Emergency control method and system for vehicle in mine disaster scene

Abstract

The invention discloses an emergency control method and system for a vehicle in a mine disaster scene, and the method comprises the steps: predicting a mine disaster happening region based on a mine area dynamic model, carrying out the positioning and rechecking of the mine disaster happening region, collecting actual data, defining the state of the mine disaster happening region based on a plurality of pieces of actual data, and carrying out the prediction and rechecking of the mine disaster happening region. Triggering in-place ejection of the vehicle based on the escape route of the vehicle and the surrounding environment characteristics; the driving state of the vehicle is defined according to the multiple driving data, the self-regulation logic of the vehicle is triggered according to the driving state of the vehicle, the mine disaster form of the surrounding environment of the vehicle and the current picture of the mine area dynamic model, and the posture of the vehicle in the driving process is controlled based on the self-regulation logic of the vehicle. The attitude dynamic control of the vehicle in the driving process is realized, the driving stability of the vehicle along the escape route of the vehicle is ensured, and the driving state of the vehicle, the mine disaster form of the surrounding environment of the vehicle and the multi-dimensional consideration of the current picture of the mining area dynamic model are compatible.

Description

Technical Field

[0001] The present invention relates to the technical field of emergency control of vehicles, and in particular to an emergency control method and system for vehicles in mining disaster scenarios. Background Art

[0002] With the development of science and technology, mining areas serve as the main concentration of mining. The unmined parts in the mining areas are mined by the staff. The mining areas gradually change with the mining of the unmined parts. In the existing technology, the corresponding mined parts are recorded in the mining areas, and stability assessments are performed on multiple mined parts. However, the status of the mining accident area is not fully considered, and the driving stability of the vehicle in the mining accident form of the surrounding environment cannot be guaranteed. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides an emergency control method and system for a vehicle in a mine disaster scene. A plurality of monitoring areas are divided based on the three-dimensional space of the mine area and the mining part in the mine area, and a plurality of groups of detectors are arranged according to each monitoring area; the mine data detected by the plurality of groups of detectors are collected, and a dynamic model of the mine area is constructed based on the plurality of mine data and the positions of the corresponding monitoring areas; the mine disaster occurrence area is predicted based on the mine disaster dynamic model, and the mine disaster occurrence area is located and reviewed to collect actual data, and the state of the mine disaster occurrence area is defined based on the plurality of actual data, and prediction and review are performed on the mine disaster occurrence area to ensure the accuracy of the state of the mine disaster occurrence area.

[0004] Furthermore, a mine disaster channel corresponding to the mine disaster occurrence area is defined, and the mine disaster occurrence time of each node in the mine disaster channel is predicted based on the mine disaster factor set corresponding to the status of the mine disaster channel and the mine disaster occurrence area; the vehicle's escape route is defined according to the mine disaster channel, the mine disaster occurrence time of each node, the current position of the vehicle, and the driving channel, and the vehicle's on-site ejection is triggered based on the vehicle's escape route and surrounding environmental characteristics; the vehicle's driving state is defined according to multiple driving data, and the vehicle's self-control logic is triggered according to the vehicle's driving state, the mine disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model; the vehicle's posture during driving is controlled based on the vehicle's self-control logic, thereby realizing dynamic control of the vehicle's posture during driving, ensuring the vehicle's driving stability along the vehicle's escape route, and being compatible with multi-dimensional considerations of the vehicle's driving state, the mine disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model.

[0005] The embodiment of the present invention provides an emergency control method for a vehicle in a mine disaster scene, which is applied to an emergency control scenario of a vehicle in a mine disaster scene;

[0006] The emergency control method of the vehicle in a mining disaster scenario includes:

[0007] Divide the mining area into multiple monitoring areas based on the three-dimensional space of the mining area and the mining part within the mining area, and arrange multiple groups of detectors according to each monitoring area;

[0008] Collecting the mine data detected by multiple sets of detectors, and building a dynamic model of the mine area based on the multiple mine data and the location of the corresponding monitoring area;

[0009] Predict the area where the mine accident occurs based on the dynamic model of the mining area, and conduct a location review of the area where the mine accident occurs to collect actual data, and define the status of the area where the mine accident occurs based on multiple actual data;

[0010] Define the corresponding mine disaster channel according to the mine disaster occurrence area, and predict the mine disaster occurrence time of each node in the mine disaster channel based on the mine disaster factor set corresponding to the state of the mine disaster channel and the mine disaster occurrence area;

[0011] Define the vehicle's escape route based on the mine disaster channel, the time of occurrence of the mine disaster at each node, the vehicle's current location, and the driving channel, and trigger the vehicle's ejection based on the vehicle's escape route and surrounding environmental characteristics;

[0012] The driving state of the vehicle is defined according to a plurality of driving data, the self-regulation logic of the vehicle is triggered according to the driving state of the vehicle, the mining accident form of the vehicle's surrounding environment, and the current picture of the dynamic model of the mining area, and the posture of the vehicle during driving is controlled based on the self-regulation logic of the vehicle.

[0013] Optionally, the method of dividing a plurality of monitoring areas based on the three-dimensional space of the mining area and the mining part in the mining area, and arranging a plurality of groups of detectors according to each monitoring area, includes:

[0014] Collect the location of the mining area and define the outer contour of the mining area based on the positioning detection of the location of the mining area;

[0015] Construct the three-dimensional space of the mining area based on the outer contour of the mining area and the detection data of the drone;

[0016] The three-dimensional space of the mining area and the mining part in the mining area are associated, and multiple monitoring areas are divided according to the three-dimensional space of the mining area, the mining part in the mining area and the driving channel of the vehicle;

[0017] Mark the location of each monitoring area, and build a corresponding detection space according to the location of each monitoring area and the corresponding surrounding space;

[0018] A plurality of detection points are defined according to the detection space, and a plurality of groups of detectors are matched to the plurality of detection points.

[0019] Optionally, the collecting of mine data detected by multiple groups of detectors and building a mine area dynamic model based on the multiple mine data and the positions of corresponding monitoring areas include:

[0020] Collect data from mines detected by multiple sets of detectors;

[0021] Mark the corresponding positions of multiple mine data;

[0022] According to multiple mine data and corresponding positions, corresponding mine activity is defined;

[0023] Constructing a mining area activity set based on multiple mine activities and the locations of corresponding monitoring areas;

[0024] The activity set of the associated mining area, the past records of the mining area, and the three-dimensional space of the mining area;

[0025] A dynamic model of the mining area is constructed based on the activity set of the mining area, the previous records of the mining area, and the three-dimensional space of the mining area. At this time, the dynamic model of the mining area controls the dynamic changes of the mining area in real time, and performs autonomous optimization in combination with the real-time data of the mining area.

[0026] Optionally, predicting the mining accident occurrence area based on the mining area dynamic model, and positioning and reviewing the mining accident occurrence area to collect actual data, and defining the state of the mining accident occurrence area based on multiple actual data, includes:

[0027] Freeze the dynamic model of the mining area;

[0028] Collecting an activity set of the mining area, and defining multiple abnormal activities based on the screening of the activity set of the mining area;

[0029] Predict multiple mining accident areas based on multiple abnormal activities, real-time information from the mining area, and the response locations of the mining area dynamic model;

[0030] Collect the locations of multiple mining accident areas, and conduct positioning review based on the locations of multiple mining accident areas to collect actual data of multiple mining accident areas;

[0031] In each mining accident area, the corresponding mining accident features are constructed based on multiple actual data and corresponding spaces;

[0032] The status of the mining accident area is defined according to the characteristics of the mining accident, the corresponding location, and the change in activity of the mining accident area.

[0033] Optionally, the method of defining a corresponding mine disaster channel according to the mine disaster occurrence area, and predicting the mine disaster occurrence time of each node in the mine disaster channel based on a set of mine disaster factors corresponding to the states of the mine disaster channel and the mine disaster occurrence area, includes:

[0034] Conduct location detection on the area where the mine disaster occurred and collect the internal contour of the area where the mine disaster occurred;

[0035] The internal contours of the area where the mine accident occurred, the vehicle travel path and the location of the staff;

[0036] Define the corresponding mine accident passage based on the internal contour of the mine accident area, the vehicle driving passage and the location of the staff;

[0037] Conduct fixed-point detection along the mine accident channel and collect multiple mining accident factors during the fixed-point detection;

[0038] Constructing mining accident factors based on multiple mining accident factors, at this time, the mining accident factor set corresponding to the state of the mining accident channel and the mining accident occurrence area is associated;

[0039] The occurrence time of the mine accident at each node in the mine accident channel is predicted based on the set of mine accident factors corresponding to the status of the mine accident channel and the mine accident occurrence area.

[0040] Optionally, the method of defining the vehicle's escape route according to the mine disaster passage, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving passage, and triggering the vehicle's ejection in place based on the vehicle's escape route and surrounding environment characteristics, includes:

[0041] The mine accident channel and the time of occurrence of the mine accident at each node are fixed. At this time, the mine accident channel, the time of occurrence of the mine accident at each node, the current position of the vehicle, and the driving channel are associated;

[0042] Define the first escape range based on the mine disaster passage, the current position of the vehicle, and the driving passage;

[0043] Define the second escape range based on the time of the mining accident at each node, the current location of the vehicle, and the driving channel;

[0044] An escape route of the vehicle is defined based on the second escape range, the second escape range, and the current position of the vehicle.

[0045] Optionally, the method of defining the vehicle's escape route according to the mine disaster passage, the mine disaster occurrence time of each node, the current position of the vehicle, and the driving passage, and triggering the vehicle's in-place ejection based on the vehicle's escape route and surrounding environment characteristics, further includes:

[0046] Trigger environmental detection along the vehicle's escape route and collect corresponding surrounding environment features;

[0047] Define ejection nodes based on the vehicle's escape route and surrounding environment characteristics;

[0048] The vehicle's ejection is triggered according to the ejection node. At this time, the vehicle's ejection power is defined according to the ejection node, the number of people loaded in the vehicle, and the ejection space in the mine passage.

[0049] Optionally, the driving state of the vehicle is defined according to a plurality of driving data, the self-regulation logic of the vehicle is triggered according to the driving state of the vehicle, the mining disaster form of the surrounding environment of the vehicle, and the current picture of the mining area dynamic model, and the posture of the vehicle during driving is controlled based on the self-regulation logic of the vehicle, including:

[0050] Real-time monitoring of multiple driving data of the vehicle during the escape process;

[0051] Defining the driving state of the vehicle according to a plurality of driving data and the number of passengers in the vehicle;

[0052] Collect obstacle data of the vehicle during driving, and trigger primary control of the vehicle based on the obstacle data and the relative distance between the vehicle and the obstacle;

[0053] In the primary control of the vehicle, the vehicle effectively avoids obstacles based on the obstacle characteristics formed by the obstacle data, and ensures the driving stability of the vehicle during the avoidance process.

[0054] Optionally, the method of defining the driving state of the vehicle according to the plurality of driving data, triggering the self-regulation logic of the vehicle according to the driving state of the vehicle, the mining disaster form of the surrounding environment of the vehicle, and the current screen of the mining area dynamic model, and controlling the posture of the vehicle during driving based on the self-regulation logic of the vehicle, further includes:

[0055] The self-regulation logic of the vehicle is triggered according to the driving state of the vehicle, the mining disaster form of the surrounding environment of the vehicle, and the current picture of the dynamic model of the mining area. At this time, the first regulation parameter is defined according to the driving state of the vehicle and the mining disaster form of the surrounding environment of the vehicle, and the second regulation parameter is defined according to the driving state of the vehicle and the current picture of the dynamic model of the mining area. The self-regulation logic of the vehicle is defined according to the first regulation parameter, the second regulation parameter and the logic matching table;

[0056] The vehicle's posture during driving is controlled based on the vehicle's self-regulation logic.

[0057] In addition, an embodiment of the present invention further provides an emergency control system for a vehicle in a mine disaster scenario, wherein the emergency control system for a vehicle in a mine disaster scenario comprises:

[0058] The detector module is used to divide multiple monitoring areas based on the three-dimensional space of the mining area and the mining part in the mining area, and arrange multiple groups of detectors according to each monitoring area;

[0059] The mining area dynamic module is used to collect the mine data detected by multiple sets of detectors, and build a mining area dynamic model based on multiple mine data and the location of the corresponding monitoring area;

[0060] The status module is used to predict the mining accident occurrence area based on the mining area dynamic model, and to locate and review the mining accident occurrence area to collect actual data and define the status of the mining accident occurrence area based on multiple actual data;

[0061] A prediction module is used to define a corresponding mine disaster channel according to the mine disaster occurrence area, and predict the mine disaster occurrence time of each node in the mine disaster channel based on the mine disaster factor set corresponding to the state of the mine disaster channel and the mine disaster occurrence area;

[0062] The ejection module is used to define the vehicle's escape route according to the mine disaster channel, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving channel, and trigger the vehicle's ejection based on the vehicle's escape route and surrounding environment characteristics;

[0063] The posture module is used to define the driving state of the vehicle according to multiple driving data, trigger the vehicle's self-regulation logic according to the vehicle's driving state, the mining disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model, and control the vehicle's posture during driving based on the vehicle's self-regulation logic.

[0064] In an embodiment of the present invention, through the method in the embodiment of the present invention, a plurality of monitoring areas are divided based on the three-dimensional space of the mining area and the mining part in the mining area, and a plurality of groups of detectors are arranged according to each monitoring area; the data in the mine detected by the plurality of groups of detectors are collected, and a dynamic model of the mining area is constructed based on the plurality of mine data and the positions of the corresponding monitoring areas; the mining accident occurrence area is predicted based on the mining accident occurrence dynamic model, and the mining accident occurrence area is located and reviewed to collect actual data, and the status of the mining accident occurrence area is defined based on the plurality of actual data, and prediction and review are performed on the mining accident occurrence area to ensure the accuracy of the status of the mining accident occurrence area.

[0065] Furthermore, a mine disaster channel corresponding to the mine disaster occurrence area is defined, and the mine disaster occurrence time of each node in the mine disaster channel is predicted based on the mine disaster factor set corresponding to the status of the mine disaster channel and the mine disaster occurrence area; the vehicle's escape route is defined according to the mine disaster channel, the mine disaster occurrence time of each node, the current position of the vehicle, and the driving channel, and the vehicle's on-site ejection is triggered based on the vehicle's escape route and surrounding environmental characteristics; the vehicle's driving state is defined according to multiple driving data, and the vehicle's self-control logic is triggered according to the vehicle's driving state, the mine disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model; the vehicle's posture during driving is controlled based on the vehicle's self-control logic, thereby realizing dynamic control of the vehicle's posture during driving, ensuring the vehicle's driving stability along the vehicle's escape route, and being compatible with multi-dimensional considerations of the vehicle's driving state, the mine disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0067] Figure 1 is a flow chart of an emergency control method for a vehicle in a mining disaster scenario in an embodiment of the present invention;

[0068] Figure 2 is a flow chart of S11 in the emergency control method of a vehicle in a mining disaster scenario in an embodiment of the present invention;

[0069] Figure 3 is a flow chart of S12 in the emergency control method of a vehicle in a mining disaster scenario in an embodiment of the present invention;

[0070] Figure 4 is a flow chart of S13 in the emergency control method of a vehicle in a mining disaster scenario in an embodiment of the present invention;

[0071] Figure 5 is a flow chart of S14 in the emergency control method of a vehicle in a mining disaster scenario in an embodiment of the present invention;

[0072] Figure 6 is a flow chart of S15 in the emergency control method of a vehicle in a mining disaster scenario in an embodiment of the present invention;

[0073] Figure 7 is a flow chart of S16 in the emergency control method of a vehicle in a mining disaster scenario in an embodiment of the present invention;

[0074] Figure 8 It is a schematic diagram of the structure of an emergency control system of a vehicle in a mining disaster scenario in an embodiment of the present invention;

[0075] Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0076] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0077] See also Figures 1 to 9, an emergency control method for a vehicle in a mine disaster scene, applied to an emergency control scene of a vehicle in a mine disaster scene; the emergency control method for a vehicle in a mine disaster scene includes:

[0078] Step S11: dividing a plurality of monitoring areas based on the three-dimensional space of the mining area and the mining part in the mining area, and arranging a plurality of groups of detectors according to each monitoring area;

[0079] Step S12: collecting the mine data detected by multiple sets of detectors, and constructing a mine area dynamic model based on the multiple mine data and the positions of the corresponding monitoring areas;

[0080] Step S13: predicting the mining disaster occurrence area based on the mining area dynamic model, and conducting a location review of the mining disaster occurrence area to collect actual data, and defining the state of the mining disaster occurrence area based on multiple actual data;

[0081] Step S14: defining a corresponding mine disaster channel according to the mine disaster occurrence area, and predicting the mine disaster occurrence time of each node in the mine disaster channel based on a set of mine disaster factors corresponding to the states of the mine disaster channel and the mine disaster occurrence area;

[0082] Step S15: defining the vehicle's escape route according to the mine disaster passage, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving passage, and triggering the vehicle's ejection based on the vehicle's escape route and surrounding environment characteristics;

[0083] Step S16: Define the driving state of the vehicle according to multiple driving data, trigger the vehicle's self-regulation logic according to the vehicle's driving state, the mining disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model, and control the vehicle's posture during driving based on the vehicle's self-regulation logic.

[0084] In an embodiment of the present invention, through the method in the embodiment of the present invention, a plurality of monitoring areas are divided based on the three-dimensional space of the mining area and the mining part in the mining area, and a plurality of groups of detectors are arranged according to each monitoring area; the data in the mine detected by the plurality of groups of detectors are collected, and a dynamic model of the mining area is constructed based on the plurality of mine data and the positions of the corresponding monitoring areas; the mining accident occurrence area is predicted based on the mining accident occurrence dynamic model, and the mining accident occurrence area is located and reviewed to collect actual data, and the status of the mining accident occurrence area is defined based on the plurality of actual data, and prediction and review are performed on the mining accident occurrence area to ensure the accuracy of the status of the mining accident occurrence area.

[0085] Furthermore, a mine disaster channel corresponding to the mine disaster occurrence area is defined, and the mine disaster occurrence time of each node in the mine disaster channel is predicted based on the mine disaster factor set corresponding to the status of the mine disaster channel and the mine disaster occurrence area; the vehicle's escape route is defined according to the mine disaster channel, the mine disaster occurrence time of each node, the current position of the vehicle, and the driving channel, and the vehicle's on-site ejection is triggered based on the vehicle's escape route and surrounding environmental characteristics; the vehicle's driving state is defined according to multiple driving data, and the vehicle's self-control logic is triggered according to the vehicle's driving state, the mine disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model; the vehicle's posture during driving is controlled based on the vehicle's self-control logic, thereby realizing dynamic control of the vehicle's posture during driving, ensuring the vehicle's driving stability along the vehicle's escape route, and being compatible with multi-dimensional considerations of the vehicle's driving state, the mine disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model.

[0086] refer to Figure 2 , in step S11, a plurality of monitoring areas are divided based on the three-dimensional space of the mining area and the mining part in the mining area, and a plurality of groups of detectors are arranged according to each monitoring area;

[0087] In the specific implementation process of the present invention, the specific steps may be:

[0088] S111: collecting the location of the mining area, and defining the outer contour of the mining area according to the positioning detection of the location of the mining area;

[0089] S112: Construct the three-dimensional space of the mining area based on the outer contour of the mining area and the detection data of the drone;

[0090] S113: associating the three-dimensional space of the mining area and the mining part in the mining area, and dividing a plurality of monitoring areas according to the three-dimensional space of the mining area, the mining part in the mining area, and the driving passage of the vehicle;

[0091] S114: Mark the location of each monitoring area, and construct a corresponding detection space according to the location of each monitoring area and the corresponding surrounding space;

[0092] S115: defining a plurality of detection points according to the detection space, and matching the plurality of groups of detectors to the plurality of detection points.

[0093] In an embodiment of the present application, in an indoor space where a smart device is located, the location of the smart device is collected, the location of the smart device is introduced, and multiple surrounding environment features are defined based on the surrounding environment detection of the location of the smart device. At this time, multiple surrounding environment parameters of the location of the smart device are defined for the surrounding environment detection, so as to define corresponding surrounding environment features according to multiple surrounding environment parameters and corresponding directions, thereby clarifying multiple surrounding environment features. Optionally, the multiple surrounding environment features include work surface features, obstacle features, space features, etc.

[0094] Furthermore, the location of the smart device and multiple surrounding environment features are associated, and scene detection is triggered based on the location of the smart device and multiple surrounding environment features, so as to introduce multi-dimensional control of the location of the smart device and multiple surrounding environment features, thereby realizing scene detection.

[0095] At this time, the smart device is dynamically monitored, and multiple task signals of the smart device are collected in real time. The multiple task signals of the smart device are further controlled to facilitate the association of the scene in which the smart device is located and the multiple task signals of the smart device, thereby realizing multi-dimensional control of the scene in which the smart device is located and the multiple task signals of the smart device, thereby realizing the matching of the scene and the corresponding task signals, and then defining the multiple task information of the smart device in the current scene according to the scene in which the smart device is located and the multiple task signals of the smart device, thereby ensuring the accuracy of the multiple task information of the smart device in the current scene, and realizing the control of the multiple task information of the smart device in the current scene.

[0096] refer to Figure 3 , in step S12, the mine data detected by multiple sets of detectors are collected, and a dynamic model of the mine area is constructed based on the multiple mine data and the positions of the corresponding monitoring areas;

[0097] In the specific implementation process of the present invention, the specific steps may be:

[0098] S121: collecting data in the mine detected by multiple groups of detectors;

[0099] S122: Marking corresponding positions of multiple mine data;

[0100] S123: defining corresponding mine activity according to a plurality of mine data and corresponding positions;

[0101] S124: constructing an activity set of the mining area based on multiple activities within the mines and locations of corresponding monitoring areas;

[0102] S125: Activity set of related mining areas, past records of mining areas, and three-dimensional space of mining areas;

[0103] S126: A dynamic model of the mining area is constructed based on the activity set of the mining area, the previous records of the mining area, and the three-dimensional space of the mining area. At this time, the dynamic model of the mining area controls the dynamic changes of the mining area in real time, and performs autonomous optimization in combination with the real-time data of the mining area.

[0104] In an embodiment of the present application, mine data detected by multiple groups of detectors are collected, and multiple mine data are introduced to facilitate marking corresponding positions of the multiple mine data, and multi-dimensional control is performed on the multiple mine data and the corresponding positions, so as to define the corresponding mine activity according to the multiple mine data and the corresponding positions, thereby ensuring the accuracy of the mine activity. At the same time, real-time monitoring of the mine activity is performed on the mining area.

[0105] At this time, an activity set of the mining area is constructed based on the activity levels of multiple mines and the locations of the corresponding monitoring areas, and the activity set of the mining area is introduced to control the activity set of the mining area as a whole.

[0106] Furthermore, the activity set of the mining area, the past records of the mining area, and the three-dimensional space of the mining area are associated, and the activity set of the mining area, the past records of the mining area, and the three-dimensional space of the mining area are controlled in multiple dimensions, so as to construct a dynamic model of the mining area based on the activity set of the mining area, the past records of the mining area, and the three-dimensional space of the mining area. At this time, the dynamic model of the mining area controls the dynamic changes of the mining area in real time, and optimizes itself in combination with the real-time data of the mining area. The mining area is dynamically controlled through the dynamic model of the mining area, so as to fully consider the overall impact of the activity set of the mining area, the past records of the mining area, and the three-dimensional space of the mining area, thereby ensuring the multi-dimensional control of the activity set of the mining area, the past records of the mining area, and the three-dimensional space of the mining area.

[0107] refer to Figure 4 , in step S13, the mining disaster occurrence area is predicted based on the mining area dynamic model, and the mining disaster occurrence area is located and reviewed to collect actual data, and the state of the mining disaster occurrence area is defined based on multiple actual data;

[0108] In the specific implementation process of the present invention, the specific steps may be:

[0109] S131: freeze-frame mining area dynamic model;

[0110] S132: Collecting an activity set of the mining area, and defining a plurality of abnormal activities based on screening of the activity set of the mining area;

[0111] S133: predicting multiple mining accident occurrence areas according to multiple abnormal activity levels, real-time information of the mining area, and response positions of the mining area dynamic model;

[0112] S134: collecting locations of multiple mining accident occurrence areas, and performing positioning review according to the locations of the multiple mining accident occurrence areas to collect actual data of the multiple mining accident occurrence areas;

[0113] S135: In each mining accident occurrence area, construct corresponding mining accident features according to a plurality of actual data and corresponding spaces;

[0114] S136: Define the state of the area where the mine disaster occurred according to the characteristics of the mine disaster, the corresponding direction, and the change in activity of the area where the mine disaster occurred.

[0115] In an embodiment of the present application, a plurality of monitoring areas are divided based on the three-dimensional space of the mining area and the mining part within the mining area, and a plurality of groups of detectors are arranged according to each monitoring area; the mine data detected by the plurality of groups of detectors are collected, and a dynamic model of the mining area is constructed based on the plurality of mine data and the positions of the corresponding monitoring areas; the mining accident occurrence area is predicted based on the mining accident occurrence dynamic model, and the mining accident occurrence area is located and reviewed to collect actual data, define the status of the mining accident occurrence area based on the plurality of actual data, predict and review the mining accident occurrence area, and ensure the accuracy of the status of the mining accident occurrence area.

[0116] At this time, the dynamic model of the mining area is frozen to facilitate further development of the dynamic model of the mining area. At the same time, the activity set of the mining area is collected, and multiple abnormal activities are defined based on the screening of the activity set of the mining area, thereby realizing abnormal screening of the activity set of the mining area, ensuring the accuracy of multiple abnormal activities, and realizing precise control of multiple abnormal activities.

[0117] Furthermore, multiple mining accident occurrence areas are predicted based on multiple abnormal activities, real-time messages of mining areas and response positions of mining area dynamic models. Multiple abnormal activities, real-time messages of mining areas and response positions of mining area dynamic models are introduced, which realizes multi-dimensional control of multiple abnormal activities, real-time messages of mining areas and response positions of mining area dynamic models, and ensures the accuracy of multiple mining accident occurrence areas.

[0118] Therefore, the locations of multiple mining accident areas are collected, and positioning reviews are performed based on the locations of multiple mining accident areas to collect actual data of multiple mining accident areas, and actual data of multiple mining accident areas are introduced.

[0119] Furthermore, in each mining accident area, corresponding mining accident characteristics are constructed based on multiple actual data and corresponding spaces; the status of the mining accident area is defined based on the mining accident characteristics, the corresponding orientation, and the change in activity of the mining accident area, which is compatible with the overall consideration of the mining accident characteristics, the corresponding orientation, and the change in activity of the mining accident area, and realizes multi-dimensional control of the mining accident characteristics, the corresponding orientation, and the change in activity of the mining accident area, and then predicts and reviews the mining accident area to ensure the accuracy of the status of the mining accident area.

[0120] refer to Figure 5 , S14: defining a corresponding mine disaster channel according to the mine disaster occurrence area, and predicting the mine disaster occurrence time of each node in the mine disaster channel based on the mine disaster factor set corresponding to the state of the mine disaster channel and the mine disaster occurrence area;

[0121] In the specific implementation process of the present invention, the specific steps may be:

[0122] S141: Positioning and detecting the area where the mine disaster occurred, and collecting the internal contour of the area where the mine disaster occurred;

[0123] S142: Associate the internal contours of the area where the mine disaster occurred, the vehicle travel path, and the location of the staff;

[0124] S143: defining a corresponding mine disaster passage based on the internal contour of the mine disaster area, the vehicle driving passage, and the location of the staff;

[0125] S144: Conduct fixed-point detection along the mine accident passage and collect multiple mine accident factors during the fixed-point detection;

[0126] S145: constructing a mining accident factor based on multiple mining accident factors, at this time, associating a mining accident channel and a mining accident occurrence area with a mining accident factor set corresponding to the state;

[0127] S146: Predicting the occurrence time of the mine accident at each node in the mine accident channel according to the set of mine accident factors corresponding to the status of the mine accident channel and the mine accident occurrence area.

[0128] In an embodiment of the present application, the state of a mine disaster occurrence area is defined based on mine disaster characteristics, corresponding locations, and activity changes in the mine disaster occurrence area. Mine disaster characteristics, corresponding locations, and activity changes in the mine disaster occurrence area are introduced, and multi-dimensional control is performed on the mine disaster characteristics, corresponding locations, and activity changes in the mine disaster occurrence area.

[0129] At the same time, the internal contours of the area where the mine disaster occurs, the driving passages of vehicles and the locations of the staff are associated to facilitate comprehensive management and control of the internal contours of the area where the mine disaster occurs, the driving passages of vehicles and the locations of the staff. Corresponding mine disaster channels are defined based on the internal contours of the area where the mine disaster occurs, the driving passages of vehicles and the locations of the staff. The mine disaster channels are introduced to ensure the accuracy of the mine disaster channels, and multi-dimensional control of the internal contours of the area where the mine disaster occurs, the driving passages of vehicles and the locations of the staff is achieved.

[0130] Therefore, fixed-point detection is carried out along the mine disaster channel, and multiple mine disaster factors are collected in the fixed-point detection; mine disaster factors are constructed based on multiple mine disaster factors, and at this time, the mine disaster factor set corresponding to the status of the mine disaster channel and the mine disaster occurrence area is associated; the mine disaster occurrence time of each node in the mine disaster channel is predicted according to the mine disaster factor set corresponding to the status of the mine disaster channel and the mine disaster occurrence area, which is compatible with the overall consideration of the mine disaster factor set corresponding to the status of the mine disaster channel and the mine disaster occurrence area, ensures multi-dimensional control of the mine disaster factor set corresponding to the status of the mine disaster channel and the mine disaster occurrence area, and realizes the accurate prediction of the mine disaster occurrence time of each node in the mine disaster channel.

[0131] refer to Figure 6 , S15: defining the vehicle's escape route according to the mine disaster passage, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving passage, and triggering the vehicle's in-place ejection based on the vehicle's escape route and surrounding environment characteristics;

[0132] In the specific implementation process of the present invention, the specific steps may be:

[0133] S151: freeze the mine disaster passage and the time of occurrence of the mine disaster at each node. At this time, associate the mine disaster passage, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving passage;

[0134] S152: defining a first escape range according to the mine disaster passage, the current position of the vehicle, and the driving passage;

[0135] S153: defining a second escape range according to the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving channel;

[0136] S154: defining an escape route of the vehicle based on the second escape range, the second escape range, and the current position of the vehicle;

[0137] S155: defining an escape route of the vehicle based on the second escape range, the second escape range, and the current position of the vehicle;

[0138] S156: Define an ejection node based on the vehicle's escape route and surrounding environment characteristics; trigger the vehicle's ejection according to the ejection node. At this time, define the vehicle's ejection power according to the ejection node, the number of people on the vehicle, and the ejection space in the mine disaster passage.

[0139] In an embodiment of the present application, the mine disaster channel and the time of occurrence of the mine disaster at each node are frozen. At this time, the mine disaster channel, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving channel are associated to perform overall control of the mine disaster channel, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving channel.

[0140] At this time, the first escape range is defined according to the mine disaster channel, the current position of the vehicle, and the driving channel. Multi-dimensional control is carried out based on the mine disaster channel, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving channel. The first escape range is introduced, and preliminary control of the vehicle's escape route is achieved based on the first escape range.

[0141] Furthermore, a second escape range is defined according to the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving channel. Multi-dimensional control is performed based on the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving channel. A second escape range is introduced, and the final control of the vehicle's escape route is achieved based on the second escape range. Therefore, the vehicle's escape route is defined based on the second escape range, the second escape range, and the current position of the vehicle, which ensures multiple authentication of the vehicle's escape route and improves the accuracy of the vehicle's escape route.

[0142] Therefore, environmental detection is triggered along the vehicle's escape route, and the corresponding surrounding environmental characteristics are collected to facilitate the introduction of surrounding environmental characteristics, ensuring further control of the vehicle's escape route. At the same time, an ejection node is defined based on the vehicle's escape route and surrounding environmental characteristics; the vehicle's in-place ejection is triggered according to the ejection node. At this time, the vehicle's ejection power is defined according to the ejection node, the number of people loaded in the vehicle, and the ejection space in the mine disaster passage.

[0143] refer to Figure 7 , S16: defining the driving state of the vehicle according to the plurality of driving data, triggering the self-regulating logic of the vehicle according to the driving state of the vehicle, the mining disaster form of the surrounding environment of the vehicle, and the current picture of the mining area dynamic model, and controlling the posture of the vehicle during driving based on the self-regulating logic of the vehicle;

[0144] In the specific implementation process of the present invention, the specific steps may be:

[0145] S161: Real-time monitoring of multiple driving data of the vehicle during the escape process;

[0146] S162: defining a driving state of the vehicle according to a plurality of driving data and the number of passengers on the vehicle;

[0147] S163: collecting obstacle data of the vehicle during driving, and triggering primary control of the vehicle according to the obstacle data and the relative distance between the vehicle and the obstacle;

[0148] S164: In the primary control of the vehicle, the vehicle effectively avoids the obstacle based on the obstacle characteristics formed by the obstacle data, and ensures the driving stability of the vehicle during the avoidance process;

[0149] S165: triggering the self-regulation logic of the vehicle according to the driving state of the vehicle, the mining disaster form of the surrounding environment of the vehicle, and the current picture of the mining area dynamic model. At this time, a first regulation parameter is defined according to the driving state of the vehicle and the mining disaster form of the surrounding environment of the vehicle, a second regulation parameter is defined according to the driving state of the vehicle and the current picture of the mining area dynamic model, and the self-regulation logic of the vehicle is defined according to the first regulation parameter, the second regulation parameter and the logic matching table;

[0150] S166: Control the vehicle's posture during driving based on the vehicle's self-regulation logic.

[0151] During the specific implementation of the present invention, a mine disaster channel corresponding to the mine disaster occurrence area is defined, and the mine disaster occurrence time of each node in the mine disaster channel is predicted based on the mine disaster factor set corresponding to the status of the mine disaster channel and the mine disaster occurrence area; the vehicle's escape route is defined according to the mine disaster channel, the mine disaster occurrence time of each node, the current position of the vehicle, and the driving channel, and the vehicle's on-site ejection is triggered based on the vehicle's escape route and surrounding environmental characteristics; the vehicle's driving state is defined according to multiple driving data, and the vehicle's self-regulation logic is triggered according to the vehicle's driving state, the mine disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model; the vehicle's posture during driving is controlled based on the vehicle's self-regulation logic, thereby realizing dynamic control of the vehicle's posture during driving, ensuring the driving stability of the vehicle along the vehicle's escape route, and being compatible with multi-dimensional considerations of the vehicle's driving state, the mine disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model.

[0152] At this time, multiple driving data of the vehicle during the escape process are monitored in real time, and multiple driving data are introduced to facilitate overall control of the multiple driving data, so as to define the driving state of the vehicle according to the multiple driving data and the number of passengers on the vehicle, thereby realizing multi-dimensional control of multiple driving data and the number of passengers on the vehicle, and ensuring the accuracy of the driving state of the vehicle.

[0153] Furthermore, obstacle data of the vehicle during driving is collected, and primary control of the vehicle is triggered according to the obstacle data and the relative distance between the vehicle and the obstacle, so as to realize primary control of the vehicle, fully consider the obstacle data and the relative distance between the vehicle and the obstacle, and reduce the impact of the obstacle on the vehicle. Therefore, in the primary control of the vehicle, the vehicle effectively avoids the obstacle based on the obstacle characteristics formed by the obstacle data, and ensures the driving stability of the vehicle during the avoidance process;

[0154] Furthermore, the self-regulation logic of the vehicle is triggered according to the driving state of the vehicle, the form of the mine disaster in the vehicle's surrounding environment, and the current picture of the dynamic model of the mining area. At this time, the first regulation parameter is defined according to the driving state of the vehicle and the form of the mine disaster in the vehicle's surrounding environment, and the second regulation parameter is defined according to the driving state of the vehicle and the current picture of the dynamic model of the mining area. The first regulation parameter and the second regulation parameter are introduced, and multi-dimensional control of the first regulation parameter and the second regulation parameter is realized, so that the self-regulation logic of the vehicle is defined according to the first regulation parameter, the second regulation parameter and the logic matching table, and the posture of the vehicle during driving is controlled based on the self-regulation logic of the vehicle, thereby realizing dynamic control of the posture of the vehicle during driving, ensuring the driving stability of the vehicle along the vehicle's escape route, and being compatible with multi-dimensional considerations of the driving state of the vehicle, the form of the mine disaster in the vehicle's surrounding environment, and the current picture of the dynamic model of the mining area.

[0155] In an embodiment of the present invention, through the method in the embodiment of the present invention, a plurality of monitoring areas are divided based on the three-dimensional space of the mining area and the mining part in the mining area, and a plurality of groups of detectors are arranged according to each monitoring area; the data in the mine detected by the plurality of groups of detectors are collected, and a dynamic model of the mining area is constructed based on the plurality of mine data and the positions of the corresponding monitoring areas; the mining accident occurrence area is predicted based on the mining accident occurrence dynamic model, and the mining accident occurrence area is located and reviewed to collect actual data, and the status of the mining accident occurrence area is defined based on the plurality of actual data, and prediction and review are performed on the mining accident occurrence area to ensure the accuracy of the status of the mining accident occurrence area.

[0156] Furthermore, a mine disaster channel corresponding to the mine disaster occurrence area is defined, and the mine disaster occurrence time of each node in the mine disaster channel is predicted based on the mine disaster factor set corresponding to the status of the mine disaster channel and the mine disaster occurrence area; the vehicle's escape route is defined according to the mine disaster channel, the mine disaster occurrence time of each node, the current position of the vehicle, and the driving channel, and the vehicle's on-site ejection is triggered based on the vehicle's escape route and surrounding environmental characteristics; the vehicle's driving state is defined according to multiple driving data, and the vehicle's self-control logic is triggered according to the vehicle's driving state, the mine disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model; the vehicle's posture during driving is controlled based on the vehicle's self-control logic, thereby realizing dynamic control of the vehicle's posture during driving, ensuring the vehicle's driving stability along the vehicle's escape route, and being compatible with multi-dimensional considerations of the vehicle's driving state, the mine disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model.

[0157] See also Figure 8 , Figure 8 It is a schematic diagram of the structural composition of an emergency control system of a vehicle in a mining disaster scenario in an embodiment of the present invention.

[0158] like Figure 8 As shown, an emergency control system for a vehicle in a mine disaster scenario, the emergency control system for the vehicle in a mine disaster scenario includes:

[0159] The detector module 21 is used to divide a plurality of monitoring areas based on the three-dimensional space of the mining area and the mining part in the mining area, and arrange a plurality of groups of detectors according to each monitoring area;

[0160] A mine area dynamic module 22 is used to collect mine data detected by multiple sets of detectors, and to construct a mine area dynamic model based on multiple mine data and the positions of corresponding monitoring areas;

[0161] The state module 23 is used to predict the mining disaster occurrence area based on the mining area dynamic model, and to locate and review the mining disaster occurrence area to collect actual data and define the state of the mining disaster occurrence area based on multiple actual data;

[0162] The prediction module 24 is used to define a corresponding mine disaster channel according to the mine disaster occurrence area, and predict the mine disaster occurrence time of each node in the mine disaster channel based on the mine disaster factor set corresponding to the state of the mine disaster channel and the mine disaster occurrence area;

[0163] The ejection module 25 is used to define the escape route of the vehicle according to the mine disaster passage, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving passage, and trigger the ejection of the vehicle in place based on the escape route of the vehicle and the surrounding environment characteristics;

[0164] The posture module 26 is used to define the driving state of the vehicle according to multiple driving data, trigger the vehicle's self-regulation logic according to the vehicle's driving state, the mining disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model, and control the vehicle's posture during driving based on the vehicle's self-regulation logic.

[0165] See also Fig. 9 , refer to the following Fig. 9 The electronic intelligent device 40 according to this embodiment of the present invention is described. Fig. 9 The electronic intelligent device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0166] like Fig. 9 As shown, the electronic intelligent device 40 is in the form of a general computing intelligent device. The components of the electronic intelligent device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0167] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0168] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0169] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0170] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0171] The electronic smart device 40 may also communicate with one or more external smart devices (e.g., keyboards, pointing smart devices, Bluetooth smart devices, etc.), one or more smart devices that enable a user to interact with the electronic smart device 40, and / or any smart device that enables the electronic smart device 40 to communicate with one or more other computing smart devices (e.g., routers, modems, etc.). Such communication may be performed through an input / output (I / O) interface 44. Furthermore, the electronic smart device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic intelligent device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic intelligent device 40, including but not limited to: microcode, intelligent device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0172] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing intelligent device (which can be a personal computer, a server, a terminal device, or a network intelligent device, etc.) to execute the method according to the implementation of the present disclosure.

[0173] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0174] In addition, the above is a detailed introduction to the emergency control method and system for vehicles in mining disaster scenarios provided by the embodiments of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for emergency control of a vehicle in a mining disaster scene, characterized in that: Applied to emergency control scenarios of vehicles in mining disasters; The emergency control method of the vehicle in a mining disaster scenario includes: Divide the mining area into multiple monitoring areas based on the three-dimensional space of the mining area and the mining part within the mining area, and arrange multiple groups of detectors according to each monitoring area; Collecting the mine data detected by multiple sets of detectors, and building a dynamic model of the mine area based on the multiple mine data and the location of the corresponding monitoring area; Predict the area where the mine accident occurs based on the dynamic model of the mining area, and conduct a location review of the area where the mine accident occurs to collect actual data, and define the status of the area where the mine accident occurs based on multiple actual data; Define the corresponding mine disaster channel according to the mine disaster occurrence area, and predict the mine disaster occurrence time of each node in the mine disaster channel based on the mine disaster factor set corresponding to the state of the mine disaster channel and the mine disaster occurrence area; Define the vehicle's escape route based on the mine disaster passage, the time of occurrence of the mine disaster at each node, the vehicle's current location, and the driving passage, and trigger the vehicle's ejection based on the vehicle's escape route and surrounding environment characteristics; The driving state of the vehicle is defined according to a plurality of driving data, the self-regulation logic of the vehicle is triggered according to the driving state of the vehicle, the mining accident form of the vehicle's surrounding environment, and the current picture of the dynamic model of the mining area, and the posture of the vehicle during driving is controlled based on the self-regulation logic of the vehicle.

2. The method for emergency control of a vehicle in a mine disaster scene according to claim 1, characterized in that: The method divides a plurality of monitoring areas based on the three-dimensional space of the mining area and the mining part in the mining area, and arranges a plurality of groups of detectors according to each monitoring area, including: Collect the location of the mining area and define the outer contour of the mining area based on the positioning detection of the location of the mining area; Construct the three-dimensional space of the mining area based on the outer contour of the mining area and the detection data of the drone; The three-dimensional space of the mining area and the mining part in the mining area are associated, and multiple monitoring areas are divided according to the three-dimensional space of the mining area, the mining part in the mining area and the driving channel of the vehicle; Mark the location of each monitoring area, and build a corresponding detection space according to the location of each monitoring area and the corresponding surrounding space; A plurality of detection points are defined according to the detection space, and a plurality of groups of detectors are matched to the plurality of detection points.

3. The method for emergency control of a vehicle in a mine disaster scene according to claim 2, characterized in that: The method of collecting the mine data detected by multiple groups of detectors and constructing a mine area dynamic model based on the multiple mine data and the positions of the corresponding monitoring areas includes: Collect data from mines detected by multiple sets of detectors; Mark the corresponding positions of multiple mine data; According to multiple mine data and corresponding positions, corresponding mine activity is defined; Constructing a mining area activity set based on multiple mine activities and the locations of corresponding monitoring areas; The activity set of the associated mining area, the past records of the mining area, and the three-dimensional space of the mining area; A dynamic model of the mining area is constructed based on the activity set of the mining area, the previous records of the mining area, and the three-dimensional space of the mining area. At this time, the dynamic model of the mining area controls the dynamic changes of the mining area in real time, and performs autonomous optimization in combination with the real-time data of the mining area.

4. The method for emergency control of a vehicle in a mine disaster scene according to claim 3, characterized in that: The method of predicting the mining accident occurrence area based on the mining area dynamic model and positioning and reviewing the mining accident occurrence area to collect actual data and define the state of the mining accident occurrence area based on multiple actual data includes: Freeze the dynamic model of the mining area; Collecting an activity set of the mining area, and defining multiple abnormal activities based on the screening of the activity set of the mining area; Predict multiple mining accident areas based on multiple abnormal activities, real-time information from the mining area, and the response locations of the mining area dynamic model; Collect the locations of multiple mining accident areas, and conduct positioning review based on the locations of multiple mining accident areas to collect actual data of multiple mining accident areas; In each mining accident area, the corresponding mining accident features are constructed based on multiple actual data and corresponding spaces; The status of the mining accident area is defined according to the characteristics of the mining accident, the corresponding location, and the change in activity of the mining accident area.

5. The method for emergency control of a vehicle in a mine disaster scene according to claim 4, characterized in that: The method of defining a corresponding mine disaster channel according to the mine disaster occurrence area, and predicting the mine disaster occurrence time of each node in the mine disaster channel based on a set of mine disaster factors corresponding to the states of the mine disaster channel and the mine disaster occurrence area, includes: Conduct location detection on the area where the mine disaster occurred and collect the internal contour of the area where the mine disaster occurred; The internal contours of the area where the mine accident occurred, the vehicle travel path and the location of the staff; Define the corresponding mine accident passage based on the internal contour of the mine accident area, the vehicle driving passage and the location of the staff; Conduct fixed-point detection along the mine accident channel and collect multiple mining accident factors during the fixed-point detection; Constructing mining accident factors based on multiple mining accident factors, at this time, the mining accident factor set corresponding to the state of the mining accident channel and the mining accident occurrence area is associated; The occurrence time of the mine accident at each node in the mine accident channel is predicted based on the set of mine accident factors corresponding to the status of the mine accident channel and the mine accident occurrence area.

6. The method for emergency control of a vehicle in a mine disaster scene according to claim 5, characterized in that: The method of defining the vehicle's escape route according to the mine disaster passage, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving passage, and triggering the vehicle's ejection in place based on the vehicle's escape route and surrounding environment characteristics, includes: The mine accident channel and the time of occurrence of the mine accident at each node are fixed. At this time, the mine accident channel, the time of occurrence of the mine accident at each node, the current position of the vehicle, and the driving channel are associated; Define the first escape range based on the mine disaster passage, the current position of the vehicle, and the driving passage; Define the second escape range based on the time of the mining accident at each node, the current location of the vehicle, and the driving channel; An escape route of the vehicle is defined based on the second escape range, the second escape range, and the current position of the vehicle.

7. The method for emergency control of a vehicle in a mine disaster scene according to claim 6, characterized in that: The method further includes defining the vehicle's escape route according to the mine disaster passage, the occurrence time of the mine disaster at each node, the current position of the vehicle, and the driving passage, and triggering the vehicle's ejection based on the vehicle's escape route and surrounding environment characteristics, and: Trigger environmental detection along the vehicle's escape route and collect corresponding surrounding environment features; The ejection node is defined based on the vehicle's escape route and the surrounding environment characteristics; the vehicle's ejection is triggered according to the ejection node. At this time, the vehicle's ejection power is defined according to the ejection node, the number of people on the vehicle, and the ejection space in the mine disaster passage.

8. The method for emergency control of a vehicle in a mine disaster scene according to claim 7, characterized in that: The method of defining the driving state of the vehicle according to the plurality of driving data, triggering the self-regulation logic of the vehicle according to the driving state of the vehicle, the mining disaster form of the surrounding environment of the vehicle, and the current picture of the mining area dynamic model, and controlling the posture of the vehicle during driving based on the self-regulation logic of the vehicle includes: Real-time monitoring of multiple driving data of the vehicle during the escape process; Defining the driving state of the vehicle according to a plurality of driving data and the number of passengers in the vehicle; Collect obstacle data of the vehicle during driving, and trigger primary control of the vehicle based on the obstacle data and the relative distance between the vehicle and the obstacle; In the primary control of the vehicle, the vehicle effectively avoids obstacles based on the obstacle characteristics formed by the obstacle data, and ensures the driving stability of the vehicle during the avoidance process.

9. The method for emergency control of a vehicle in a mine disaster scene according to claim 8, characterized in that: The method further includes defining the driving state of the vehicle according to the plurality of driving data, triggering the self-regulating logic of the vehicle according to the driving state of the vehicle, the mining disaster form of the surrounding environment of the vehicle, and the current picture of the mining area dynamic model, and controlling the posture of the vehicle during driving based on the self-regulating logic of the vehicle, and further includes: The self-regulation logic of the vehicle is triggered according to the driving state of the vehicle, the mining disaster form of the surrounding environment of the vehicle, and the current picture of the dynamic model of the mining area. At this time, the first regulation parameter is defined according to the driving state of the vehicle and the mining disaster form of the surrounding environment of the vehicle, and the second regulation parameter is defined according to the driving state of the vehicle and the current picture of the dynamic model of the mining area. The self-regulation logic of the vehicle is defined according to the first regulation parameter, the second regulation parameter and the logic matching table; The vehicle's posture during driving is controlled based on the vehicle's self-regulation logic.

10. An emergency control system for a vehicle in a mining disaster scene, characterized in that: The emergency control system of the vehicle in a mine disaster scene is applied to the emergency control method of the vehicle in a mine disaster scene as claimed in any one of claims 1 to 9, and the emergency control system of the vehicle in a mine disaster scene includes: The detector module is used to divide multiple monitoring areas based on the three-dimensional space of the mining area and the mining part in the mining area, and arrange multiple groups of detectors according to each monitoring area; The mining area dynamic module is used to collect the mine data detected by multiple sets of detectors, and build a mining area dynamic model based on multiple mine data and the location of the corresponding monitoring area; The status module is used to predict the mining accident occurrence area based on the mining area dynamic model, and to locate and review the mining accident occurrence area to collect actual data and define the status of the mining accident occurrence area based on multiple actual data; A prediction module is used to define a corresponding mine disaster channel according to the mine disaster occurrence area, and predict the mine disaster occurrence time of each node in the mine disaster channel based on the mine disaster factor set corresponding to the state of the mine disaster channel and the mine disaster occurrence area; The ejection module is used to define the vehicle's escape route according to the mine disaster channel, the time of occurrence of the mine disaster at each node, the current position of the vehicle, and the driving channel, and trigger the vehicle's ejection based on the vehicle's escape route and surrounding environment characteristics; The posture module is used to define the driving state of the vehicle according to multiple driving data, trigger the vehicle's self-regulation logic according to the vehicle's driving state, the mining disaster form of the vehicle's surrounding environment, and the current picture of the mining area dynamic model, and control the vehicle's posture during driving based on the vehicle's self-regulation logic.

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