Mine unmanned aerial vehicle communication method based on general-purpose network and special network fusion

Abstract

The application discloses a mine unmanned plane communication method of general and special network fusion, and belongs to the technical field of mine communication, and comprises the following steps: S1, obtaining flight task plan information of the unmanned plane; S2, determining a key meeting route section according to the flight task plan information of the unmanned plane; S3, determining an antenna pointing angle according to the key meeting route section; S4, taking a start and end time window and the antenna pointing angle as a pre-scheduling instruction and delivering the pre-scheduling instruction to a ground communication base station; and S5, adjusting a directional antenna by the ground communication base station before the start and end time window is reached according to the pre-scheduling instruction, and establishing a communication link between the ground communication base station and the unmanned plane. The application precalculates a meeting time window of the unmanned plane and the base station through a cloud scheduling platform, the base station closes the directional antenna or enters a low-power standby mode outside the window, and only opens the antenna for communication in the window, so that the energy consumption of the base station is greatly reduced, and the application is suitable for the scene that power supply is limited in remote mine areas.

Description

Technical Field

[0001] This invention belongs to the field of mining communication technology, specifically relating to a mining drone communication method that integrates communication and private networks. Background Technology

[0002] With the deepening of intelligent mining construction, drones are widely used in scenarios such as mine inspection, geological exploration, slope monitoring, and emergency rescue. However, the complex terrain, severe communication obstruction, and vast operating areas of the mining environment pose serious challenges to the communication support of drones.

[0003] Existing communication systems for unmanned aerial vehicles (UAVs) in mines suffer from serious deficiencies. Traditional public network signal coverage is insufficient and fails to meet the requirements of low latency and high reliability. Line-of-sight obstruction caused by complex terrain leads to unstable communication links. Furthermore, ground base stations mostly use omnidirectional or fixed-pointing antennas, resulting in dispersed energy and limited communication distance. Continuous tracking with directional antennas leads to long-term high-power operation of base stations, making them unsuitable for remote mines with limited power supply. Additionally, the number of base stations in mines is limited, and the traditional handover mechanism relying on real-time measurement and signaling interaction during long-distance UAV flights has significant latency, easily causing communication interruptions. Moreover, existing solutions lack effective scheduling mechanisms for concurrent operations of multiple UAVs.

[0004] Therefore, there is an urgent need for a drone communication method that can adapt to the complex terrain of mines, reduce base station energy consumption, and ensure communication continuity. Summary of the Invention

[0005] To address the problems of high base station energy consumption, long handover delay, and poor adaptability to complex terrain in existing mine drone communication systems, this invention proposes a mine drone communication method that integrates communication and private networks.

[0006] The technical solution of this invention is: a communication method for unmanned aerial vehicles (UAVs) in mining that integrates public and private networks, comprising the following steps:

[0007] S1. Obtain the flight mission plan information of the UAV;

[0008] S2. Based on the UAV's flight mission plan information, determine the key encounter route segment;

[0009] S3. Determine the antenna pointing angle based on the key encounter route segment;

[0010] S4. The start and end time windows and antenna pointing angle are used as pre-scheduling instructions and sent to the ground communication base station;

[0011] S5. According to the pre-scheduled instructions, the directional antenna is adjusted by the ground communication base station before the start and end time window arrives, and a communication link is established between the ground communication base station and the UAV.

[0012] Furthermore, the flight mission plan information includes the UAV's preset flight path, planned flight speed, and takeoff time;

[0013] The preset route consists of the coordinates of the points along the way arranged in chronological order;

[0014] The planned flight speed is the ground speed of the drone on the preset flight path.

[0015] Furthermore, S2 includes the following sub-steps:

[0016] S21. Based on the UAV's preset flight path and planned flight speed, determine the expected spatial position of the UAV at each moment on the flight path;

[0017] S22. Based on the expected spatial position of the UAV on its flight trajectory at each moment, calculate the distance between the UAV and the ground communication base station at each moment, and determine the set of moments when the distance is less than the effective communication range of the base station, as the first set of moments;

[0018] S23. Based on the three-dimensional digital map of the mine, perform terrain occlusion analysis on each time point in the first time point set, remove the time points where the connection between the UAV and the ground communication base station is blocked by the terrain, and obtain the second time point set.

[0019] S24. Merge adjacent moments that are consecutive in the second time set to obtain the encounter time window between the ground communication base station and the UAV, and select the start point, midpoint and end point as the key encounter route segment within each encounter time window.

[0020] Furthermore, the effective communication range of the base station is determined based on the transmission power of the ground communication base station, antenna gain, UAV flight altitude, and electromagnetic propagation characteristics of the mining environment.

[0021] Furthermore, S3 includes the following sub-steps:

[0022] S31. Based on the starting point, midpoint, and ending point selected within the encounter time window, calculate the azimuth and pitch angles of the UAV relative to the ground communication base station at the starting point, midpoint, and ending point, respectively.

[0023] S32. Arrange the azimuth and elevation angles of the UAV relative to the ground communication base station at the starting point, midpoint, and ending point in chronological order to form a sequence of antenna pointing angles within the encounter time window.

[0024] S33. Bind the pointing angle sequence to the encounter time window as a pre-scheduling parameter for the ground communication base station;

[0025] S34. The onboard positioning module obtains the actual position of the UAV during flight in real time and reports it to the ground communication base station.

[0026] S35. Use a ground communication base station to compare the received actual location with the expected location and calculate the location deviation;

[0027] S36. When the position deviation exceeds the preset threshold, the antenna pointing angle is recalculated based on the actual position using the ground communication base station and adjusted in real time.

[0028] Furthermore, the starting point within the encounter time window The expression is:

[0029] ;

[0030] in, The time required for the antenna to rotate mechanically. This is the preset margin time.

[0031] Furthermore, the terrestrial communication base station adopts a converged working mode of communication and private network, specifically as follows:

[0032] The system detects the quality of the public network signal and compares the detection result with a preset available threshold. If the public network signal quality is not lower than the preset available threshold, the terrestrial communication base station simultaneously enables both private network mode and public network mode. Otherwise, the terrestrial communication base station enables private network mode.

[0033] Furthermore, the private network mode uses dedicated frequency bands, dedicated modulation and coding methods, and dedicated communication protocols;

[0034] The public network mode uses public mobile communication frequency bands and standard communication protocols.

[0035] Furthermore, in S5, if several drones are operating simultaneously, a communication link is established using time division multiplexing, frequency division multiplexing, or code division multiplexing, depending on the time interval between the encounters of the drones.

[0036] Furthermore, in S5, establishing a communication link between the ground communication base station and the UAV specifically involves: the ground communication base station sending telemetry and control signals; the UAV receiving the telemetry and control signals and returning a response confirmation; the ground communication base station and the UAV completing a handshake protocol and establishing a communication link.

[0037] The beneficial effects of this invention are:

[0038] (1) Reduce base station energy consumption: The encounter time window between the UAV and the base station is pre-calculated through the cloud scheduling platform. The base station turns off the directional antenna or enters a low-power standby mode outside the window and only turns on the antenna for communication inside the window, which greatly reduces the energy consumption of the base station and is suitable for scenarios with limited power supply in remote mining areas.

[0039] (2) Ensuring communication continuity: A pre-scheduling mechanism is adopted, in which the base station completes antenna alignment in advance before the UAV arrives, avoiding the response delay caused by real-time tracking in traditional solutions. Combined with multi-base station collaborative relay, adjacent base stations seamlessly switch over, ensuring communication continuity during the long-distance flight of the UAV;

[0040] (3) Adapt to complex mine terrain: Combine the three-dimensional digital map of the mine to perform terrain occlusion analysis, accurately calculate the visible communication window between the UAV and the base station, eliminate communication times blocked by terrain, and improve the reliability of communication link establishment.

[0041] (4) Integration of public and private networks: The base station adopts a dual-mode working mode. The private network mode ensures the reliable transmission of UAV telemetry and control commands, while the public network mode takes into account the communication needs of ground mining users, so as to realize the efficient use of spectrum resources.

[0042] (5) Support for concurrent operation of multiple drones: Through time division multiplexing, frequency division multiplexing or code division multiplexing, the same base station can provide services to multiple drones in sequence to meet the needs of large-scale drone operations in mines;

[0043] (6) Dynamic correction capability: The UAV reports its location information in real time, and the base station dynamically corrects the antenna pointing according to the actual location to cope with flight deviations and improve the robustness of the communication link;

[0044] (7) Adaptive to mission changes: When a flight mission changes, the cloud-based scheduling platform recalculates the scheduling parameters and pushes them to the relevant base stations in real time to ensure communication continuity after the mission is adjusted. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating the mine drone communication method integrating public and private networks in an embodiment of the present invention.

[0046] Figure 2 This is a schematic diagram of the working mode of the public and private network convergence in an embodiment of the present invention. Detailed Implementation

[0047] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0048] like Figure 1 As shown, this invention provides a communication method for unmanned aerial vehicles (UAVs) in mining that integrates public and private networks, comprising the following steps:

[0049] S1. Obtain the flight mission plan information of the UAV;

[0050] S2. Based on the UAV's flight mission plan information, determine the key encounter route segment;

[0051] S3. Determine the antenna pointing angle based on the key encounter route segment;

[0052] S4. The start and end time windows and antenna pointing angle are used as pre-scheduling instructions and sent to the ground communication base station;

[0053] S5. According to the pre-scheduled instructions, the directional antenna is adjusted by the ground communication base station before the start and end time window arrives, and a communication link is established between the ground communication base station and the UAV.

[0054] The mine deploys M ground communication base stations for communicating with UAVs, each equipped with an adjustable-angle directional antenna; M is set based on engineering experience.

[0055] Based on flight mission plan information, the cloud-based scheduling platform calculates the time period and expected encounter route segments that the UAV will pass through the coverage areas of various ground communication base stations during its flight. When the expected encounter route segment of the same UAV within the time period has expected encounter relationships with multiple base stations, the nearest base station is selected as the primary communication base station, and the others are used as backup base stations.

[0056] In this embodiment of the invention, the flight mission plan information includes the UAV's preset route, planned flight speed, and takeoff time;

[0057] The preset route consists of the coordinates of the points along the way arranged in chronological order;

[0058] The planned flight speed is the ground speed of the drone on the preset flight path.

[0059] In this embodiment of the invention, S2 includes the following sub-steps:

[0060] S21. Based on the UAV's preset flight path and planned flight speed, determine the expected spatial position of the UAV at each moment on the flight path;

[0061] S22. Based on the expected spatial position of the UAV on its flight trajectory at each moment, calculate the distance between the UAV and the ground communication base station at each moment, and determine the set of moments when the distance is less than the effective communication range of the base station, as the first set of moments;

[0062] S23. Based on the three-dimensional digital map of the mine, perform terrain occlusion analysis on each time point in the first time point set, remove the time points where the connection between the UAV and the ground communication base station is blocked by the terrain, and obtain the second time point set.

[0063] S24. Merge adjacent moments that are consecutive in the second time set to obtain the encounter time window between the ground communication base station and the UAV, and select the start point, midpoint and end point as the key encounter route segment within each encounter time window.

[0064] In this embodiment of the invention, the effective communication range of the base station is determined based on the transmission power of the ground communication base station, the antenna gain, the flight altitude of the UAV, and the electromagnetic propagation characteristics of the mining environment.

[0065] Terrain occlusion analysis is performed using a 3D digital map of the mine. The 3D digital map of the mine is pre-built and stored in a cloud scheduling platform or a ground communication base station through one of the following methods:

[0066] Method 1: Use drones equipped with lidar or oblique photography cameras to perform aerial photography and modeling of the mine, generating a high-precision 3D point cloud map;

[0067] Method 2: Based on the existing GIS geographic information system data of the mine and satellite remote sensing imagery, a three-dimensional terrain model is generated;

[0068] Method 3: Collect key control point data through ground surveying equipment and generate a 3D map by combining it with a digital elevation model (DEM).

[0069] In this embodiment of the invention, S3 includes the following sub-steps:

[0070] S31. Based on the starting point, midpoint, and ending point selected within the encounter time window, calculate the azimuth and pitch angles of the UAV relative to the ground communication base station at the starting point, midpoint, and ending point, respectively.

[0071] S32. Arrange the azimuth and elevation angles of the UAV relative to the ground communication base station at the starting point, midpoint, and ending point in chronological order to form a sequence of antenna pointing angles within the encounter time window.

[0072] S33. Bind the pointing angle sequence to the encounter time window as a pre-scheduling parameter for the ground communication base station;

[0073] S34. The onboard positioning module obtains the actual position of the UAV during flight in real time and reports it to the ground communication base station.

[0074] S35. Use a ground communication base station to compare the received actual location with the expected location and calculate the location deviation;

[0075] S36. When the position deviation exceeds the preset threshold, the antenna pointing angle is recalculated based on the actual position using the ground communication base station and adjusted in real time.

[0076] Preset threshold Based on actual engineering experience.

[0077] In this embodiment of the invention, the starting point within the encounter time window The expression is:

[0078] ;

[0079] in, The time required for the antenna to rotate mechanically. This is the preset margin time.

[0080] Calculated based on the antenna rotation speed and rotation angle; It is configured to address flight plan deviations and communication setup time based on practical engineering experience.

[0081] The start time of the start and end time window is set earlier than the time period to ensure that the antenna is aligned and enters standby mode in advance, and the end time of the start and end time window is consistent with the end of the time period. Outside the start and end time window, the base station turns off the directional antenna or enters a low-power standby mode to save energy.

[0082] like Figure 2 As shown, in this embodiment of the invention, the terrestrial communication base station adopts a converged working mode of communication and private network, specifically:

[0083] The system detects the quality of the public network signal and compares the detection result with a preset available threshold. If the public network signal quality is not lower than the preset available threshold, the terrestrial communication base station simultaneously enables both private network mode and public network mode. Otherwise, the terrestrial communication base station enables private network mode.

[0084] In this embodiment of the invention, the private network mode uses a dedicated frequency band, a dedicated modulation and coding scheme, and a dedicated communication protocol;

[0085] The public network mode uses public mobile communication frequency bands and standard communication protocols.

[0086] The terrestrial communication base station adopts a converged working mode of communication and private network, specifically including:

[0087] The base station monitors the public network signal quality in real time and compares the monitoring results with a preset available threshold.

[0088] If the public network signal quality is not lower than the preset available threshold, the base station will simultaneously enable private network mode and public network mode. The two modes share the same set of physical antennas and radio frequency front-ends, and use frequency division multiplexing to provide services to both the ground and the air at the same time. Specifically, at the beginning of the start and end time window, the dedicated frequency band of private network mode is enabled and the antenna is pointed to the air. At the end of the start and end time window, private network mode is turned off and the antenna is turned back to point to the ground.

[0089] Otherwise, the base station operates only in private network mode, and the base stations establish backhaul links through self-organization. The time synchronization of the base stations is provided by the satellite navigation system.

[0090] When the base station detects that the public network signal has been restored and the quality exceeds the preset usable threshold, it will automatically re-enable the public network mode and restore the working state of the public and private network convergence.

[0091] The private network mode uses dedicated frequency bands, dedicated modulation and coding methods, and dedicated communication protocols to transmit UAV telemetry and control commands and high-priority mission data;

[0092] The public network mode uses public mobile communication frequency bands and standard communication protocols to transmit voice and data services for ground mining users, and provides backhaul links and time synchronization references for private networks;

[0093] The preset available threshold is set based on actual engineering experience.

[0094] In this embodiment of the invention, in S5, if several drones are operating simultaneously, a communication link is established using time division multiplexing, frequency division multiplexing, or code division multiplexing based on the time interval between the encounters of each drone.

[0095] In this embodiment of the invention, in S5, establishing a communication link between the ground communication base station and the UAV specifically involves: using the ground communication base station to send a telemetry and control signal; after receiving the telemetry and control signal, the UAV returns a response confirmation; the ground communication base station and the UAV complete a handshake protocol and establish a communication link.

[0096] If a link cannot be established within the preset time limit after the start and end time window begins, the base station will automatically retry a preset number of times. If it still fails, it will report a communication abnormality. The preset time limit and preset number of attempts are set according to actual task requirements and engineering experience.

[0097] The terrestrial communication base station automatically adjusts the directional antenna to a specified angle according to the pre-scheduled instructions. Specifically, the intelligent control module of the base station parses the angle parameters in the pre-scheduled instructions, drives the antenna control system to rotate the antenna to the target angle according to the preset angular velocity and acceleration curves, and monitors the deviation between the actual antenna angle and the target angle in real time during the rotation. When the deviation exceeds ±A°, closed-loop correction is performed. The deviation A is set according to engineering experience.

[0098] In this embodiment of the invention, a multi-base station collaborative relay step is also included: when the flight path of the UAV crosses the coverage area of ​​multiple base stations, they are sequentially numbered as base station K, base station K+1, base station K+2, etc. according to the flight direction of the UAV. Adjacent base stations negotiate the handover according to their respective time windows, and base station K+1 completes the antenna pre-alignment before the window of base station K ends.

[0099] The handover negotiation between adjacent base stations specifically includes: base station K and base station K+1 exchanging status information through wired or wireless communication links between base stations; base station K+1 completing the handover negotiation before the end of base station K's window. The antenna is pre-aligned and enters standby mode; base station K monitors the drone's signal strength in real time, and when the signal strength falls below a preset switching threshold... (This threshold) When the settings are configured based on actual engineering experience, the base station K+1 is notified to start the handover process; after the base station K+1 confirms that it has successfully received the uplink signal from the drone and that the signal quality meets the requirements, it sends a handover completion confirmation to the base station K, and the base station K then releases the link resources.

[0100] in, Based on actual influencing factors and engineering experience, the specific actual influencing factors include the time required for antenna rotation, the flight speed of the UAV, the size of the overlapping area of ​​the coverage of the two base stations, and the time required for communication handover.

[0101] In this embodiment of the invention, a multi-drone concurrent scheduling step is also included: when multiple drones are operating at the same time, the same base station provides services to different drones in sequence using time division multiplexing, frequency division multiplexing or code division multiplexing according to the time interval between their encounters.

[0102] In this embodiment of the invention, a task change processing step is also included: when the UAV flight task changes, the cloud scheduling platform recalculates the time window and antenna pointing angle according to the updated route information, and re-determines the base stations with an encounter time window according to the updated route, and pushes the pre-scheduling instruction to the re-determined base stations in real time.

[0103] In this embodiment of the invention, the cloud scheduling platform and the ground communication base station maintain time synchronization through the satellite navigation system, and the start time of the start and end time window is based on the unified time after the satellite navigation system provides time synchronization.

[0104] In this embodiment of the invention, when the public network is available, the cloud scheduling platform and the ground communication base station exchange information through the public network core network; the calculation results of the encounter time window are shared among the base stations through the public network core network, and adjacent base stations complete antenna pre-alignment in advance based on the shared information; when the public network is unavailable, the cloud scheduling platform and the ground communication base station exchange information through satellite communication or base station self-organizing network, and the handover negotiation between base stations is completed through the direct link between base stations.

[0105] The following description is based on specific embodiments.

[0106] Example 1

[0107] Four base stations are deployed at the four corners of an open-pit mine. Each base station is equipped with an adjustable-angle directional antenna with a beamwidth of 15° and a mechanical rotational angular velocity of 30° / second. A drone is scheduled to perform a slope inspection mission, flying along the eastern slope of the mine from south to north on a pre-set route of 2.5 kilometers. The planned flight speed is 15 m / s, and the takeoff time is 10:00:00 AM.

[0108] After obtaining the aforementioned flight mission plan information, the cloud-based scheduling platform calculates the expected encounter times and locations between the drone and each base station. Calculations show that the drone will encounter base station A (located in the southeast corner of the mining area) and base station B (located in the northeast corner of the mining area) during its flight. The expected encounter time window with base station A is 10:02:30-10:05:00, and the expected encounter time window with base station B is 10:04:30-10:07:00. There is an overlap between these two windows from 10:04:30 to 10:05:00. During this overlapping period, the distance between the drone and base station A is 1.2 kilometers, and the distance to base station B is 0.8 kilometers. Therefore, base station B, which is closer, is selected as the primary communication base station, and base station A is used as a backup.

[0109] For base station B, the expected encounter time window is 10:04:30-10:07:00. The time required for the antenna's mechanical rotation: Base station B's initial antenna pointing towards the ground coverage angle needs to rotate to a predetermined angle pointing towards the sky. The rotation angle is 45°, the rotation speed is 30° / second, and the required time is 1.5 seconds. The preset margin time is set to 2 seconds. Therefore, the start time of the start and end time window is 10:04:30 minus 3.5 seconds, i.e., 10:04:26.5.

[0110] The cloud-based dispatch platform sends the start and end time window (10:04:26.5-10:07:00) and the corresponding antenna pointing angle sequence to base station B. Before 10:04:26.5, base station B initiates antenna rotation and completes alignment, establishing a communication link with the drone. After the time window ends at 10:07:00, base station B automatically returns the directional antenna to the preset ground coverage angle, restoring communication coverage for ground-based mining users.

[0111] Example 2

[0112] This embodiment illustrates the calculation of the expected meeting time window, continuing the scenario setting of Embodiment 1.

[0113] Based on the drone's preset flight path and planned flight speed of 15 m / s, calculate the drone's expected spatial position on its flight path at various times. Taking the takeoff time of 10:00:00 as time 0, calculate one position point every 0.5 seconds.

[0114] Base station A is located in the southeast corner of the mining area, with coordinates (0,0,10), in meters. The effective communication range of the base station is determined to be 3 kilometers based on the base station's transmit power of 20W, antenna gain of 15dBi, UAV flight altitude of 100 meters, and electromagnetic propagation characteristics of the mining environment.

[0115] Calculate the distance between the drone and base station A at each time point, construct a set of times with a distance of less than 3 kilometers, and obtain the first set of times as continuous times between 10:02:30 and 10:05:00.

[0116] Terrain occlusion analysis was conducted using a 3D digital map of the mine. The analysis revealed that during the period from 10:03:15 to 10:03:45, the connection between the drone and base station A was blocked by a ridge on the east side of the mine area. Therefore, this period was removed from the first time set, resulting in two consecutive time sets: 10:02:30-10:03:15 and 10:03:45-10:05:00.

[0117] By merging consecutive adjacent moments in the second time set, the expected encounter time windows between base station A and the UAV are obtained as [10:02:30, 10:03:15] and [10:03:45, 10:05:00]. Within each window, the start point, midpoint, and end point are selected as key encounter locations.

[0118] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. A communication method for unmanned aerial vehicles (UAVs) in mining operations that integrates communication and private networks, characterized in that: Includes the following steps: S1. Obtain the flight mission plan information of the UAV; S2. Based on the UAV's flight mission plan information, determine the key encounter route segment; S3. Determine the antenna pointing angle based on the key encounter route segment; S4. The start and end time windows and antenna pointing angle are used as pre-scheduling instructions and sent to the ground communication base station; S5. According to the pre-scheduled instructions, the directional antenna is adjusted by the ground communication base station before the start and end time window arrives, and a communication link is established between the ground communication base station and the UAV.

2. The mine unmanned aerial vehicle (UAV) communication method integrating public and private networks according to claim 1, characterized in that, The flight mission plan information includes the UAV's preset route, planned flight speed, and takeoff time; The preset route consists of the coordinates of the points along the way arranged in chronological order; The planned flight speed is the ground speed of the UAV on the preset flight path.

3. The mine drone communication method integrating public and private networks according to claim 1, characterized in that, S2 includes the following sub-steps: S21. Based on the UAV's preset flight path and planned flight speed, determine the expected spatial position of the UAV at each moment on the flight path; S22. Based on the expected spatial position of the UAV on its flight trajectory at each moment, calculate the distance between the UAV and the ground communication base station at each moment, and determine the set of moments when the distance is less than the effective communication range of the base station, as the first set of moments; S23. Based on the three-dimensional digital map of the mine, perform terrain occlusion analysis on each time point in the first time point set, remove the time points where the connection between the UAV and the ground communication base station is blocked by the terrain, and obtain the second time point set. S24. Merge adjacent moments that are consecutive in the second time set to obtain the encounter time window between the ground communication base station and the UAV, and select the start point, midpoint and end point as the key encounter route segment within each encounter time window.

4. The mine drone communication method integrating private and mobile networks according to claim 3, characterized in that, The effective communication range of the base station is determined based on the transmission power of the ground communication base station, antenna gain, UAV flight altitude, and electromagnetic propagation characteristics of the mining environment.

5. The mine unmanned aerial vehicle (UAV) communication method integrating public and private networks according to claim 1, characterized in that, S3 includes the following sub-steps: S31. Based on the starting point, midpoint, and ending point selected within the encounter time window, calculate the azimuth and pitch angles of the UAV relative to the ground communication base station at the starting point, midpoint, and ending point, respectively. S32. Arrange the azimuth and elevation angles of the UAV relative to the ground communication base station at the starting point, midpoint, and ending point in chronological order to form a sequence of antenna pointing angles within the encounter time window. S33. Bind the pointing angle sequence to the encounter time window as a pre-scheduling parameter for the ground communication base station; S34. The onboard positioning module obtains the actual position of the UAV during flight in real time and reports it to the ground communication base station. S35. Use a ground communication base station to compare the received actual location with the expected location and calculate the location deviation; S36. When the position deviation exceeds the preset threshold, the antenna pointing angle is recalculated based on the actual position using the ground communication base station and adjusted in real time.

6. The mine unmanned aerial vehicle (UAV) communication method integrating public and private networks according to claim 5, characterized in that, The starting point within the encounter time window The expression is: ； in, The time required for the antenna to rotate mechanically. This is the preset margin time.

7. The mine unmanned aerial vehicle (UAV) communication method integrating public and private networks according to claim 5, characterized in that, The ground communication base station adopts a converged working mode of communication and private network, specifically: The public network signal quality is detected, and the detection result is compared with a preset available threshold. If the public network signal quality is not lower than the preset available threshold, the terrestrial communication base station simultaneously enables private network mode and public network mode. Otherwise, the ground communication base station will activate the private network mode.

8. The mine unmanned aerial vehicle (UAV) communication method integrating public and private networks according to claim 7, characterized in that, The private network mode uses dedicated frequency bands, dedicated modulation and coding methods, and dedicated communication protocols. The public network mode adopts public mobile communication frequency bands and standard communication protocols.

9. The mine unmanned aerial vehicle (UAV) communication method integrating public and private networks according to claim 1, characterized in that, In S5, if several drones are operating simultaneously, a communication link is established using time division multiplexing, frequency division multiplexing, or code division multiplexing based on the time interval between the encounters of the drones.

10. The mine unmanned aerial vehicle (UAV) communication method integrating public and private networks according to claim 1, characterized in that, In step S5, establishing a communication link between the ground communication base station and the UAV specifically involves: the ground communication base station sending a telemetry and control signal; the UAV receiving the telemetry and control signal and returning a response confirmation; the ground communication base station and the UAV completing a handshake protocol and establishing a communication link.

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