Synchronous initiation control method and system of wireless electronic detonator

Abstract

This invention provides a synchronous initiation control method and system for wireless electronic detonators, which can achieve high-precision synchronous initiation of wireless electronic detonators and meet the requirements of wireless electronic detonators for communication reliability, time synchronization accuracy, and initiation safety in complex environments. The method includes the following steps: Step a: The initiation controller automatically selects and establishes a working channel with multiple wireless electronic detonators; Step b: On the working channel, the initiation controller and the wireless electronic detonators perform multiple rounds of time synchronization interaction until the clock synchronization accuracy between the wireless electronic detonators and the initiation controller meets a preset synchronization accuracy threshold; Step c: After the synchronization accuracy meets the preset synchronization accuracy threshold, the initiation controller sends an initiation command through the working channel, and the wireless electronic detonators receive and execute the initiation command.

Description

Technical Field

[0001] This invention relates to the intersection of wireless communication technology and electronic detonator control technology, and more specifically, to a method and system for synchronous detonation control of wireless electronic detonators. Background Technology

[0002] Wireless electronic detonators are widely used in blasting operations such as mining and tunneling due to their advantages of flexible wiring and convenient operation. However, in complex operating environments such as mines and tunnels, the electromagnetic environment is highly complex and is also affected by numerous wireless devices such as Bluetooth and walkie-talkies, which can cause serious interference to the communication of wireless electronic detonators. This can easily lead to packet loss or bit errors in the transmission of commands between the detonator and the detonator, and the reliability of the communication link cannot be guaranteed.

[0003] The detonation of wireless electronic detonators requires extremely high synchronization accuracy for the detonation time, typically within ±0.1ms. Traditional wireless synchronization schemes, such as simple timestamp broadcasting, struggle to consistently achieve the required synchronization accuracy when faced with dynamically changing network topologies and multipath fading effects of wireless signals. Furthermore, minute differences in the crystal oscillators within each detonator can cause clock drift, which accumulates over time and amplifies the synchronization error.

[0004] Traditional detonation procedures often employ a send-only control mode when sending the detonation command at the end. The detonation controller cannot confirm whether each wireless electronic detonator at the remote end has successfully received the command and is about to execute it. If a wireless electronic detonator fails to receive the command due to an anomaly such as a sudden signal interruption, it will result in a misfire, affecting not only the blasting effect but also creating a significant safety hazard. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a synchronous detonation control method and system for wireless electronic detonators, which can achieve high-precision synchronous detonation of wireless electronic detonators and meet the requirements of wireless electronic detonators for communication reliability, time synchronization accuracy, and detonation safety in complex environments.

[0006] To achieve the above objectives, the present invention provides: a method for synchronously controlling the detonation of a wireless electronic detonator signal, characterized by comprising the following steps: Step a: The detonation controller automatically selects and establishes working channels with multiple wireless electronic detonators; Step b: On the working channel, the detonation controller and the wireless electronic detonator perform multiple rounds of time synchronization interaction until the clock synchronization accuracy between the wireless electronic detonator and the detonation controller meets the preset synchronization accuracy threshold. Step c: After the synchronization accuracy meets the preset synchronization accuracy threshold, the detonation controller sends a detonation command via the working channel, and the wireless electronic detonator receives and executes the detonation command.

[0007] Furthermore, in step a, the detonation controller automatically selects and establishes working channels with multiple wireless electronic detonators, including the following steps: a1: The detonation controller performs a spectrum scan on multiple sub-channels within a preset full frequency band and calculates the signal energy value of each sub-channel; a2: Based on the signal energy value, select the N groups of sub-channels with the highest energy as candidate sub-channels, where N is a positive integer; a3: The detonation controller sends test signals on the candidate sub-channels respectively to detect the packet loss rate of each candidate sub-channel; a4: Among the candidate sub-channels, select a group of sub-channels with a packet loss rate less than a preset packet loss rate threshold and the highest signal energy value, and determine them as the working channel; a5: The detonation controller periodically detects the channel quality of the working channel. If the channel quality is lower than a preset quality threshold, steps a1 to a4 are repeated to switch to a new working channel.

[0008] Furthermore, in step a1, the average energy value E of each sub-channel i Using the following formula: Among them, X i (k) is the signal value of the kth sampling point on the i-th channel, and P is the total number of samples.

[0009] Furthermore, in step a5, channel quality is measured using the Channel Quality Indicator (CQI), and the formula for calculating the CQI is: CQI = α·PRR + β·(1 / average RSSI) + γ·(1 / bit error rate) Where α, β, and γ are weighting coefficients, PRR is the packet response rate, and the average RSSI is the average received signal strength indication. Furthermore, the time synchronization interaction in step b is executed as follows: Step b1: The detonation controller performs m rounds of synchronization, during which a synchronization signal containing the master station timestamp is sent. Step b2: The wireless electronic detonator receives the synchronization signal at its own time and calculates the clock deviation between the wireless electronic detonator and the detonation controller; Step b3: After performing the preset multi-round synchronization, based on the obtained multiple sets of clock deviations, the relative clock drift of the wireless electronic detonator is fitted using the least squares method. Step b4: The wireless electronic detonator corrects its local clock based on the latest calculated clock deviation and relative clock drift; Step b5: Send the synchronization signal again and determine whether the clock deviation between the wireless electronic detonator and the detonation controller meets the preset synchronization accuracy threshold. If it does not meet the threshold, repeat steps b1 to b4 until the corrected synchronization accuracy meets the preset synchronization accuracy threshold. If it does meet the threshold, enter the synchronization state.

[0010] Furthermore, in step b3, after performing the preset m rounds of synchronization, the relative clock drift of the i-th wireless electronic detonator is fitted using the least squares method, expressed as: Skew i ={m·∑(m·Offset i (m))-∑m·∑Offset i (m)} / {m·∑m 2 -(∑m) 2} Among them, Offset i (m) represents the clock deviation between the i-th wireless electronic detonator and the detonation controller in the m-th round of synchronization.

[0011] Furthermore, considering the effect of temperature on the crystal oscillator, the temperature correction amount Skew for the relative clock drift of the electronic detonator is... i (T) is represented as: Skew i (T) = Skew i +k T (TT) ref ), Where T is the current temperature, T ref This is the reference temperature, kJ. T It is the temperature coefficient.

[0012] Furthermore, in step b4, the clock offset correction value Offset for the wireless electronic detonator at future time t. i corrected (t) is represented as: Offset i corrected (t)=Offset i (m)+Skew i ·(tT slave,i (m)) Among them, Offset i (m) represents the clock deviation between the i-th wireless electronic detonator and the detonation controller in the m-th round of synchronization, T slave,i (m) represents the time it takes for the i-th wireless electronic detonator to receive the synchronization signal during the m-th round of synchronization. iLet be the relative clock drift of the i-th wireless electronic detonator.

[0013] Furthermore, the time reference for synchronization of the detonation controller is derived from any one of a high-precision crystal oscillator, GPS time information, or BeiDou satellite navigation system time information.

[0014] Furthermore, in step c, the controller initiates a detonation command, specifying a future detonation time T. 起爆 Detonation, at T 校验 Constantly check whether all detonation commands have been received, T 校验 At the agreed future detonation time T 起爆 The previously set time point; if all have been received, it will be at the agreed time T+Offset. i corrected (T 起爆 Detonation must be synchronized; if no detonation command is received, detonation will be aborted.

[0015] A synchronous control detonation system for wireless electronic detonator signals, comprising at least one detonation controller and multiple wireless electronic detonators, characterized in that: The detonation controller automatically selects and establishes a working channel with the at least one wireless electronic detonator; on the working channel, it performs multiple rounds of time synchronization interaction with the wireless electronic detonator; after confirming that the synchronization accuracy of each wireless electronic detonator meets the preset synchronization accuracy threshold, it sends a detonation command via the working channel. The wireless electronic detonator, in conjunction with the detonation controller, completes the selection and establishment of the working channel; participates in multiple rounds of time synchronization interaction, and corrects its own local clock according to the interaction results until the clock synchronization accuracy with the detonation controller meets the preset synchronization accuracy threshold; after reaching the synchronization state, it receives and executes the detonation command.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention enables the detonation controller to monitor the signal quality of each sub-channel in real time through dynamic spectrum sensing, actively avoid electromagnetic interference caused by devices such as Bluetooth and walkie-talkies, and automatically select the channel with the best communication quality for communication. At the same time, by periodically monitoring the channel quality indicator (CQI), it switches to a better channel in time when the channel quality deteriorates, ensuring the continuous stability of the communication link and effectively solving the problem of command loss or bit error in complex electromagnetic environments. This invention employs an adaptive clock drift compensation algorithm based on the least squares method, which can accurately fit the relative clock drift characteristics of each wireless electronic detonator. It not only corrects the current clock deviation but also predicts and compensates for future accumulated errors. Through multiple rounds of iterative synchronization correction, the time synchronization accuracy of the detonator can be controlled within the synchronization requirement range, thus meeting the technical requirements of wireless electronic detonators. Throughout the synchronous detonation process, the detonation controller communicates bidirectionally with each wireless electronic detonator, enabling real-time monitoring of the synchronization and equipment status of each detonator. Only after confirming that all detonators have met the synchronization accuracy requirements and are in normal working condition will the system enter the synchronization state and send a detonation command, ensuring that each wireless electronic detonator receives the detonation command, preventing misfires, and significantly improving the safety of blasting operations. If an abnormal signal or equipment malfunction is detected in a detonator during the synchronization process, the system can promptly terminate the detonation process to prevent safety accidents. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the steps of a method for synchronously controlling the detonation of a wireless electronic detonator signal, as described in this embodiment. Figure 2 This is a schematic diagram illustrating the specific steps of step a in the embodiment; Figure 3 This is a schematic diagram illustrating the specific steps of step b in the embodiment. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] The present invention provides a method for synchronously controlling the detonation of a wireless electronic detonator signal, which can be applied to a detonation system comprising a detonation controller and at least one wireless electronic detonator. The method includes the following steps: Step a: The detonation controller automatically selects and establishes working channels with multiple wireless electronic detonators; Step b: On the working channel, the detonation controller and the wireless electronic detonator perform multiple rounds of time synchronization interaction until the clock synchronization accuracy between the wireless electronic detonator and the detonation controller meets the preset synchronization accuracy threshold. Step c: After the synchronization accuracy meets the preset synchronization accuracy threshold, the detonation controller sends a detonation command through the working channel, and the wireless electronic detonator receives and executes the detonation command.

[0020] The method described in this embodiment can adapt to different electromagnetic environments. Whether in mines, tunnels, or other complex operating scenarios, the detonation system can automatically find the optimal communication channel. Through multiple rounds of time synchronization interaction, it can automatically adapt to the clock drift characteristics of different detonators and achieve precise synchronization without manual intervention.

[0021] In one specific embodiment of the present invention, step a, establishing a stable and reliable wireless communication link between the detonation controller and all wireless electronic detonators, specifically includes: Step a1: After the detonation controller is activated, a full-band scan of the preset communication frequency band is performed. This communication frequency band is divided into N sub-channels. The detonation controller performs energy detection on each sub-channel and calculates its average energy value. In this embodiment, the average energy value E of each sub-channel is... i Using the following formula: Among them, X i (k) is the signal value of the k-th sampling point on the i-th channel, P is the total number of samples, i is the index of the sub-channel, and E i This is the average energy value of the i-th sub-channel, which reflects the signal strength on the sub-channel. In this embodiment, a sub-channel with a higher energy value indicates a stronger effective signal strength on that channel, making it suitable for long-distance or obstacle-penetrating communication.

[0022] Step a2: The controller sorts all the calculated energy values ​​of the sub-channels and selects the N groups of sub-channels with the highest energy values ​​as candidate channels. For example, in this embodiment, the five sub-channels with the highest energy values ​​are selected. The reason for selecting the sub-channels with the highest energy values ​​is that the effective signal strength on these channels is relatively strong, indicating that there are good signal propagation conditions between the detonation controller and the wireless electronic detonator on these channels, which is conducive to establishing a stable communication link.

[0023] Step a3: For N candidate channels, the detonation controller broadcasts test signals to all wireless electronic detonators one by one through the candidate channels and requests the detonators to reply with confirmation. By counting the number of test packets sent and the number of confirmation packets received, the packet response rate of each candidate channel, or its opposite packet loss rate, is calculated. In this embodiment, the packet loss rate is counted. The formula for calculating the packet loss rate is: Packet loss rate = (Number of packets sent - Number of packets received) / Number of packets sent × 100%.

[0024] Step a4: The detonation controller selects a suitable channel from all tested candidate channels as the official working channel. In this embodiment, the selection strategy is as follows: among N candidate sub-channels, the channel with a packet loss rate less than a preset packet loss rate threshold is selected as the working channel. For example, the packet response rate threshold can be set to 99%, requiring a packet loss rate of less than 1%. If multiple candidate channels simultaneously meet the condition, the channel with the highest signal energy value can be further selected as the working channel to ensure the robustness of the communication link. After the working channel is determined, the controller will notify all detonators to switch to this working channel for subsequent communication. If no channel meets the condition, a full-band scan can be performed again, and steps a1 to a4 can be repeated until a usable working channel is found.

[0025] Step a5: During communication, in order to cope with dynamic changes in the environment, the detonation controller will periodically detect the communication quality of the current working channel. The channel quality can be quantified using the Channel Quality Indicator (CQI), which can be defined as follows: CQI = α·PRR + β·(1 / average RSSI) + γ·(1 / bit error rate) Where α, β, and γ are weighting coefficients, PRR is the packet response rate, and the average RSSI is the average received signal strength indicator, obtained by averaging the signal strength of multiple received data frames, typically in dBm. The bit error rate is the error rate in data transmission. α, β, and γ are used to balance the importance of different parameters; for example, in the embodiment, they can be set as follows: , The detonation controller sets a preset quality threshold for CQI, such as 0.8. If the current CQI value remains below the preset quality, it indicates that the channel quality has deteriorated. The detonation controller will automatically trigger a new round of spectrum sensing and access procedures, that is, repeat steps a1 to a4, and switch to a better working channel to ensure the continuous stability of the communication link.

[0026] In this embodiment, after a reliable working channel is established in step a, step b proceeds to high-precision time synchronization, specifically including the following steps: Step b1: The detonation controller performs multiple rounds of synchronization using its own clock as the time reference. The time reference can be derived from a high-precision crystal oscillator or calibrated via satellite systems such as GPS / BeiDou. In this embodiment, the detonation controller performs m rounds of synchronization. In the m-th round of synchronization, the detonation controller at time T... master (m) broadcasts a synchronization signal to all wireless electronic detonators, the synchronization signal containing a timestamp T. master (m); Step b2: The i-th wireless electronic detonator in its own time Tslave ,i (m) Receives the synchronization signal and calculates the clock offset between the i-th wireless electronic detonator and the detonation controller. i (m), represented as: Offset i (m)=T slave,i (m)-T master (m) Clock skew mainly includes a fixed clock phase difference and clock drift that accumulates over time; Step b3: After performing the preset multi-round synchronization, the detonation controller collects a series of clock deviation data. Since the clock drift can be approximated as a linear change, the least squares method can be used to perform linear regression analysis on the clock deviation data. In this embodiment, based on the obtained multiple sets of clock deviations, the least squares method is used to fit the relative clock drift Skew of the i-th wireless electronic detonator. i , represented as: Skew i ={m·∑(m·Offset i (m))-∑m·∑Offset i (m)} / {m·∑m 2 -(∑m) 2} Among them, Offset i (m) represents the clock deviation between the i-th wireless electronic detonator and the detonation controller in the m-th round of synchronization; Step b4: The i-th wireless electronic detonator is adjusted according to the latest calculated clock offset. i (m) and relative clock drift Skew i It calibrates its own local clock. Wireless electronic detonators are based on the latest calculated clock offset. i (m) and the fitted relative clock drift Skew are used to precisely correct the local clock. The correction can compensate for the current deviation and offset the cumulative error in the future.

[0027] In the embodiment, the clock offset correction value Offset of the wireless electronic detonator at future time t i corrected (t) is represented as: Offset i corrected (t)=Offset i (m)+Skew i ·(tT slave,i (m)) Among them, Offset i (m) represents the clock deviation between the i-th wireless electronic detonator and the detonation controller in the m-th round of synchronization, T slave,i (m) represents the time it takes for the i-th wireless electronic detonator to receive the synchronization signal during the m-th round of synchronization. i For the relative clock drift of the i-th wireless electronic detonator, the correction target is to adjust its own clock to achieve the clock deviation correction value Offset. i corrected (t) is less than the preset synchronization accuracy threshold.

[0028] Step b5: After completing one calibration, another round of synchronization verification can be performed to calculate whether the calibrated clock deviation is less than the preset synchronization accuracy threshold. If it is not reached, return to step b1 and repeat steps b1 to b4 until the calibrated synchronization accuracy meets the preset synchronization accuracy threshold. The preset synchronization accuracy threshold can be adjusted according to the actual situation. In this embodiment, the preset synchronization accuracy threshold requires the clock deviation to be less than 0.1ms.

[0029] In this embodiment, 3-5 rounds of cyclic synchronization are performed. Multiple rounds of synchronization effectively reduce the impact of random errors and ensure that the synchronization accuracy meets requirements. It should be noted that in actual implementation, each detonator can also independently complete subsequent clock drift fitting and clock correction operations without feeding back the clock deviation data to the detonation controller. However, to facilitate the detonation controller's monitoring of the synchronization status of the entire system, a centralized processing method is adopted in this embodiment, with the detonation controller performing unified data analysis.

[0030] In step c of the embodiment, when the detonation controller confirms that the synchronization accuracy of all wireless electronic detonators in the network has reached the preset synchronization accuracy threshold, the entire detonation system enters the synchronization state. After issuing the detonation command, the detonation controller immediately broadcasts the encrypted detonation instruction through the previously established working channel. Since all wireless electronic detonators are in a high-precision synchronization state, the wireless electronic detonators will receive and execute the detonation instruction at almost the same time, achieving precise synchronous blasting.

[0031] In step c, the controller initiates a detonation command, specifying a future detonation time T. 起爆 Detonation, at T 校验 Constantly check whether all detonation commands have been received, T 校验 At the agreed future detonation time T 起爆 The previously set time point is usually T. 起爆 A few seconds to tens of seconds before the detonation command is received, the system performs a final confirmation check on the reception status. If all commands have been received, the command will be sent at the agreed time T+Offset. i corrected (T 起爆 Detonation must be synchronized; if no detonation command is received, detonation will be aborted.

[0032] T 校验 Within the critical time window before detonation, the detonation command reception status of all wireless electronic detonators in the entire network is fully confirmed. If any detonator fails to receive a command, the detonation process is immediately terminated. This avoids the unfortunate scenario of some detonators detonating and others mis-detonating, resulting in duds, which is common in traditional methods. Synchronous precision control and T... 起爆 T before 校验This creates a double safety interlock, allowing for immediate termination of detonation in case of an anomaly, thus preventing misfires, premature detonations, and unexploded ordnance accidents at their source.

[0033] The method described in this embodiment can actively avoid external radio frequency interference, select the optimal channel for communication, solve the problem of unstable signal transmission in complex environments, and ensure the reliable delivery of commands. The adaptive synchronization algorithm based on least squares drift compensation is used in this embodiment, which can accurately fit and correct the clock drift of each detonator, achieving a microsecond-level synchronization accuracy better than ±0.1ms, meeting the stringent requirements of wireless electronic detonator blasting. Using the method described in this embodiment, the detonation controller can confirm the synchronization status of each detonator in real time. Only when all detonators meet the synchronization accuracy requirements does the system enter the detonation ready state, which can ensure that detonation will not be caused by individual detonators losing synchronization or connection, eliminate the risk of misfires, and improve the safety of blasting operations.

[0034] In one embodiment, the effect of temperature on the crystal oscillator can also be considered, along with the temperature correction amount Skew for the relative clock drift of the electronic detonator. i (T) is represented as: Skew i (T) = Skew i +k T (TT) ref ), Where T is the current temperature, T ref This is the reference temperature, kJ. T It is the temperature coefficient.

[0035] Correspondingly, the clock offset correction value Offset for the wireless electronic detonator at future time t. i corrected (t) is represented as: Offset i corrected (t)=Offset i (m)+ Skew i (T)·(tT) slave,i (m)) Among them, Offset i (m) represents the clock deviation between the i-th wireless electronic detonator and the detonation controller in the m-th round of synchronization, T slave,i (m) represents the time it takes for the i-th wireless electronic detonator to receive the synchronization signal during the m-th round of synchronization. i (T) represents the temperature-corrected relative clock drift of the i-th wireless electronic detonator. The correction target is to adjust its own clock to achieve the clock deviation correction value Offset. i corrected (t) is less than the preset synchronization accuracy threshold.

[0036] In an embodiment of the present invention, a synchronous control detonation system for wireless electronic detonator signals is also provided. The system can execute the aforementioned synchronous control detonation method for wireless electronic detonator signals, and includes at least one detonation controller and multiple wireless electronic detonators. The detonation controller automatically selects and establishes a working channel with at least one wireless electronic detonator; on the working channel, it performs multiple rounds of time synchronization interaction with the wireless electronic detonator; After confirming that the synchronization accuracy of each wireless electronic detonator meets the preset synchronization accuracy threshold, the detonation command is sent via the working channel. The wireless electronic detonator, in conjunction with the detonation controller, completes the selection and establishment of the working channel; It participates in multiple rounds of time synchronization interaction and corrects its own local clock according to the interaction results until the clock synchronization accuracy with the detonation controller meets the preset synchronization accuracy threshold. After reaching synchronization, it receives and executes the detonation command.

[0037] In an embodiment of the present invention, a computer-readable storage medium is also provided, on which a program is stored, which, when executed by a processor, implements the method for synchronous control of wireless electronic detonator signals for detonation as described above.

[0038] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, computer-readable storage media, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0039] The embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, computer apparatuses, or computer program products according to embodiments of the invention. These computer program instructions may be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams.

[0040] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in the flowchart.

[0041] In an embodiment of the present invention, a computer program product is also provided, including a computer program / instructions that, when executed by a processor, implement the steps of the above-described method.

[0042] In practical applications, the aforementioned computer program products include, but are not limited to: detonation controllers, wireless electronic detonators, smartphones, desktop computers, laptops, tablets, host computers, and server platforms, etc., without specific limitations.

[0043] The above provides a detailed description of the application of the wireless electronic detonator signal synchronization control detonation method, system, computer-readable storage medium, and computer program product provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A method for synchronously controlling detonation of a wireless electronic detonator signal, characterized in that, Includes the following steps: Step a: The detonation controller automatically selects and establishes working channels with multiple wireless electronic detonators; Step b: On the working channel, the detonation controller and the wireless electronic detonator perform multiple rounds of time synchronization interaction until the clock synchronization accuracy between the wireless electronic detonator and the detonation controller meets the preset synchronization accuracy threshold. Step c: After the synchronization accuracy meets the preset synchronization accuracy threshold, the detonation controller sends a detonation command via the working channel, and the wireless electronic detonator receives and executes the detonation command.

2. The method for synchronous control of detonation of a wireless electronic detonator signal according to claim 1, characterized in that... In step a, the detonation controller automatically selects and establishes working channels with multiple wireless electronic detonators, including the following steps: a1: The detonation controller performs a spectrum scan on multiple sub-channels within a preset full frequency band and calculates the signal energy value of each sub-channel; a2: Based on the signal energy value, select the N groups of sub-channels with the highest energy as candidate sub-channels, where N is a positive integer; a3: The detonation controller sends test signals on the candidate sub-channels respectively to detect the packet loss rate of each candidate sub-channel; a4: Among the candidate sub-channels, select a group of sub-channels with a packet loss rate less than a preset packet loss rate threshold and the highest signal energy value, and determine them as the working channel; a5: The detonation controller periodically detects the channel quality of the working channel. If the channel quality is lower than a preset quality threshold, steps a1 to a4 are repeated to switch to a new working channel.

3. The method for synchronous control of detonation of a wireless electronic detonator signal according to claim 2, characterized in that... In step a1, the average energy value E of each sub-channel i Using the following formula: Among them, X i (k) is the signal value of the kth sampling point on the i-th channel, and P is the total number of samples.

4. The method for synchronous control of detonation of a wireless electronic detonator signal according to claim 2, characterized in that... In step a5, channel quality is measured using the Channel Quality Indicator (CQI). The formula for calculating the CQI is as follows: CQI = α·PRR + β·(1 / average RSSI) + γ·(1 / bit error rate) Where α, β, and γ are weighting coefficients, PRR is the packet response rate, and the average RSSI is the average received signal strength indication.

5. The method for synchronous control of detonation of a wireless electronic detonator signal according to claim 2, characterized in that... The time synchronization interaction in step b is executed as follows: Step b1: The detonation controller performs m rounds of synchronization, during which a synchronization signal containing the master station timestamp is sent. Step b2: The wireless electronic detonator receives the synchronization signal at its own time and calculates the clock deviation between the wireless electronic detonator and the detonation controller; Step b3: After performing the preset m rounds of synchronization, based on the obtained multiple sets of clock deviations, the relative clock drift of the wireless electronic detonator is fitted using the least squares method. Step b4: The wireless electronic detonator corrects its local clock based on the latest calculated clock deviation and relative clock drift; Step b5: Send the synchronization signal again and determine whether the clock deviation between the wireless electronic detonator and the detonation controller meets the preset synchronization accuracy threshold. If it does not meet the threshold, repeat steps b1 to b4 until the corrected synchronization accuracy meets the preset synchronization accuracy threshold. If it does meet the threshold, enter the synchronization state.

6. The method for synchronous control of detonation of a wireless electronic detonator signal according to claim 5, characterized in that... In step b2, the i-th wireless electronic detonator reaches its own time Tslave ,i (m) Receives the synchronization signal and calculates the clock offset between the i-th wireless electronic detonator and the detonation controller. i (m), represented as: Offset i (m)=T slave,i (m)-T master (m) Among them, Offset i (m) represents the clock deviation between the i-th wireless electronic detonator and the detonation controller in the m-th round of synchronization, T slave,i (m) represents the time it takes for the i-th wireless electronic detonator to receive the synchronization signal during the m-th round of synchronization, T. master (m) represents the moment when the ignition controller generates a synchronization signal during the m-th round of synchronization.

7. The method for synchronous control of detonation of a wireless electronic detonator signal according to claim 6, characterized in that... In step b3, after performing the preset m rounds of synchronization, the relative clock drift of the i-th wireless electronic detonator is fitted using the least squares method, and is expressed as: Skew i ={m·∑(m·Offset i (m))-∑m·∑Offset i (m)} / {m·∑m 2 -(∑m) 2 } Among them, Offset i (m) represents the clock deviation between the i-th wireless electronic detonator and the detonation controller in the m-th synchronization round, where m is the preset number of synchronization rounds.

8. The method for synchronous control of detonation of a wireless electronic detonator signal according to claim 7, characterized in that... Considering the effect of temperature on crystal oscillators, the temperature correction amount Skew for the relative clock drift of electronic detonators. i (T) is represented as: Skew i (T)= Skew i +k T (T-T ref ), Where T is the current temperature, T ref This is the reference temperature, kJ. T It is the temperature coefficient.

9. A method for synchronously controlling detonation of a wireless electronic detonator signal according to claim 8, characterized in that... In step b4, the clock offset correction value Offset for the wireless electronic detonator at future time t. i corrected (t) is represented as: Offset i corrected (t)=Offset i (m)+Skew i ·(t-T slave , i (m)) Among them, Offset i (m) represents the clock deviation between the i-th wireless electronic detonator and the detonation controller in the m-th round of synchronization, T slave,i (m) represents the time it takes for the i-th wireless electronic detonator to receive the synchronization signal during the m-th round of synchronization. i Let be the relative clock drift of the i-th wireless electronic detonator.

10. A method for synchronously controlling detonation of a wireless electronic detonator signal according to claim 7, characterized in that... The time reference for synchronization of the detonation controller is derived from any one of the following: high-precision crystal oscillator, GPS time information, or BeiDou satellite navigation system time information.

11. A method for synchronously controlling detonation of a wireless electronic detonator signal according to claim 9, characterized in that... : In step c, the controller initiates a detonation command, specifying a future detonation time T. 起爆 Detonation, at T 校验 Constantly check whether all detonation commands have been received, T 校验 At the agreed future detonation time T 起爆 The previously set time point; if all have been received, it will be at the agreed time T+Offset. i corrected (T 起爆 Detonation must be synchronized. If no detonation command is received, detonation will be aborted.

12. A synchronous control detonation system for wireless electronic detonator signals, comprising at least one detonation controller and multiple wireless electronic detonators, characterized in that: The detonation controller automatically selects and establishes a working channel with the at least one wireless electronic detonator; on the working channel, it performs multiple rounds of time synchronization interaction with the wireless electronic detonator; after confirming that the synchronization accuracy of each wireless electronic detonator meets the preset synchronization accuracy threshold, it sends a detonation command via the working channel. The wireless electronic detonator, in conjunction with the detonation controller, completes the selection and establishment of the working channel; participates in multiple rounds of time synchronization interaction, and corrects its own local clock according to the interaction results until the clock synchronization accuracy with the detonation controller meets the preset synchronization accuracy threshold; after reaching the synchronization state, it receives and executes the detonation command.

13. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by the processor, it implements the synchronous control detonation method for wireless electronic detonator signals as described in any one of claims 1 to 11.

14. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the synchronous control detonation method according to any one of claims 1 to 11.

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