command to the electronic detonator detonation control master unit. The electronic detonator detonation control master unit then calculates the time deviation of each electronic detonator detonation control slave unit from the local clock data of the multiple electronic detonator detonation control slave units at the moment it begins executing the detonation control command.

[0009] In this embodiment, the time deviation of each electronic detonator detonation control slave device in executing the detonation control command is calculated to obtain the time deviation of each electronic detonator detonation control slave device in executing the detonation control command. This facilitates the detection of abnormalities or faults caused by poor synchronization of the electronic detonator detonation control slave device in executing the detonation, thereby helping to diagnose faults and optimize the performance of the detonation control of the electronic detonator detonation control system.

[0010] According to one embodiment of this application, after the plurality of electronic detonator detonation control slave devices receive the detonation control command execution signal issued by the electronic detonator detonation control master device, and when the time reaches the preset detonation control command execution start time, the plurality of electronic detonator detonation control slave devices synchronously begin executing the detonation control command according to the preset detonation control command execution start time, including: After receiving the detonation control command execution signal from the electronic detonator detonation control master unit, the multiple electronic detonator detonation control slave units detect the start-up enable signal for initiating the execution of the detonation control command through an enable signal detection module. When the enable signal detection module detects the start-up enable signal, it begins to execute the detonation control command. The enable signal detection module is located within the electronic detonator detonation control slave unit, and the start-up enable signal is output by the satellite timing module when the preset start time for the detonation control command execution is about to be reached. The satellite timing module is located within the electronic detonator detonation control slave unit.

[0011] In this embodiment, multiple electronic detonator detonation control slave units detect the start-up enable signal that initiates the execution of the detonation control command through an enable signal detection module. When the enable signal detection module detects the start-up enable signal, it begins to execute the detonation control command, providing a trigger signal for the start of the execution of the detonation control command, which is beneficial for accurately initiating the execution of the detonation control command.

[0012] According to one embodiment of this application, the satellite-time-based electronic detonator initiation coordination control method further includes, simultaneously with the commencement of the initiation control command: Record the time when the detonation control command begins to be executed, and obtain the start time of the execution of the detonation control command; After the multiple electronic detonators connected to the electronic detonator detonation control slave unit in a network detonate according to the detonation control command, the satellite-time-synchronized electronic detonator detonation coordination control method further includes: The start time of the obtained execution of the detonation control command is fed back, and the synchronization of the execution of the detonation control command by multiple electronic detonator detonation control slaves is evaluated based on the fed-back start time of the execution of the detonation control command.

[0013] In this embodiment, the synchronization of the execution of the detonation control command by multiple electronic detonator detonation control slaves is evaluated based on the start time of the feedback execution of the detonation control command. This facilitates the detection of abnormalities or malfunctions caused by poor synchronization of the electronic detonator detonation control slaves, thereby aiding in fault diagnosis and performance optimization of the detonation control of the electronic detonator detonation control system.

[0014] According to one embodiment of this application, the electronic detonator detonation control host and each of the electronic detonator detonation control slaves monitor the network status through a heartbeat mechanism. During the process of the electronic detonator detonation control host sending the detonation control command execution signal to the electronic detonator detonation control slave, the electronic detonator detonation control host adjusts the command sending decision according to the network status to ensure that the detonation control command execution signal is sent to each of the electronic detonator detonation control slaves in a timely manner.

[0015] In this embodiment, the electronic detonator detonation control host and each electronic detonator detonation control slave unit monitor the network status through a heartbeat mechanism. This facilitates real-time understanding of the network status between the host and each slave unit. Furthermore, the command transmission decision is adjusted according to the network status to ensure that the detonation control command execution signal is sent to each slave unit in a timely manner. This helps avoid the problem of multiple slave units being unable to execute detonation control commands synchronously when network congestion occurs, as the detonation control commands issued by the host cannot reach the slave units simultaneously. This overcomes the adverse effects of network congestion on the synchronous execution of detonation control commands by multiple slave units.

[0016] According to one embodiment of this application, the electronic detonator detonation control host adjusts the instruction sending decision based on the network status, including: During network idle periods, the electronic detonator detonation control host preloads the detonation control commands into the caches of multiple electronic detonator detonation control slave devices. After receiving the detonation control command execution signal from the electronic detonator detonation control master unit, and when the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units synchronously begin executing the detonation control command according to the preset detonation control command execution start time, including: Multiple electronic detonator detonation control slave devices detect the start-up enable signal that initiates the execution of the detonation control command. When the start-up enable signal is detected, the detonation control command that has been cached in the electronic detonator detonation control slave device is executed. The start-up enable signal is output when the preset start time of the detonation control command execution is about to be reached.

[0017] In this embodiment, the electronic detonator detonation control host preloads the detonation control command into the cache of multiple electronic detonator detonation control slave devices during network idle periods. This ensures that all electronic detonator detonation control slave devices receive the detonation control command before detonation, thereby facilitating the synchronous activation of the cached detonation control commands in the electronic detonator detonation control slave devices. This improves the synchronization accuracy of the synchronous activation of the cached detonation control commands in the electronic detonator detonation control slave devices and avoids the problem that the detonation control command issued by the electronic detonator detonation control host cannot reach the electronic detonator detonation control slave devices simultaneously when the network is congested, which would cause multiple electronic detonator detonation control slave devices to fail to execute the detonation control command synchronously.

[0018] According to another aspect of this application, a satellite-time-based electronic detonator initiation coordination control system is provided for implementing the aforementioned satellite-time-based electronic detonator initiation coordination control method. The satellite-time-based electronic detonator initiation coordination control system includes: A time synchronization satellite, positioned in a satellite orbit, is used to broadcast standard time signals; The electronic detonator detonation control host is communicatively connected to the timing satellite. The electronic detonator detonation control host includes a control module and a satellite timing module. The satellite timing module is electrically connected to the control module. The satellite timing module is used to acquire the standard time signal broadcast by the timing satellite in real time, and to calibrate the local clock of the electronic detonator detonation control host according to the acquired standard time signal, so that the local clock of the electronic detonator detonation control host is consistent with the standard time of the timing satellite. The electronic detonator detonation control slave unit is provided in multiple ways. Each of the multiple electronic detonator detonation control slave units is communicatively connected to the electronic detonator detonation control host, and each of the multiple electronic detonator detonation control slave units is communicatively connected to the timing satellite. Each electronic detonator detonation control slave unit includes a control module two and a satellite timing module two. The satellite timing module two is electrically connected to the control module two. The satellite timing module two is used to acquire the standard time signal broadcast by the timing satellite in real time, and to calibrate the local clock of the electronic detonator detonation control slave unit according to the acquired standard time signal, so that the local clock of the electronic detonator detonation control slave unit is consistent with the standard time of the timing satellite. The electronic detonator is configured to be multiple-shot, and the multiple-shot electronic detonator is communicatively connected to the electronic detonator detonation control slave device and is detonated by the electronic detonator detonation control slave device. After receiving the detonation control command execution signal from the electronic detonator detonation control host, and when the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units can synchronously start executing the detonation control command according to the preset detonation control command execution start time, so that the multiple electronic detonators connected to the electronic detonator detonation control slave units in the network detonate according to the detonation control command.

[0019] The electronic detonator detonation control host in this embodiment includes a satellite timing module one, which facilitates receiving standard time signals broadcast by a timing satellite and calibrating the local clock of the electronic detonator detonation control host according to the received standard time signals. This helps ensure that the local clock of the electronic detonator detonation control host is consistent with the standard time of the timing satellite. Furthermore, the electronic detonator detonation control slave unit in this embodiment includes a satellite timing module two, which facilitates receiving standard time signals broadcast by a timing satellite and calibrating the local clock of the electronic detonator detonation control host according to the received standard time signals. This unifies the local clocks of multiple electronic detonator detonation control slave units, ensuring that the local clocks of multiple electronic detonator detonation control slave units are the same. This unifies the clocks during the execution of detonation control commands, and multiple electronic detonator detonation control slave units synchronously start executing detonation control commands according to the preset detonation control command execution start time. This further facilitates the synchronous execution of detonation control commands by multiple electronic detonator detonation control slave units at the same time, improving the synchronization accuracy of the synchronous execution of detonation control commands.

[0020] According to one embodiment of this application, each of the electronic detonator detonation control slave devices further includes a timestamp recording module and an instruction status feedback module. The timestamp recording module and the instruction status feedback module are electrically connected to the control module. Simultaneously with the electronic detonator detonation control slave device starting to execute the detonation control instruction, the timestamp recording module records the local clock of the electronic detonator detonation control slave device, obtaining the local clock data of the electronic detonator detonation control slave device at the start of executing the detonation control instruction. The instruction status feedback module is used to provide feedback on the start time of the electronic detonator detonation control slave device executing the detonation control instruction, as recorded by the timestamp recording module. The instruction status feedback module is also used to provide feedback on the receiving and execution status of the electronic detonator detonation control slave device regarding the detonation control instruction.

[0021] This embodiment of the electronic detonator detonation control slave unit includes a timestamp recording module, which facilitates recording the start time of the electronic detonator detonation control slave unit executing the detonation control command. Furthermore, the electronic detonator detonation control slave unit includes a command status feedback module, which facilitates feedback of the start time of the electronic detonator detonation control slave unit executing the detonation control command recorded by the timestamp recording module. This is beneficial for accurately obtaining the actual start time of multiple electronic detonator detonation control slave units executing the detonation control command; it also facilitates calculation based on the start times of multiple electronic detonator detonation control slave units executing the detonation control command to obtain the synchronization error of the multiple electronic detonator detonation control slave units executing the detonation control command, and facilitates the detection of issues related to the synchronization of the electronic detonator detonation control slave units executing the detonation. The poor performance of the electronic detonator initiation control system can lead to abnormalities or malfunctions, thus facilitating fault diagnosis and performance optimization. Furthermore, the command status feedback module is used to provide feedback on the reception and execution status of the electronic detonator initiation control slave devices in response to the initiation control commands. This allows for the feedback of the reception and execution status of the initiation control commands from multiple electronic detonator initiation control slave devices, and facilitates the adjustment of the initiation control command transmission time and strategy based on these statuses. This ensures that the electronic detonator initiation control slave devices can reliably receive and execute the initiation control commands.

[0022] According to one embodiment of this application, the electronic detonator detonation control host further includes: The synchronization accuracy analysis module is electrically connected to the control module. The synchronization accuracy analysis module is used to calculate the synchronization error of the execution of the instructions of the multiple electronic detonator detonation control slaves based on the local clock data when the detonation control instructions reported by the multiple electronic detonator detonation control slaves begin to be executed.

[0023] The electronic detonator detonation control host in this embodiment includes a synchronization accuracy analysis module. After the instruction status feedback modules in multiple electronic detonator detonation control slaves respectively feed back the start time of the execution of the detonation control command by the electronic detonator detonation control slaves to the electronic detonator detonation control host, the synchronization accuracy analysis module can calculate the synchronization error of the execution of the detonation control command by the multiple electronic detonator detonation control slaves based on the start time of the execution of the detonation control command. This facilitates the detection of abnormalities or faults caused by poor synchronization of the detonation execution by the electronic detonator detonation control slaves, thereby helping to diagnose faults and optimize the performance of the detonation control of the electronic detonator detonation control system.

[0024] According to one embodiment of this application, the electronic detonator detonation control host further includes: A network status monitoring module is electrically connected to the control module. The network status monitoring module is used to monitor the network status in real time and obtain network quality. A network quality scoring module is electrically connected to the control module. The network quality scoring module is used to score the obtained network quality and generate a network quality score. An adaptive command distribution module is electrically connected to the control module. The adaptive command distribution module is used to select a command distribution strategy corresponding to the generated network quality score and distribute commands accordingly. The command distribution strategy includes: preloading the detonation control command into the cache of the electronic detonator detonation control slave device waiting to receive the detonation control command during network idle periods. The instruction preloading module is electrically connected to the control module and preloads the detonation control instruction into the cache of the electronic detonator detonation control slave device that is waiting to receive the detonation control instruction during network idle periods. The execution trigger module is electrically connected to the control module and sends a trigger signal at a predetermined execution time to activate the detonation control command cached in the electronic detonator detonation control slave device.

[0025] In this embodiment, the network status monitoring module facilitates real-time monitoring of network status and obtains network quality data. The network quality scoring module scores the obtained network quality and generates a network quality score. The adaptive command distribution module selects the command distribution strategy corresponding to the generated network quality score to distribute commands, ensuring that the electronic detonator detonation control slave receives the detonation control command. Furthermore, the inclusion of a command preloading module allows for the preloading of detonation control commands into the cache of the electronic detonator detonation control slave during network idle periods, further ensuring the slave receives the detonation control command. Moreover, the inclusion of an execution triggering module allows for the sending of a trigger signal at a predetermined execution time to activate the cached detonation control commands in the electronic detonator detonation control slave, facilitating the synchronous activation of these commands and improving the synchronization accuracy. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in this invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart of the satellite-time-synchronized coordinated control method for electronic detonator initiation according to an embodiment of the present invention; Figure 2 This is a structural block diagram of the satellite-time-synchronized electronic detonator initiation coordination control system according to an embodiment of the present invention. Figure 3 This is a structural block diagram of the electronic detonator initiation control host according to an embodiment of the present invention; Figure 4 This is a structural block diagram of the electronic detonator detonation control slave unit according to an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0029] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0031] One aspect of this application provides a satellite-time-synchronized coordinated control method for the initiation of electronic detonators, employing methods including... Figures 2 to 4 The satellite-time-based electronic detonator initiation coordination control system shown is implemented as follows: Figure 1 As shown, the satellite-time-based electronic detonator initiation coordination control method includes: In step S102, the electronic detonator detonation control host 1 acquires the standard time signal broadcast by the time synchronization satellite in real time, and calibrates the local clock of the electronic detonator detonation control host 1 according to the acquired standard time signal, so that the local clock of the electronic detonator detonation control host 1 is consistent with the standard time of the time synchronization satellite; wherein, the electronic detonator detonation control host 1 is communicatively connected to the time synchronization satellite. Step S104: Multiple electronic detonator detonation control slave units 2 receive the preset detonation control command execution start time issued by the electronic detonator detonation control host 1; In step S106, multiple electronic detonator detonation control slave units 2 acquire the standard time signal broadcast by the timing satellite in real time, and calibrate the local clock of the electronic detonator detonation control slave unit 2 according to the acquired standard time signal, so that the local clock of the electronic detonator detonation control slave unit 2 is consistent with the standard time of the timing satellite; wherein, multiple electronic detonator detonation control slave units 2 are respectively connected to the electronic detonator detonation control host 1, multiple electronic detonator detonation control slave units 2 are respectively connected to the timing satellite, and multiple electronic detonators 3 are networked on each electronic detonator detonation control slave unit 2; In step S108, after multiple electronic detonator detonation control slave units 2 receive the detonation control command execution signal issued by the electronic detonator detonation control host 1, and when the time reaches the preset detonation control command execution start time, the multiple electronic detonator detonation control slave units 2 synchronously start executing the detonation control command according to the preset detonation control command execution start time, so that the multiple electronic detonators 3 connected to the electronic detonator detonation control slave units 2 in the network detonate detonates according to the detonation control command.

[0032] In this embodiment, as Figures 1 to 4 As shown, in this embodiment of the satellite-synchronized electronic detonator initiation coordination control method, the electronic detonator initiation control host 1 acquires the standard time signal broadcast by the timing satellite in real time, and calibrates its local clock according to the acquired standard time signal, ensuring that the local clock of the electronic detonator initiation control host 1 is consistent with the standard time of the timing satellite, thereby helping to ensure the accuracy of the local clock of the electronic detonator initiation control host 1. Furthermore, multiple electronic detonator initiation control slave units 2 acquire the standard time signal broadcast by the timing satellite in real time, and calibrate their local clocks according to the acquired standard time signal, ensuring that their local clocks are consistent with the standard time of the timing satellite. This helps ensure the accuracy of the local clocks of multiple electronic detonator detonation control slave units 2. Furthermore, the local clocks of both the electronic detonator detonation control master unit 1 and the multiple electronic detonator detonation control slave units 2 are verified using the standard time of a time synchronization satellite. This ensures the unification of the local clocks of the master unit 1 and the multiple electronic detonator detonation control slave units 2. When the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units 2 synchronously begin executing the detonation control command according to the preset start time. This improves the synchronization accuracy of the simultaneous execution of detonation control commands by the multiple electronic detonator detonation control slave units 2.

[0033] Furthermore, in this embodiment, the electronic detonator detonation control host 1 is communicatively connected to the electronic detonator detonation control platform. The data received and processed by the electronic detonator detonation control host 1 can be fed back to the electronic detonator detonation control platform in real time, which makes it convenient for the detonation control personnel to visually understand the electronic detonator detonation control status through the electronic detonator detonation control platform.

[0034] In one embodiment of this application, after the electronic detonator initiation control host 1 acquires the standard time signal broadcast by the time synchronization satellite in real time, and calibrates the local clock of the electronic detonator initiation control host 1 according to the acquired standard time signal, the satellite-synchronized electronic detonator initiation coordination control method further includes: The network status is monitored in real time by the electronic detonator detonation control host 1 to obtain network quality; The obtained network quality is scored and a network quality score is generated; Based on the generated network quality score, select the command distribution strategy corresponding to the network quality score to initiate detonation control commands.

[0035] In this embodiment, the electronic detonator detonation control host 1 monitors the network status in real time to obtain network quality. Furthermore, the obtained network quality is scored and a network quality score is generated. Based on the generated network quality score, it is convenient to select the instruction distribution strategy corresponding to the network quality score to distribute the detonation control instructions. This helps to ensure that multiple electronic detonator detonation control slave units 2 receive the detonation control instructions sent by the electronic detonator detonation control host 1.

[0036] Furthermore, in this embodiment, the network status monitoring module 15 monitors the network status in real time to obtain network quality; the network quality scoring module 16 scores the obtained network quality and generates a network quality score; and the adaptive instruction distribution module 17 selects the instruction distribution strategy corresponding to the generated network quality score to distribute instructions.

[0037] In one embodiment of this application, the satellite-time-synchronized electronic detonator initiation coordination control method further includes: While multiple electronic detonator detonation control slave units 2 begin executing detonation control commands, each electronic detonator detonation control slave unit 2 records its local clock, thus obtaining the local clock data of the multiple electronic detonator detonation control slave units 2 at the time of starting to execute the detonation control commands.

[0038] In this embodiment, while multiple electronic detonator detonation control slave units 2 begin executing detonation control commands, their local clocks are recorded. This allows for the separate recording of the local clocks of multiple electronic detonator detonation control slave units 2, facilitating subsequent calculations based on these recorded clocks to obtain the synchronization error in the execution of detonation control commands. This helps identify anomalies or malfunctions caused by poor synchronization in the detonation execution of the electronic detonator detonation control slave units 2, thereby aiding in fault diagnosis and performance optimization of the detonation control system.

[0039] In one embodiment of this application, after obtaining the local clock data of the multiple electronic detonator initiation control slave units 2 at the start of executing the initiation control command, the satellite-time-synchronized electronic detonator initiation coordination control method further includes: Multiple electronic detonator detonation control slave units 2 respectively feed back the local clock data of the electronic detonator detonation control slave units 2 when they start executing the detonation control command to the electronic detonator detonation control host 1. The electronic detonator detonation control host 1 calculates the time deviation of each electronic detonator detonation control slave unit 2 when it starts executing the detonation control command based on the local clock data of the multiple electronic detonator detonation control slave units 2 when they start executing the detonation control command.

[0040] In this embodiment, by calculating the time deviation of each electronic detonator detonation control slave 2 in executing the detonation control command, the time deviation of each electronic detonator detonation control slave 2 in executing the detonation control command is obtained. This facilitates the detection of abnormalities or faults caused by poor synchronization of the electronic detonator detonation control slave 2 in executing the detonation, thereby helping to diagnose faults and optimize the performance of the detonation control of the electronic detonator detonation control system.

[0041] In one embodiment of this application, after multiple electronic detonator detonation control slave units 2 receive a detonation control command execution signal from the electronic detonator detonation control master unit 1, and when the time reaches the preset detonation control command execution start time, the multiple electronic detonator detonation control slave units 2 synchronously begin executing the detonation control command according to the preset detonation control command execution start time, including: After receiving the detonation control command execution signal from the electronic detonator detonation control host 1, the multiple electronic detonator detonation control slave units 2 detect the start-up enable signal for the start of the detonation control command execution through the enable signal detection module. When the enable signal detection module detects the start-up enable signal, it starts executing the detonation control command. The enable signal detection module is located inside the electronic detonator detonation control slave unit 2, and the start-up enable signal is output by the satellite timing module when the preset start time of the detonation control command execution is about to be reached. The satellite timing module is located inside the electronic detonator detonation control slave unit 2.

[0042] In this embodiment, the multiple electronic detonator detonation control slave units 2 detect the start-up enable signal of the detonation control command execution through the enable signal detection module. When the enable signal detection module detects the start-up enable signal, it starts to execute the detonation control command, providing a trigger signal for the start of the detonation control command execution, which is beneficial for accurately starting the execution of the detonation control command.

[0043] In this embodiment, the preset execution start time of the detonation control command issued by the electronic detonator detonation control host 1 is the current time plus a first delay time. When wired communication is used, the specific time of the first delay time depends on the communication time of the system, and the first delay time can be set to 100ms, etc. When wireless communication is used, the communication rate is slow, so the first delay time can be set to greater than 1s. Each electronic detonator detonation control slave 2 receives the command execution start time issued by the electronic detonator detonation control host 1. When the time reaches one second before the set command execution start time, the electronic detonator detonation control slave 2 enables external interruption, and the detection execution trigger module 19 sends a trigger signal at the predetermined execution time. When the trigger signal is detected, the detonation control command is immediately executed, and the current time is recorded. In this embodiment, the trigger signal is specifically a 1PPS signal. When the rising edge of the 1PPS signal is detected, the detonation control command is immediately executed.

[0044] In one embodiment of this application, the satellite-time-synchronized electronic detonator initiation coordination control method further includes, simultaneously with the commencement of the detonation control command: Record the time when the detonation control command is first executed to obtain the start time of the detonation control command execution; After the multiple electronic detonators 3 connected to the electronic detonator initiation control slave unit 2 in a network detonate detonation system detonate according to the initiation control command, the satellite-time-synchronized electronic detonator initiation coordination control method also includes: The start time of the obtained execution of the detonation control command is fed back, and the synchronization of the execution of the detonation control command by multiple electronic detonator detonation control slaves 2 is evaluated based on the fed-back start time of the execution of the detonation control command.

[0045] In this embodiment, by evaluating the synchronization of the execution of the detonation control command by multiple electronic detonator detonation control slave units 2 based on the start time of the feedback execution of the detonation control command, it is easier to detect abnormalities or faults caused by poor synchronization of the detonation execution by the electronic detonator detonation control slave units 2. This is beneficial for fault diagnosis and performance optimization of the detonation control of the electronic detonator detonation control system.

[0046] It should be noted that the specific methods and approaches for evaluating the synchronization of the execution of detonation control commands by multiple electronic detonator detonation control slave units 2 can refer to existing evaluation methods, and there can be multiple evaluation methods, which will not be elaborated here.

[0047] In one embodiment of this application, the electronic detonator detonation control host 1 and each electronic detonator detonation control slave 2 monitor the network status through a heartbeat mechanism. During the process of the electronic detonator detonation control host 1 sending the detonation control command execution signal to the electronic detonator detonation control slave 2, the electronic detonator detonation control host 1 adjusts the command sending decision according to the network status to ensure that the detonation control command execution signal is sent to each electronic detonator detonation control slave 2 in a timely manner.

[0048] In this embodiment, the electronic detonator detonation control host 1 and each electronic detonator detonation control slave 2 monitor the network status through a heartbeat mechanism. This facilitates real-time understanding of the network status between the host 1 and each slave 2. Furthermore, the command transmission decision is adjusted according to the network status to ensure that the detonation control command execution signal is promptly sent to each slave 2. This helps avoid the problem of multiple slave 2 devices being unable to execute detonation control commands synchronously when network congestion occurs, as the detonation control commands issued by the host 1 cannot reach the slave 2 devices simultaneously. This overcomes the adverse effects of network congestion on the synchronous execution of detonation control commands by multiple slave 2 devices.

[0049] In one embodiment of this application, the electronic detonator detonation control host 1 adjusts the sending of instructions based on the network status to make decisions, including: During network idle periods, the electronic detonator detonation control host 1 preloads the detonation control commands into the caches of multiple electronic detonator detonation control slave units 2; After receiving the detonation control command execution signal from the electronic detonator detonation control master unit 1, and when the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units 2 synchronously begin executing the detonation control command according to the preset detonation control command execution start time, including: Multiple electronic detonator detonation control slave units 2 detect the start-up enable signal for initiating the execution of the detonation control command. When the start-up enable signal is detected, the detonation control command that has been cached in the electronic detonator detonation control slave unit 2 is executed. The start-up enable signal is output when the preset start time for the execution of the detonation control command is about to be reached.

[0050] In this embodiment, the electronic detonator detonation control host 1 preloads the detonation control command into the cache of multiple electronic detonator detonation control slave devices 2 during network idle periods. This ensures that all electronic detonator detonation control slave devices 2 receive the detonation control command before detonation, thereby facilitating the synchronous activation of the detonation control commands cached in the electronic detonator detonation control slave devices 2. This improves the synchronization accuracy of the synchronous activation of the cached detonation control commands in the electronic detonator detonation control slave devices 2 and avoids the problem that the detonation control commands issued by the electronic detonator detonation control host 1 cannot reach the electronic detonator detonation control slave devices 2 simultaneously when the network is congested, which would otherwise prevent the multiple electronic detonator detonation control slave devices 2 from executing the detonation control commands synchronously.

[0051] It should be noted that, based on the satellite-time-based electronic detonator initiation coordination control method in the embodiments, an electronic detonator initiation coordination control system can also be designed based on the steps and functions of the satellite-time-based electronic detonator initiation coordination control method, and the designed electronic detonator initiation coordination control system can be used to implement the satellite-time-based electronic detonator initiation coordination control method in this embodiment.

[0052] Another aspect of this application provides a satellite-time-synchronized electronic detonator initiation coordination control system for implementing the aforementioned satellite-time-synchronized electronic detonator initiation coordination control method, such as... Figures 2 to 4 As shown, the satellite-time-based electronic detonator initiation coordination control system includes: Time synchronization satellites are positioned in satellite orbits and are used to broadcast standard time signals. The electronic detonator detonation control host 1 is connected to a time synchronization satellite. The electronic detonator detonation control host 1 includes a control module 10 and a satellite time synchronization module 12. The satellite time synchronization module 12 is electrically connected to the control module 10. The satellite time synchronization module 12 is used to acquire the standard time signal broadcast by the time synchronization satellite in real time, and to calibrate the local clock of the electronic detonator detonation control host 1 according to the acquired standard time signal, so that the local clock of the electronic detonator detonation control host 1 is consistent with the standard time of the time synchronization satellite. The electronic detonator detonation control slave unit 2 is provided in multiple ways. Each of the multiple electronic detonator detonation control slave units 2 is communicatively connected to the electronic detonator detonation control host 1, and each of the multiple electronic detonator detonation control slave units 2 is communicatively connected to a time synchronization satellite. The electronic detonator detonation control slave unit 2 includes a control module 20 and a satellite time synchronization module 24. The satellite time synchronization module 24 is electrically connected to the control module 20. The satellite time synchronization module 24 is used to acquire the standard time signal broadcast by the time synchronization satellite in real time, and to calibrate the local clock of the electronic detonator detonation control slave unit 2 according to the acquired standard time signal, so that the local clock of the electronic detonator detonation control slave unit 2 is consistent with the standard time of the time synchronization satellite. The electronic detonator 3 is equipped with multiple detonators. The multiple-detonator 3 is communicatively connected to the electronic detonator detonation control slave device 2 and the detonation is controlled by the electronic detonator detonation control slave device 2. After receiving the detonation control command execution signal from the electronic detonator detonation control host 1, and when the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units 2 can synchronously start executing the detonation control command according to the preset detonation control command execution start time, so that the multiple electronic detonators 3 connected to the electronic detonator detonation control slave units 2 in the network can be detonated according to the detonation control command.

[0053] In this embodiment, as Figures 2 to 4 As shown, the electronic detonator detonation control host 1 in this embodiment includes a satellite timing module 12, which facilitates receiving the standard time signal broadcast by the timing satellite and calibrating the local clock of the electronic detonator detonation control host 1 according to the received standard time signal, thus ensuring that the local clock of the electronic detonator detonation control host 1 is consistent with the standard time of the timing satellite. Furthermore, the electronic detonator detonation control slave unit 2 in this embodiment includes a satellite timing module 24, which facilitates receiving the standard time signal broadcast by the timing satellite and calibrating the local clock of the electronic detonator detonation control host 1 according to the received standard time signal. The received standard time signal calibrates the local clock of the electronic detonator detonation control host 1, thereby unifying the local clocks of multiple electronic detonator detonation control slave units 2. This ensures that the local clocks of multiple electronic detonator detonation control slave units 2 are the same, unifying the clocks during the execution of detonation control commands. Furthermore, multiple electronic detonator detonation control slave units 2 start executing detonation control commands synchronously according to the preset detonation control command execution start time, which in turn facilitates the synchronous execution of detonation control commands by multiple electronic detonator detonation control slave units 2 at the same time, improving the synchronization accuracy of the synchronous execution of detonation control commands.

[0054] In this embodiment, the timing satellite is specifically a BeiDou satellite, and the onboard atomic clock signal of the BeiDou satellite serves as the timing source; alternatively, the timing satellite may also be a GPS satellite or other satellites with timing functions.

[0055] In this embodiment, the standard time signal includes UTC time information, leap second information, and satellite status. Satellite timing module 12 receives a 1PPS (one pulse per second) signal and UTC time information to calibrate the local clock of the electronic detonator detonation control host 1. Satellite timing module 24 receives a 1PPS signal and UTC time information to calibrate the local clock of the electronic detonator detonation control slave 2. Furthermore, the rising edge accuracy of the 1PPS signal is less than 50ns, and the jitter of the 1PPS signal is less than 20ns RMS.

[0056] Furthermore, in this embodiment, the satellite timing module 12 is provided with a satellite timing interface 1, through which the satellite timing module 12 specifically receives 1PPS signals and standard time signals; the satellite timing module 24 is provided with a satellite timing interface 2, through which the satellite timing module 24 specifically receives 1PPS signals and standard time signals.

[0057] In this embodiment, when the electronic detonator detonation control slave device 2 starts to execute the detonation control, ideally, multiple electronic detonator detonation control slave devices 2 should start to execute the detonation control synchronously at the same time. This improves the accuracy of the synchronous execution of the detonation control by multiple electronic detonator detonation control slave devices 2 and avoids the blasting effect being affected by poor synchronization of the execution of the detonation control by multiple electronic detonator detonation control slave devices 2.

[0058] Furthermore, in this embodiment, the clock offset verification module 13 calculates the clock offset between the local clock of the calibrated electronic detonator detonation control host 1 and the local clock of the calibrated electronic detonator detonation control slave 2. This helps to troubleshoot situations where the local clock calibration is inaccurate due to hardware malfunctions or other factors, and to determine the calibration status of the local clock of the calibrated electronic detonator detonation control host 1 and the calibrated electronic detonator detonation control slave 2. This provides conditions for further fault diagnosis and performance optimization of the detonation control system of the electronic detonator detonation control system.

[0059] One embodiment of this application, such as Figure 3 As shown, the electronic detonator detonation control host 1 also includes a clock offset verification module 13, which is electrically connected to the control module 10. The clock offset verification module 13 is used to calculate the clock offset between the local clock of the calibrated electronic detonator detonation control host 1 and the local clock of the calibrated electronic detonator detonation control slave 2.

[0060] In this embodiment, as Figure 3As shown, the electronic detonator detonation control host 1 in this embodiment also includes a clock offset verification module 13. This module 13 is used to calculate and verify the clock offset between the local clock of the calibrated electronic detonator detonation control host 1 and the local clock of the calibrated electronic detonator detonation control slave 2. This helps to determine the clock offset between the local clock of the calibrated electronic detonator detonation control host 1 and the local clock of the calibrated electronic detonator detonation control slave 2, thus providing conditions for further fault diagnosis and performance optimization of the detonation control system of the electronic detonator detonation control system.

[0061] One embodiment of this application, such as Figure 4 As shown, each electronic detonator detonation control slave unit 2 also includes a timestamp recording module 21 and an instruction status feedback module 22. The timestamp recording module 21 and the instruction status feedback module 22 are electrically connected to the control module 20. When the electronic detonator detonation control slave unit 2 starts executing the detonation control instruction, the timestamp recording module 21 can record the local clock of the electronic detonator detonation control slave unit 2 to obtain the local clock data of the electronic detonator detonation control slave unit 2 at the time of starting to execute the detonation control instruction. The instruction status feedback module 22 is used to provide feedback on the start time of the electronic detonator detonation control slave unit 2 executing the detonation control instruction as recorded by the timestamp recording module 21. The instruction status feedback module 22 is also used to provide feedback on the reception status and execution status of the electronic detonator detonation control slave unit 2 in response to the detonation control instruction.

[0062] In this embodiment, as Figure 4As shown, the electronic detonator detonation control slave unit 2 in this embodiment includes a timestamp recording module 21, which facilitates recording the start time of the electronic detonator detonation control slave unit 2 executing the detonation control command. Furthermore, the electronic detonator detonation control slave unit 2 includes a command status feedback module 22, which provides feedback on the start time of the electronic detonator detonation control slave unit 2 executing the detonation control command recorded by the timestamp recording module 21. This facilitates accurately obtaining the actual start time of the detonation control command execution by multiple electronic detonator detonation control slave units 2. It also facilitates calculation based on the start time of the detonation control command execution by multiple electronic detonator detonation control slave units 2 to obtain the synchronization error of the execution of the detonation control command by multiple electronic detonator detonation control slave units 2, and facilitates the detection of errors caused by the execution of the detonation control command by multiple electronic detonator detonation control slave units 2. The poor synchronization of detonation can lead to abnormalities or malfunctions, which is beneficial for fault diagnosis and performance optimization of the electronic detonator detonation control system. Furthermore, the command status feedback module 22 is also used to provide feedback on the reception and execution status of the electronic detonator detonation control slave 2 in response to the detonation control command. This allows for feedback on the reception and execution status of the electronic detonator detonation control slave 2 in response to the detonation control command, which helps to determine the reception and execution status of multiple electronic detonator detonation control slave 2 in response to the detonation control command. It also facilitates the adjustment of the transmission time and transmission strategy of the detonation control command based on the reception and execution status of multiple electronic detonator detonation control slave 2 in response to the detonation control command, so as to ensure that the electronic detonator detonation control slave 2 can reliably receive and execute the detonation control command.

[0063] In this embodiment, after receiving feedback from the electronic detonator detonation control slave device 2 regarding the start time of the execution of the detonation control command, the electronic detonator detonation control host 1 can calculate the deviation between the command execution start time of each electronic detonator detonation control slave device 2 and the preset planned execution time, thereby monitoring the synchronization effect. When the deviation of a certain electronic detonator detonation control slave device 2 is too large, corresponding measures can be taken to adjust and eliminate the deviation of that electronic detonator detonation control slave device 2. It can also provide detailed execution time data, which is beneficial for providing strong support for fault diagnosis and performance optimization of the detonation control of the electronic detonator detonation control system.

[0064] In this embodiment, the multiple electronic detonator detonation control slave units 2 can be connected to the electronic detonator detonation control host unit 1 via wireless communication or wired communication. The specific implementation of the multiple electronic detonator detonation control slave units 2 communicating with the electronic detonator detonation control host unit 1 can also refer to the prior art, and will not be elaborated here.

[0065] Furthermore, in this embodiment, control module 10 includes control chip 1 and multiple electronic components electrically connected to control chip 1. Control chip 1 can be designed or selected according to control function requirements and in conjunction with control chips in existing electronic detonator control systems. The electronic components arranged on control chip 1 can also be selected according to control function requirements and in conjunction with existing electronic detonator control systems, which will not be described in detail here. Furthermore, in this embodiment, control module 20 includes control chip 2 and multiple electronic components electrically connected to control chip 2. Control chip 2 can also be designed or selected according to control function requirements and in conjunction with control chips in existing electronic detonator control systems. The electronic components arranged on control chip 2 can also be selected according to control function requirements and in conjunction with existing electronic detonator control systems, which will not be described in detail here either.

[0066] One embodiment of this application, such as Figure 4 As shown, the timestamp recording module 21 is also used to record the reception time of the electronic detonator detonation control slave 2 receiving the detonation control command, and the command status feedback module 22 is also used to provide feedback on the reception time of the electronic detonator detonation control slave 2 receiving the detonation control command recorded by the timestamp recording module 21.

[0067] In this embodiment, as Figure 4 As shown, in this embodiment, the timestamp recording module 21 is also used to record the reception time of the detonation control slave device 2 receiving the detonation control command, so as to facilitate the recording of the reception time of the detonation control slave device 2 receiving the detonation control command through the timestamp recording module 21; in addition, the command status feedback module 22 is also used to provide feedback on the reception time of the detonation control slave device 2 receiving the detonation control command recorded by the timestamp recording module 21, so as to facilitate the feedback of the reception time of the detonation control slave device 2 receiving the detonation control command recorded by the timestamp recording module 21 through the command status feedback module 22, thereby helping to determine the reception time of multiple detonation control slave devices 2 receiving the detonation control command, and facilitating the adjustment of the sending time and sending strategy of the detonation control command according to the reception time of multiple detonation control slave devices 2 receiving the detonation control command, so as to ensure that the detonation control slave device 2 can reliably receive the detonation control command.

[0068] One embodiment of this application, such as Figure 4 As shown, the timestamp recording module 21 is also used to record the instruction execution end time of the electronic detonator detonation control slave 2 when it finishes executing the detonation control instruction, and the instruction status feedback module 22 is also used to provide feedback on the instruction execution end time of the electronic detonator detonation control slave 2 when it finishes executing the detonation control instruction, as recorded by the timestamp recording module 21.

[0069] In this embodiment, as Figure 4As shown, the timestamp recording module 21 is also used to record the instruction execution end time of the electronic detonator detonation control slave unit 2 when it finishes executing the detonation control instruction, so that the timestamp recording module 21 can record the instruction execution end time of the electronic detonator detonation control slave unit 2 when it finishes executing the detonation control instruction; in addition, the instruction status feedback module 22 is also used to provide feedback on the instruction execution end time of the electronic detonator detonation control slave unit 2 when it finishes executing the detonation control instruction, as recorded by the timestamp recording module 21, so that the instruction status feedback module 22 can provide feedback on the instruction execution end time of the electronic detonator detonation control slave unit 2 when it finishes executing the detonation control instruction, as recorded by the timestamp recording module 21. Feedback on the command execution end time is helpful in determining the command execution end time of multiple electronic detonator detonation control slave units 2. Furthermore, it facilitates the analysis of the execution status of multiple electronic detonator detonation control slave units 2 based on their command execution end times. This helps identify anomalies or malfunctions caused by poor synchronization of command execution end times, thus aiding in fault diagnosis and performance optimization of the electronic detonator detonation control system.

[0070] One embodiment of this application, such as Figure 3 As shown, the electronic detonator detonation control host 1 also includes: The synchronization accuracy analysis module 11 is electrically connected to the control module 10. The synchronization accuracy analysis module 11 is used to calculate the synchronization error of the execution of the instructions of the multiple electronic detonator detonation control slave units 2 when they start to be executed, based on the local clock data reported by the multiple electronic detonator detonation control slave units 2.

[0071] In this embodiment, as Figure 3 As shown, the electronic detonator detonation control host 1 in this embodiment includes a synchronization accuracy analysis module 11. After the instruction status feedback modules 22 in the multiple electronic detonator detonation control slave units 2 respectively feed back the start time of the execution of the detonation control command by the electronic detonator detonation control slave units 2 to the electronic detonator detonation control host 1, the synchronization accuracy analysis module 11 can calculate the synchronization error of the execution of the detonation control command by the multiple electronic detonator detonation control slave units 2 based on the start time of the execution of the detonation control command. This facilitates the detection of abnormalities or faults caused by poor synchronization of the detonation execution by the electronic detonator detonation control slave units 2, thereby facilitating fault diagnosis and performance optimization of the detonation control of the electronic detonator detonation control system.

[0072] One embodiment of this application, such as Figure 3 As shown, the electronic detonator detonation control host 1 also includes: The network status monitoring module 15 is electrically connected to the control module 10. The network status monitoring module 15 is used to monitor the network status in real time and obtain the network quality. The network quality scoring module 16 is electrically connected to the control module 10. The network quality scoring module 16 is used to score the obtained network quality and generate a network quality score. The adaptive command distribution module 17 is electrically connected to the control module 10. The adaptive command distribution module 17 is used to select the command distribution strategy corresponding to the generated network quality score and distribute the command. The command distribution strategy includes: preloading the detonation control command into the cache of the electronic detonator detonation control slave 2 that is waiting to receive the detonation control command during the network idle period. The instruction preloading module 18 is electrically connected to the control module 10. During network idle periods, it preloads the detonation control instruction into the buffer of the electronic detonator detonation control slave 2, which is waiting to receive the detonation control instruction. The execution trigger module 19 is electrically connected to the control module 10. At a predetermined execution time, it sends a trigger signal to activate the detonation control command that has been cached in the electronic detonator detonation control slave unit 2.

[0073] In this embodiment, as Figure 3 As shown, the network status monitoring module 15 facilitates real-time monitoring of network status and obtains network quality. The network quality scoring module 16 scores the obtained network quality and generates a network quality score. The adaptive command distribution module 17 selects the command distribution strategy corresponding to the generated network quality score to distribute commands, which helps ensure that the electronic detonator detonation control slave 2 receives the detonation control command. Furthermore, the provision of the command preloading module 18 facilitates the preloading of the detonation control command into the cache of the electronic detonator detonation control slave 2 during network idle periods, which helps ensure that the electronic detonator detonation control slave 2 receives the detonation control command. Furthermore, the provision of the execution triggering module 19 facilitates the sending of a trigger signal at a predetermined execution time to start the detonation control command already cached in the electronic detonator detonation control slave 2, which facilitates the synchronous start of the detonation control command already cached in the electronic detonator detonation control slave 2, which helps improve the synchronization accuracy of the synchronous start of the detonation control command already cached in the electronic detonator detonation control slave 2.

[0074] In this embodiment, the network status monitoring module 15 evaluates network latency, jitter, and packet loss rate in real time, and obtains network quality based on a comprehensive evaluation of network latency, jitter, and packet loss rate. When sending detonation control commands, the electronic detonator detonation control host 1 considers the maximum latency and jitter of network transmission to ensure that the detonation control commands arrive at the electronic detonator detonation control slave 2 sufficiently before the execution time.

[0075] In this embodiment, a heartbeat mechanism is maintained between the electronic detonator detonation control host 1 and each electronic detonator detonation control slave 2 to monitor network latency. When an increase in network latency is detected, the detonation control command is sent in advance to offset the impact of network latency. Furthermore, the adaptive command distribution module 17 dynamically selects the command distribution strategy corresponding to the network quality score to distribute the detonation control command according to the network conditions and the status of the electronic detonator detonation control slave 2, thereby adjusting the command transmission timing.

[0076] In this embodiment, the instruction buffer of the electronic detonator detonation control slave device 2 is large enough to store multiple instructions so that instructions are not lost when the network is temporarily blocked. Furthermore, for critical instructions, a retransmission mechanism can be used, but the retransmitted instructions must have a new execution timestamp.

[0077] Furthermore, in this embodiment, after receiving the detonation control command, the electronic detonator detonation control slave 2 stores the received detonation control command in a local cache queue and sorts it according to the execution timestamp. When the predetermined execution time is reached, the execution scheduler in the electronic detonator detonation control slave 2 retrieves the detonation control command from the local cache queue of the electronic detonator detonation control slave 2 and executes it, which also avoids the detonation control command not being delivered when the predetermined execution time is reached.

[0078] Furthermore, the electronic detonator detonation control host 1 can dynamically adjust the command distribution strategy by monitoring the time synchronization status and command execution deviation of the electronic detonator detonation control slave 2. For example, it can allocate more lenient execution time to the electronic detonator detonation control slave 2 with poor time synchronization status to ensure high-precision synchronous control of the entire system. Furthermore, the command distribution strategy in this embodiment can also include resynchronizing time and adjusting the command distribution strategy. Furthermore, this embodiment improves the reliability and stability of the electronic detonator detonation control system, which includes multiple electronic detonator detonation control slave 2, through dynamic fault-tolerant control and real-time status feedback.

[0079] One embodiment of this application, such as Figure 3 As shown, the electronic detonator detonation control host 1 also includes a time synchronization module 14, which is electrically connected to the control module 10. The time synchronization module 14 is used to perform time synchronization within the network according to the clock synchronization protocol. The electronic detonator detonation control slave unit 2 also includes a time synchronization module 23, which is electrically connected to the control module 20. The time synchronization module 23 is used to synchronize the time with the electronic detonator detonation control host unit 1 according to the clock synchronization protocol, so that the local clock of the electronic detonator detonation control slave unit 2 is synchronized with the local clock of the electronic detonator detonation control host unit 1.

[0080] In this embodiment, as Figure 3 As shown, the electronic detonator detonation control host 1 in this embodiment also includes a time synchronization module 14, which facilitates time synchronization within the network according to the clock synchronization protocol. Additionally, the electronic detonator detonation control slave 2 also includes a time synchronization module 23, which facilitates time synchronization with the electronic detonator detonation control host 1 according to the clock synchronization protocol. This ensures that the local clock of the electronic detonator detonation control slave 2 is synchronized with the local clock of the electronic detonator detonation control host 1. The synchronized timestamps ensure consistent log timing between the electronic detonator detonation control host 1 and the electronic detonator detonation control slave 2, facilitating rapid restoration of the request execution path, avoiding increased difficulty in fault location due to log time discrepancies, and ensuring the normal execution of scheduled tasks and collaborative scheduling.

[0081] In this embodiment, the clock synchronization protocol is specifically the PTP (IEEE 1588) protocol. The time synchronization module 23 synchronizes the time with the electronic detonator detonation control host 1 according to the PTP (IEEE 1588) protocol. The clocks of the electronic detonator detonation control host 1 and the electronic detonator detonation control slave 2 are synchronized to the microsecond level or even higher precision.

[0082] Furthermore, in this embodiment, each electronic detonator detonation control slave 2 continuously calibrates its local clock via a 1PPS signal and the PTP (IEEE1588) protocol to ensure that the local clock of the electronic detonator detonation control slave 2 is consistent with the local clock of the electronic detonator detonation control host 1.

[0083] In this embodiment, the time synchronization module 23 synchronizes the time with the electronic detonator detonation control host 1 according to the clock synchronization protocol. This helps to troubleshoot situations where the local clock calibration is inaccurate due to hardware malfunctions or other factors, resulting in time differences exceeding the allowable range.

[0084] In this embodiment, when the satellite timing module 24 of a certain electronic detonator detonation control slave device 2 fails, the electronic detonator detonation control slave device 2 can switch to time synchronization with the electronic detonator detonation control host device 1 through the time synchronization module 23 according to the PTP (IEEE 1588) protocol and issue an alarm; in addition, when the time synchronization module 23 also fails, the local high-stability crystal oscillator of the electronic detonator detonation control slave device 2 is used to maintain short-term time accuracy and attempt to resynchronize the time.

[0085] It should be noted that in this embodiment, the multiple electronic detonator detonation control slave units 2 and the electronic detonator detonation control host unit 1 are in the same network. Each electronic detonator detonation control slave unit 2 is networked and connected to multiple electronic detonators 3. The multiple electronic detonator detonation control slave units 2 are controlled by one electronic detonator detonation control host unit 1.

[0086] One embodiment of this application, such as Figure 3 As shown, the electronic detonator detonation control host 1 also includes: The instruction execution time calculation module 101 is electrically connected to the control module 10. The instruction execution time calculation module 101 is used to calculate the start time of the execution of the detonation control instruction in advance, and send the timestamp corresponding to the start time of the execution of the detonation control instruction along with the detonation control instruction to multiple electronic detonator detonation control slave units 2.

[0087] In this embodiment, as Figure 3 As shown, the electronic detonator detonation control host 1 in this embodiment also includes an instruction execution time calculation module 101. This module calculates the start time of the detonation control instruction in advance and sends the timestamp corresponding to the start time of the detonation control instruction along with the detonation control instruction to multiple electronic detonator detonation control slave units 2. This allows the multiple electronic detonator detonation control slave units 2 to receive the detonation control instruction and the timestamp corresponding to the start time of the detonation control instruction sent by the electronic detonator detonation control host 1. When the time reaches the timestamp corresponding to the start time of the detonation control instruction, the multiple electronic detonator detonation control slave units 2 send trigger signals at the predetermined execution time to start the detonation control instruction received by the electronic detonator detonation control slave units 2, thereby improving the synchronization accuracy of the electronic detonator detonation control slave units 2 in executing the detonation control instruction synchronously.

[0088] In this embodiment, the instruction execution time calculation module 101 calculates the start time of the detonation control instruction in advance. The start time of the detonation control instruction is a time value, such as 100ms after the current time, which specifies the start time point for the subsequent execution of the detonation control instruction.

[0089] In this embodiment, when the local clock of a certain electronic detonator detonation control slave 2 is earlier than the local clocks of other electronic detonator detonation control slave 2s, after receiving the timestamp corresponding to the execution start time of the detonation control command, when the time reaches the timestamp corresponding to the execution start time of the detonation control command, this electronic detonator detonation control slave 2 starts executing detonation control earlier than other electronic detonator detonation control slave 2s. Similarly, when the local clock of a certain electronic detonator detonation control slave 2 is later than the local clocks of other electronic detonator detonation control slave 2s, after receiving the timestamp corresponding to the execution start time of the detonation control command, when the time reaches the timestamp corresponding to the execution start time of the detonation control command, this electronic detonator detonation control slave 2 starts executing detonation control later than other electronic detonator detonation control slave 2s. Thus, the unified precision of the local clocks of multiple electronic detonator detonation control slave 2s before detonation control determines the synchronization precision of the detonation control execution.

[0090] One embodiment of this application, such as Figure 4 As shown, the electronic detonator detonation control slave unit 2 also includes: The instruction execution result feedback module 25 is electrically connected to the control module 20. After the electronic detonator detonation control slave unit 2 completes the execution of the detonation control instruction, the instruction execution result feedback module 25 feeds back the execution result of the detonation control instruction to the electronic detonator detonation control host 1.

[0091] In this embodiment, as Figure 4 As shown, in this embodiment, an instruction execution result feedback module 25 is provided in the electronic detonator detonation control slave unit 2. This allows the execution result feedback module to feed back the execution result of the detonation control instruction to the electronic detonator detonation control host unit 1 after the electronic detonator detonation control slave unit 2 has completed the execution of the detonation control instruction. This is beneficial for the electronic detonator detonation control host unit 1 to obtain the instruction execution results after multiple electronic detonator detonation control slave units 2 have completed the execution of the detonation control instructions, and provides conditions for further fault diagnosis and performance optimization of the detonation control system of the electronic detonator detonation control system.

[0092] Furthermore, in this embodiment, the execution result of the detonation control command can be standardized and encapsulated, and then the standardized and encapsulated execution result of the detonation control command can be fed back to the electronic detonator detonation control host 1 to improve the authenticity of the execution result data.

[0093] In this embodiment, the electronic detonator 3 is specifically a wired electronic detonator, and the detonation controller and the electronic detonator 3 are connected via wired communication through the control bus. Alternatively, the electronic detonator 3 can also be a wireless electronic detonator controlled by wireless communication. In addition, the electronic detonator detonation control host 1 in this embodiment also includes a battery module, etc., which can refer to existing control hosts. The electronic detonator detonation control slave 2 in this embodiment also includes a battery module, etc., which can also refer to existing control slaves, and will not be described in detail here.

[0094] It should be noted that the satellite-time-based electronic detonator initiation coordination control system in this embodiment is an electronic detonator initiation coordination control system for implementing the above-mentioned satellite-time-based electronic detonator initiation coordination control method. Furthermore, based on the satellite-time-based electronic detonator initiation coordination control method of this application, an electronic detonator initiation coordination control system capable of implementing the above-mentioned satellite-time-based electronic detonator initiation coordination control method can also be designed.

[0095] In addition to the technical solutions disclosed in this embodiment, the electronic detonator 3, the timing satellite, and their working principles in this invention can be referred to conventional technical solutions in this technical field. However, these conventional technical solutions are not the focus of this invention, and will not be described in detail here.

[0096] In this invention, the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0097] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0098] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0099] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A satellite-time-synchronized coordinated control method for the initiation of electronic detonators, characterized in that, The method includes: The electronic detonator detonation control host acquires the standard time signal broadcast by the time synchronization satellite in real time, and calibrates the local clock of the electronic detonator detonation control host according to the acquired standard time signal, so that the local clock of the electronic detonator detonation control host is consistent with the standard time of the time synchronization satellite; wherein, the electronic detonator detonation control host is communicatively connected to the time synchronization satellite. Multiple electronic detonator detonation control slave units receive preset detonation control commands from the electronic detonator detonation control master unit at the execution start time; Multiple electronic detonator detonation control slave units acquire standard time signals broadcast by a time synchronization satellite in real time, and calibrate their local clocks according to the acquired standard time signals, so that the local clocks of the electronic detonator detonation control slave units are consistent with the standard time of the time synchronization satellite; wherein, the multiple electronic detonator detonation control slave units are respectively communicatively connected to the electronic detonator detonation control master unit, the multiple electronic detonator detonation control slave units are respectively communicatively connected to the time synchronization satellite, and each electronic detonator detonation control slave unit is networked with multiple electronic detonators; After receiving the detonation control command execution signal from the electronic detonator detonation control host, and when the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units synchronously begin executing the detonation control command according to the preset detonation control command execution start time, so that the multiple electronic detonators connected in the network to the electronic detonator detonation control slave units detonate according to the detonation control command.

2. The satellite-time-synchronized electronic detonator initiation coordination control method according to claim 1, characterized in that, The method further includes: While the multiple electronic detonator detonation control slave devices begin executing the detonation control command, each of the multiple electronic detonator detonation control slave devices records its local clock to obtain the local clock data of the multiple electronic detonator detonation control slave devices at the time of starting to execute the detonation control command.

3. The satellite-time-based electronic detonator initiation coordination control method according to claim 2, characterized in that, After obtaining the local clock data of the plurality of electronic detonator initiation control slave devices at the time of starting execution of the initiation control command, the method further includes: Each of the multiple electronic detonator detonation control slave units feeds back its local clock data at the moment it begins executing the detonation control command to the electronic detonator detonation control master unit. The electronic detonator detonation control master unit then calculates the time deviation of each electronic detonator detonation control slave unit from the local clock data of the multiple electronic detonator detonation control slave units at the moment it begins executing the detonation control command.

4. The satellite-time-synchronized electronic detonator initiation coordination control method according to claim 1, characterized in that, After receiving the detonation control command execution signal from the electronic detonator detonation control master unit, and when the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units synchronously begin executing the detonation control command according to the preset detonation control command execution start time, including: After receiving the detonation control command execution signal from the electronic detonator detonation control master unit, the multiple electronic detonator detonation control slave units detect the start-up enable signal for initiating the execution of the detonation control command through an enable signal detection module. When the enable signal detection module detects the start-up enable signal, it begins to execute the detonation control command. The enable signal detection module is located within the electronic detonator detonation control slave unit, and the start-up enable signal is output by the satellite timing module when the preset start time for the detonation control command execution is about to be reached. The satellite timing module is located within the electronic detonator detonation control slave unit.

5. The satellite-time-synchronized electronic detonator initiation coordination control method according to claim 1, characterized in that, Simultaneously with the commencement of the detonation control command, the method further includes: Record the time when the detonation control command begins to be executed, and obtain the start time of the execution of the detonation control command; After the multiple electronic detonators networked to the electronic detonator detonation control slave device detonate according to the detonation control command, the method further includes: The start time of the obtained execution of the detonation control command is fed back, and the synchronization of the execution of the detonation control command by multiple electronic detonator detonation control slaves is evaluated based on the fed-back start time of the execution of the detonation control command.

6. The satellite-time-synchronized electronic detonator initiation coordination control method according to claim 1, characterized in that, The electronic detonator detonation control host and each of the electronic detonator detonation control slaves monitor the network status through a heartbeat mechanism. During the process of the electronic detonator detonation control host sending the detonation control command execution signal to the electronic detonator detonation control slave, the electronic detonator detonation control host adjusts the command sending decision according to the network status to ensure that the detonation control command execution signal is sent to each of the electronic detonator detonation control slaves in a timely manner.

7. The satellite-time-based electronic detonator initiation coordination control method according to claim 6, characterized in that, The electronic detonator detonation control host adjusts the command transmission decision according to the network status, including: During network idle periods, the electronic detonator detonation control host preloads the detonation control commands into the caches of multiple electronic detonator detonation control slave devices. After receiving the detonation control command execution signal from the electronic detonator detonation control master unit, and when the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units synchronously begin executing the detonation control command according to the preset detonation control command execution start time, including: Multiple electronic detonator detonation control slave devices detect the start-up enable signal that initiates the execution of the detonation control command. When the start-up enable signal is detected, the detonation control command that has been cached in the electronic detonator detonation control slave device is executed. The start-up enable signal is output when the preset start time of the detonation control command execution is about to be reached.

8. A satellite-time-based electronic detonator initiation coordination control system, used to implement the satellite-time-based electronic detonator initiation coordination control method described in claim 1, characterized in that, The satellite-time-based electronic detonator initiation coordination and control system includes: A time synchronization satellite, positioned in a satellite orbit, is used to broadcast standard time signals; The electronic detonator detonation control host is communicatively connected to the timing satellite. The electronic detonator detonation control host includes a control module and a satellite timing module. The satellite timing module is electrically connected to the control module. The satellite timing module is used to acquire the standard time signal broadcast by the timing satellite in real time, and to calibrate the local clock of the electronic detonator detonation control host according to the acquired standard time signal, so that the local clock of the electronic detonator detonation control host is consistent with the standard time of the timing satellite. The electronic detonator detonation control slave unit is provided in multiple ways. Each of the multiple electronic detonator detonation control slave units is communicatively connected to the electronic detonator detonation control host, and each of the multiple electronic detonator detonation control slave units is communicatively connected to the timing satellite. Each electronic detonator detonation control slave unit includes a control module two and a satellite timing module two. The satellite timing module two is electrically connected to the control module two. The satellite timing module two is used to acquire the standard time signal broadcast by the timing satellite in real time, and to calibrate the local clock of the electronic detonator detonation control slave unit according to the acquired standard time signal, so that the local clock of the electronic detonator detonation control slave unit is consistent with the standard time of the timing satellite. The electronic detonator is configured to be multiple-shot, and the multiple-shot electronic detonator is communicatively connected to the electronic detonator detonation control slave device and is detonated by the electronic detonator detonation control slave device. After receiving the detonation control command execution signal from the electronic detonator detonation control host, and when the preset detonation control command execution start time is reached, the multiple electronic detonator detonation control slave units can synchronously start executing the detonation control command according to the preset detonation control command execution start time, so that the multiple electronic detonators connected to the electronic detonator detonation control slave units in the network detonate according to the detonation control command.

9. The satellite-time-based electronic detonator initiation coordination control system according to claim 8, characterized in that, Each of the electronic detonator detonation control slave units further includes a timestamp recording module and an instruction status feedback module. The timestamp recording module and the instruction status feedback module are electrically connected to the control module. When the electronic detonator detonation control slave unit starts executing the detonation control instruction, the timestamp recording module can record the local clock of the electronic detonator detonation control slave unit to obtain the local clock data of the electronic detonator detonation control slave unit at the time of starting to execute the detonation control instruction. The instruction status feedback module is used to provide feedback on the start time of the electronic detonator detonation control slave unit executing the detonation control instruction, as recorded by the timestamp recording module, and to provide feedback on the receiving status and execution status of the electronic detonator detonation control slave unit in response to the detonation control instruction.

10. The satellite-time-based electronic detonator initiation coordination control system according to any one of claims 8 to 9, characterized in that, The electronic detonator detonation control unit also includes: The synchronization accuracy analysis module is electrically connected to the control module. The synchronization accuracy analysis module is used to calculate the synchronization error of the execution of the instructions of the multiple electronic detonator detonation control slaves based on the local clock data when the detonation control instructions reported by the multiple electronic detonator detonation control slaves begin to be executed.

11. The satellite-time-based electronic detonator initiation coordination control system according to any one of claims 8 to 9, characterized in that, The electronic detonator detonation control unit also includes: A network status monitoring module is electrically connected to the control module. The network status monitoring module is used to monitor the network status in real time and obtain network quality. A network quality scoring module is electrically connected to the control module. The network quality scoring module is used to score the obtained network quality and generate a network quality score. An adaptive command distribution module is electrically connected to the control module. The adaptive command distribution module is used to select a command distribution strategy corresponding to the generated network quality score and distribute commands accordingly. The command distribution strategy includes: preloading the detonation control command into the cache of the electronic detonator detonation control slave device waiting to receive the detonation control command during network idle periods. The instruction preloading module is electrically connected to the control module and preloads the detonation control instruction into the cache of the electronic detonator detonation control slave device that is waiting to receive the detonation control instruction during network idle periods. The execution trigger module is electrically connected to the control module and sends a trigger signal at a predetermined execution time to activate the detonation control command cached in the electronic detonator detonation control slave device.

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