Mine safety detection method based on digital twinning

Abstract

The invention relates to the technical field of safety detection, and discloses a mine safety detection method based on digital twinning, and the method comprises the steps: carrying out the modeling of mine transportation information through a digital twinning technology, including an uplink lane, a downlink lane, an uplink vehicle and a downlink vehicle; according to the method, whether a vehicle breaks down or not is judged by setting a vehicle fault speed threshold value, and if the fault vehicle is found, a corresponding scheduling strategy is adopted according to a vehicle set to which the fault vehicle belongs; the scheduling strategy comprises the steps of obtaining a fault moment, judging the movement direction of a fault vehicle, determining a lane changing safety distance and adjusting the driving speed of an adjacent vehicle so as to ensure the safety distance and optimize the traffic flow; in addition, a specific calculation formula is further provided to accurately adjust the speed and the position of the vehicle. The safety risk caused by the fault vehicle can be dealt with; the method can effectively improve the safety and efficiency of a mine transportation system.

Description

Technical Field

[0001] The present invention relates to the technical field of safety detection, and in particular to a mine safety detection method based on digital twins. Background Art

[0002] With the rapid development of the mining industry, the safety and efficiency of mine transportation systems have received increasing attention. Digital twin technology, as an emerging technology, can monitor and simulate the status of entities in real time by creating virtual copies of physical entities, providing new solutions for mine safety. Using digital twin technology, a high-precision model of the mine transportation system can be constructed to achieve real-time monitoring and prediction of vehicle driving status, and timely discover and deal with potential safety issues. Traditional mine monitoring systems mainly rely on manual inspections and simple mechanical or electronic systems. These methods often cannot reflect the actual operating status of the transportation system in real time and have limited ability to handle emergencies. Especially in the process of mine transportation, upstream and downstream vehicles interact frequently. Once a vehicle failure occurs, it may quickly affect the safety and efficiency of the entire transportation system.

[0003] In summary, there is an urgent need for a mine safety detection method based on digital twins to improve the safety and efficiency of mine transportation systems. Summary of the invention

[0004] The present invention provides a mine safety detection method based on digital twins, which promotes solving the problems mentioned in the above background technology.

[0005] The present invention provides the following technical solution: a mine safety detection method based on digital twins, comprising:

[0006] Use digital twin technology to model mine transportation information;

[0007] The mine transportation information includes: an up lane, a down lane, an up vehicle and a down vehicle;

[0008] All the upgoing vehicles constitute the upgoing vehicle set, and all the upgoing vehicles have the same travel speed, which is denoted as V1;

[0009] All downlink vehicles constitute a downlink vehicle set, and all downlink vehicles have the same travel speed, denoted as V2;

[0010] All vehicles have the same length, denoted as L;

[0011] Determine whether the vehicle is faulty according to the vehicle fault judgment strategy;

[0012] If the vehicle has no fault, no action will be taken;

[0013] If a vehicle breaks down, determine the set to which the broken vehicle belongs;

[0014] If the faulty vehicle belongs to the upstream vehicle set, the vehicle driving is adjusted according to the upstream vehicle fault dispatching strategy;

[0015] If the faulty vehicle belongs to the downlink vehicle set, the vehicle driving is adjusted according to the downlink vehicle fault dispatching strategy.

[0016] Optionally, judging whether the vehicle is faulty according to the vehicle fault judgment strategy specifically includes:

[0017] Get the driving speed of all vehicles;

[0018] Set the speed threshold of the faulty vehicle;

[0019] If the vehicle's running speed is not equal to the faulty vehicle speed threshold, the vehicle whose running speed is not equal to the faulty vehicle speed threshold is deemed to be a normal vehicle;

[0020] If the vehicle's running speed is equal to the faulty vehicle speed threshold, the vehicle whose running speed is equal to the faulty vehicle speed threshold is deemed to be a faulty vehicle;

[0021] If the faulty vehicle belongs to the upstream vehicle set, the vehicle driving is adjusted according to the upstream vehicle fault dispatching strategy;

[0022] If the faulty vehicle belongs to the downlink vehicle set, the vehicle driving is adjusted according to the downlink vehicle fault dispatching strategy.

[0023] Optionally, the adjusting the vehicle driving according to the uplink vehicle failure dispatching strategy specifically includes:

[0024] Obtain the moment when the faulty vehicle stops moving;

[0025] It is stipulated that the movement direction of the faulty vehicle before the fault occurs is the positive direction;

[0026] The direction opposite to the direction of movement of the faulty vehicle before the fault occurs is defined as the reverse direction;

[0027] Starting from the faulty vehicle and moving in the reverse direction, obtain the upgoing vehicle closest to the faulty vehicle, which is recorded as the first target vehicle;

[0028] Obtain the distance from the front of the first target vehicle to the rear of the faulty vehicle, recorded as L1, L1 ≥ 0;

[0029] Starting from the faulty vehicle, along the positive direction, obtain the downlink vehicle closest to the faulty vehicle, which is recorded as the second target vehicle;

[0030] Obtain the distance from the front of the second target vehicle to the rear of the faulty vehicle, recorded as L2, L2 ≥ 0;

[0031] Set distance threshold;

[0032] Set a lane change safety distance, denoted as A. The lane change safety distance refers to a distance behind the rear of the faulty vehicle, which is used for vehicles behind the faulty vehicle to change lanes;

[0033] If the distance from the front of the second target vehicle to the rear of the faulty vehicle is less than or equal to the distance threshold;

[0034] Obtain the time required for the front of the first target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle, and calculate the time required for the front of the first target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle using the following formula:

[0035] Among them, T1 is the time required for the front of the first target vehicle to travel to the position of the safe distance for lane change behind the rear of the faulty vehicle, L1 is the distance from the front of the first target vehicle to the rear of the faulty vehicle, A is the safe distance for lane change, and V1 is the driving speed of the first target vehicle.

[0036] Optionally, the adjusting the vehicle driving according to the uplink vehicle failure dispatching strategy further includes:

[0037] When the faulty vehicle stops moving, the speed of the second target vehicle is adjusted according to the time required for the front of the first target vehicle to travel to the position of the lane change safety distance behind the rear of the faulty vehicle;

[0038] The adjusted driving speed of the second target vehicle is calculated by the following formula:

[0039] Where V3 is the adjusted speed of the second target vehicle, L is the length of the vehicle, L2 is the distance from the front of the second target vehicle to the rear of the faulty vehicle, A is the lane change safety distance, and T1 is the time required for the front of the first target vehicle to travel to the rear of the faulty vehicle;

[0040] When the faulty vehicle stops moving, the driving speed of the first target vehicle remains unchanged, and the driving speed of the second target vehicle is adjusted to V3;

[0041] Obtain the position of the first target vehicle, and when the front of the first target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, change lanes to the down lane;

[0042] The position of the second target vehicle is obtained, and when the rear end of the second target vehicle reaches the position of the rear end of the first target vehicle, the travel speed of the second target vehicle is adjusted to V2;

[0043] After the first target vehicle completes lane change, the nearest downlink vehicle to the first target vehicle is obtained from the first target vehicle in the positive direction, which is recorded as the third target vehicle;

[0044] Obtain the distance from the front of the third target vehicle to the front of the faulty vehicle, recorded as L3;

[0045] Obtain the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, and calculate the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle using the following formula:

[0046] Where T2 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, L is the length of the vehicle, A is the safe distance for lane change, and V1 is the speed of the first target vehicle;

[0047] When the first target vehicle completes the lane change, the driving speed of the third target vehicle is adjusted according to the time required for the rear end of the first target vehicle to travel to the front end of the faulty vehicle;

[0048] The adjusted driving speed of the third target vehicle is calculated by the following formula:

[0049] Where V4 is the adjusted speed of the third target vehicle, L3 is the distance from the front of the third target vehicle to the front of the faulty vehicle, T2 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, and L is the length of the vehicle;

[0050] When the first target vehicle completes the lane change, the driving speed of the first target vehicle remains unchanged, and the driving speed of the third target vehicle is adjusted to V4;

[0051] Obtain the position of the first target vehicle, and when the rear end of the first target vehicle reaches the position of the front end of the faulty vehicle, change lanes to the up lane;

[0052] The position of the third target vehicle is obtained. When the front of the third target vehicle travels to a position one vehicle body ahead of the front of the faulty vehicle, the travel speed of the third target vehicle is adjusted to V2.

[0053] Optionally, the adjusting the vehicle driving according to the uplink vehicle failure dispatching strategy further includes:

[0054] If the distance from the front of the second target vehicle to the rear of the faulty vehicle is greater than the distance threshold;

[0055] Obtain the distance from the rear of the first target vehicle to the front of the faulty vehicle, recorded as L4;

[0056] Obtain the distance between the front of the second target vehicle and the front of the faulty vehicle, recorded as L5;

[0057] Obtain the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, and calculate the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle using the following formula:

[0058] Where T3 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, L4 is the distance from the rear of the first target vehicle to the front of the faulty vehicle, and V1 is the driving speed of the first target vehicle;

[0059] Adjusting the travel speed of the second target vehicle according to the time required for the rear end of the first target vehicle to travel to the front end of the faulty vehicle;

[0060] The adjusted driving speed of the second target vehicle is calculated by the following formula:

[0061] Where V5 is the adjusted speed of the second target vehicle, L5 is the distance from the front of the second target vehicle to the front of the faulty vehicle, L is the length of the vehicle, and T3 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle;

[0062] When the faulty vehicle stops moving, the driving speed of the first target vehicle remains unchanged, and the driving speed of the second target vehicle is adjusted to V5;

[0063] Obtain the position of the first target vehicle, and when the front of the first target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, change lanes to the down lane;

[0064] When the rear end of the first target vehicle reaches the front end of the faulty vehicle, the first target vehicle changes lanes to the up lane;

[0065] The position of the second target vehicle is obtained. When the second target vehicle travels to the position of a vehicle body in front of the front of the faulty vehicle, the travel speed of the second target vehicle is adjusted to V2.

[0066] Optionally, the adjusting the vehicle driving according to the downlink vehicle failure dispatching strategy specifically includes:

[0067] Obtain the moment when the faulty vehicle stops moving;

[0068] It is stipulated that the movement direction of the faulty vehicle before the fault occurs is the positive direction;

[0069] The direction opposite to the direction of movement of the faulty vehicle before the fault occurs is defined as the reverse direction;

[0070] Starting from the faulty vehicle and moving in the reverse direction, obtain the vehicle closest to the faulty vehicle and record it as the fourth target vehicle;

[0071] Obtain the distance from the front of the fourth target vehicle to the rear of the faulty vehicle, recorded as L6, L6 ≥ 0;

[0072] Starting from the faulty vehicle along the positive direction, obtain the upgoing vehicle closest to the faulty vehicle, which is recorded as the fifth target vehicle;

[0073] Obtain the distance from the front of the fifth target vehicle to the rear of the faulty vehicle, recorded as L7, L7 ≥ 0;

[0074] Set distance threshold;

[0075] Set a lane change safety distance, denoted as A. The lane change safety distance refers to a distance behind the rear of the faulty vehicle, which is used for vehicles behind the faulty vehicle to change lanes;

[0076] If the distance from the front of the fifth target vehicle to the rear of the faulty vehicle is less than or equal to the distance threshold;

[0077] The time required for the front of the fourth target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle is obtained, and the time required for the front of the fourth target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle is calculated by the following formula:

[0078] Among them, T4 is the time required for the front of the fourth target vehicle to travel to the safe distance for lane change behind the rear of the faulty vehicle, L6 is the distance from the front of the fourth target vehicle to the rear of the faulty vehicle, A is the safe distance for lane change, and V2 is the driving speed of the fourth target vehicle.

[0079] Optionally, the adjusting the vehicle driving according to the downlink vehicle fault dispatching strategy further includes:

[0080] When the faulty vehicle stops moving, the speed of the fifth target vehicle is adjusted according to the time required for the front of the fourth target vehicle to travel to the position of the lane change safety distance behind the rear of the faulty vehicle;

[0081] The adjusted driving speed of the fifth target vehicle is calculated by the following formula:

[0082] Wherein V6 is the adjusted speed of the fifth target vehicle, L is the length of the vehicle, L7 is the distance from the front of the fifth target vehicle to the rear of the faulty vehicle, A is the safe distance for lane change, and T4 is the time required for the front of the fourth target vehicle to travel to the rear of the faulty vehicle;

[0083] When the faulty vehicle stops moving, the driving speed of the fourth target vehicle remains unchanged, and the driving speed of the second target vehicle is adjusted to V6;

[0084] Obtaining the position of the fourth target vehicle, and when the front of the fourth target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, the fourth target vehicle changes lanes to the up lane;

[0085] The position of the fifth target vehicle is obtained, and when the rear end of the fifth target vehicle reaches the rear end of the fourth target vehicle, the travel speed of the fifth target vehicle is adjusted to V1;

[0086] After the fourth target vehicle completes the lane change, the nearest up-going vehicle to the fourth target vehicle is obtained from the fourth target vehicle in the positive direction and recorded as the sixth target vehicle;

[0087] Obtain the distance between the front of the sixth target vehicle and the front of the faulty vehicle, recorded as L8;

[0088] The time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle is obtained, and the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle is calculated by the following formula:

[0089] Where L5 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle, L is the length of the vehicle, A is the safe distance for lane change, and V2 is the speed of the fourth target vehicle;

[0090] When the fourth target vehicle completes the lane change, the travel speed of the sixth target vehicle is adjusted according to the time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle;

[0091] The adjusted driving speed of the third target vehicle is calculated by the following formula:

[0092] Wherein V7 is the adjusted speed of the sixth target vehicle, L8 is the distance from the front of the sixth target vehicle to the front of the faulty vehicle, T5 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle, and L is the length of the vehicle;

[0093] When the fourth target vehicle completes the lane change, the driving speed of the fourth target vehicle remains unchanged, and the driving speed of the sixth target vehicle is adjusted to V7;

[0094] Obtaining the position of the fourth target vehicle, and when the rear end of the fourth target vehicle reaches the position of the front end of the faulty vehicle, changing lanes to the downlink lane;

[0095] The position of the sixth target vehicle is obtained. When the front of the sixth target vehicle travels to a position one vehicle body ahead of the front of the faulty vehicle, the travel speed of the sixth target vehicle is adjusted to V1.

[0096] Optionally, the adjusting the vehicle driving according to the uplink vehicle fault dispatching strategy further includes:

[0097] If the distance from the front of the fifth target vehicle to the rear of the faulty vehicle is greater than the distance threshold;

[0098] Obtain the distance from the rear of the fourth target vehicle to the front of the faulty vehicle, recorded as L9;

[0099] Get the distance from the front of the fifth target vehicle to the front of the faulty vehicle, denoted as L 10 ;

[0100] The time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle is obtained, and the time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle is calculated by the following formula:

[0101] Wherein T6 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle, L9 is the distance from the rear of the fourth target vehicle to the front of the faulty vehicle, and V2 is the travel speed of the fourth target vehicle;

[0102] Adjusting the travel speed of the fifth target vehicle according to the time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle;

[0103] The adjusted driving speed of the fifth target vehicle is calculated by the following formula:

[0104] Where V8 is the adjusted driving speed of the fifth target vehicle, L 10 is the distance from the front of the fifth target vehicle to the front of the faulty vehicle, L is the length of the vehicle, and T6 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle;

[0105] When the faulty vehicle stops moving, the driving speed of the fourth target vehicle remains unchanged, and the driving speed of the fifth target vehicle is adjusted to V8;

[0106] Obtaining the position of the fourth target vehicle, and when the front of the fourth target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, the fourth target vehicle changes lanes to the up lane;

[0107] When the rear end of the fourth target vehicle reaches the front end of the faulty vehicle, the fourth target vehicle changes lanes to the down lane;

[0108] The position of the fifth target vehicle is obtained. When the fifth target vehicle travels to a position one vehicle body ahead of the front of the faulty vehicle, the travel speed of the fifth target vehicle is adjusted to V1.

[0109] The present invention has the following beneficial effects:

[0110] 1. A mine safety detection method based on digital twins, by using digital twin technology, makes each vehicle in the mine transportation system have a virtual digital copy; these digital copies update the vehicle's operating status in real time, including information such as speed, position and operating trajectory; once a vehicle's driving speed is equal to the fault threshold, the system can immediately identify and mark it as a faulty vehicle; at this time, the fault judgment logic will automatically start, and the system will judge the specific location of the faulty vehicle and its relative position relationship with other vehicles according to the preset logic; through automated processing, this method greatly reduces the need for human intervention and improves the speed and accuracy of fault detection; this automated and intelligent fault response mechanism not only shortens the time to identify the faulty vehicle, but also significantly improves the operating efficiency of the entire mine transportation system.

[0111] 2. This digital twin-based mine safety detection method can monitor the status of each vehicle in real time. Once a potential fault or abnormal situation is detected, the system can automatically take measures to calculate the safe lane change distance and speed adjustment plan in real time according to the location of the faulty vehicle and the driving status of other vehicles; this not only ensures that the faulty vehicle can be dealt with in time without affecting the safety of other vehicles, but also protects the driving safety of the entire fleet and reduces chain reaction accidents caused by sudden faults; the present invention not only enhances the response speed and processing efficiency of the mine transportation system to faults, but also fundamentally improves the safe operation level of the system, providing a new technical support and guarantee for mine transportation safety management.

[0112] 3. A mine safety detection method based on digital twins sets a distance threshold and compares the distance from the front of the second target vehicle to the rear of the faulty vehicle with the distance threshold. If the distance from the front of the second target vehicle to the rear of the faulty vehicle is less than or equal to the distance threshold, the first target vehicle does not have sufficient time and space to overtake the faulty vehicle. Therefore, the second vehicle's speed is increased at this time, so that the second target vehicle quickly completes the meeting with the faulty vehicle. After the second target vehicle and the faulty vehicle complete the meeting, the first target vehicle overtakes the faulty vehicle. If the distance from the front of the second target vehicle to the rear of the faulty vehicle is greater than the distance threshold, the first target vehicle has sufficient time and space to overtake the faulty vehicle. Therefore, the speed of the second target vehicle is adjusted at this time, and the second target vehicle completes the meeting with the faulty vehicle after the first target vehicle completes the overtaking of the faulty vehicle. In this way, the probability of the first target colliding with other vehicles in the process of overtaking the faulty vehicle is reduced to a certain extent, the safe operation level of the system is improved, and a new technical support and guarantee is provided for mine transportation safety management. BRIEF DESCRIPTION OF THE DRAWINGS

[0113] Figure 1It is a schematic diagram of the process of the present invention.

[0114] Figure 2 This is a schematic diagram of the distance from the front of the second target vehicle to the rear of the faulty vehicle being less than or equal to a distance threshold in the present invention.

[0115] Figure 3 This is a schematic diagram showing that the distance from the front of the second target vehicle to the rear of the faulty vehicle is greater than the distance threshold in the present invention. DETAILED DESCRIPTION

[0116] 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.

[0117] Example 1, reference Figure 1-Figure 3 , a mine safety detection method based on digital twins, including:

[0118] Use digital twin technology to model mine transportation information;

[0119] The mine transportation information includes: an up lane, a down lane, an up vehicle and a down vehicle;

[0120] Digital twin technology enables each vehicle in the mine transportation system to have a virtual digital copy; these digital copies update the vehicle's operating status in real time, including information such as speed, location and running trajectory;

[0121] All the upgoing vehicles constitute the upgoing vehicle set, and all the upgoing vehicles have the same travel speed, which is denoted as V1;

[0122] The uplink vehicle is empty and is used to go to the top of the mine to load ore. The uplink vehicle travels on the uplink lane;

[0123] All downlink vehicles constitute a downlink vehicle set, and all downlink vehicles have the same travel speed, denoted as V2;

[0124] The down-going vehicle is fully loaded and used to transport the assembled ore to the bottom of the mountain. The down-going vehicle travels on the down-going lane;

[0125] All vehicles have the same length, denoted as L;

[0126] Determine whether the vehicle is faulty according to the vehicle fault judgment strategy;

[0127] If the vehicle has no fault, no action will be taken;

[0128] If a vehicle breaks down, determine the set to which the broken vehicle belongs;

[0129] If the faulty vehicle belongs to the upstream vehicle set, the vehicle driving is adjusted according to the upstream vehicle fault dispatching strategy;

[0130] If the faulty vehicle belongs to the downlink vehicle set, the vehicle driving is adjusted according to the downlink vehicle fault dispatching strategy.

[0131] The determining whether the vehicle is faulty according to the vehicle fault determination strategy specifically includes:

[0132] Get the driving speed of all vehicles;

[0133] Set the speed threshold of the faulty vehicle;

[0134] If the vehicle's running speed is not equal to the faulty vehicle speed threshold, the vehicle whose running speed is not equal to the faulty vehicle speed threshold is deemed to be a normal vehicle;

[0135] If the vehicle's running speed is equal to the faulty vehicle speed threshold, the vehicle whose running speed is equal to the faulty vehicle speed threshold is deemed to be a faulty vehicle;

[0136] If the faulty vehicle belongs to the upstream vehicle set, the vehicle driving is adjusted according to the upstream vehicle fault dispatching strategy;

[0137] If the faulty vehicle belongs to the downlink vehicle set, the vehicle driving is adjusted according to the downlink vehicle fault dispatching strategy;

[0138] This is a mine safety detection method based on digital twins. By using digital twin technology, each vehicle in the mine transportation system has a virtual digital copy; these digital copies update the vehicle's operating status in real time, including information such as speed, position and operating trajectory; once the driving speed of a vehicle is equal to the fault threshold, the system can immediately identify and mark it as a faulty vehicle; at this time, the fault judgment logic will automatically start, and the system will judge the specific location of the faulty vehicle and its relative position relationship with other vehicles according to the preset logic; through automated processing, this method greatly reduces the need for human intervention and improves the speed and accuracy of fault detection; this automated and intelligent fault response mechanism not only shortens the time to identify the faulty vehicle, but also significantly improves the operating efficiency of the entire mine transportation system.

[0139] The vehicle driving adjustment according to the uplink vehicle fault dispatching strategy specifically includes:

[0140] Obtain the moment when the faulty vehicle stops moving;

[0141] It is stipulated that the movement direction of the faulty vehicle before the fault occurs is the positive direction;

[0142] The direction opposite to the direction of movement of the faulty vehicle before the fault occurs is defined as the reverse direction;

[0143] Starting from the faulty vehicle and moving in the reverse direction, obtain the upgoing vehicle closest to the faulty vehicle, which is recorded as the first target vehicle;

[0144] Obtain the distance from the front of the first target vehicle to the rear of the faulty vehicle, recorded as L1, L1 ≥ 0;

[0145] Starting from the faulty vehicle, along the positive direction, obtain the downlink vehicle closest to the faulty vehicle, which is recorded as the second target vehicle;

[0146] Obtain the distance from the front of the second target vehicle to the rear of the faulty vehicle, recorded as L2, L2 ≥ 0;

[0147] Set distance threshold;

[0148] Set a lane change safety distance, denoted as A. The lane change safety distance refers to a distance behind the rear of the faulty vehicle, which is used for vehicles behind the faulty vehicle to change lanes;

[0149] Reserving a safe distance for lane changes can give vehicles enough space to change lanes, reducing the chance of collisions.

[0150] If the distance from the front of the second target vehicle to the rear of the faulty vehicle is less than or equal to the distance threshold;

[0151] If the distance between the front of the second target vehicle and the rear of the faulty vehicle is less than or equal to the distance threshold, the first target vehicle does not have sufficient time and space to overtake the faulty vehicle; therefore, the second vehicle's speed is increased to enable the second target vehicle to quickly pass the faulty vehicle; after the second target vehicle passes the faulty vehicle, the first target vehicle then passes the faulty vehicle;

[0152] Obtain the time required for the front of the first target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle, and calculate the time required for the front of the first target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle using the following formula:

[0153] Where T1 is the time required for the front of the first target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle, L1 is the distance from the front of the first target vehicle to the rear of the faulty vehicle, A is the safe lane change distance, and V1 is the driving speed of the first target vehicle;

[0154] For example, if the lane change safety distance is set to 10 meters, the driving speed of the first target vehicle is set to 5 meters per second, and the distance from the front of the first target vehicle to the rear of the faulty vehicle is set to 20 meters, then the time required for the first target vehicle to travel to the position of the lane change safety distance behind the rear of the faulty vehicle is 2 seconds;

[0155] The vehicle driving adjustment according to the uplink vehicle fault dispatching strategy also includes:

[0156] When the faulty vehicle stops moving, the speed of the second target vehicle is adjusted according to the time required for the front of the first target vehicle to travel to the position of the lane change safety distance behind the rear of the faulty vehicle;

[0157] The adjusted driving speed of the second target vehicle is calculated by the following formula:

[0158] Where V3 is the adjusted speed of the second target vehicle, L is the length of the vehicle, L2 is the distance from the front of the second target vehicle to the rear of the faulty vehicle, A is the lane change safety distance, and T1 is the time required for the front of the first target vehicle to travel to the rear of the faulty vehicle;

[0159] For example, if the length of the vehicle is 5 meters, the distance from the front of the second target vehicle to the rear of the faulty vehicle is 10 meters, the lane change safety distance is 10 meters, and the time required for the front of the first target vehicle to travel to the position of the lane change safety distance behind the rear of the faulty vehicle is 2 seconds, then the adjusted driving speed of the second target vehicle is 15 meters per second;

[0160] When the faulty vehicle stops moving, the driving speed of the first target vehicle remains unchanged, and the driving speed of the second target vehicle is adjusted to V3;

[0161] Obtain the position of the first target vehicle, and when the front of the first target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, change lanes to the down lane;

[0162] The position of the second target vehicle is obtained, and when the rear end of the second target vehicle reaches the position of the rear end of the first target vehicle, the travel speed of the second target vehicle is adjusted to V2;

[0163] After the first target vehicle completes lane change, the nearest downlink vehicle to the first target vehicle is obtained from the first target vehicle in the positive direction, which is recorded as the third target vehicle;

[0164] Obtain the distance from the front of the third target vehicle to the front of the faulty vehicle, recorded as L3;

[0165] Obtain the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, and calculate the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle using the following formula:

[0166] Where T2 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, L is the length of the vehicle, A is the safe distance for lane change, and V1 is the speed of the first target vehicle;

[0167] For example, if the length of the vehicle is 5 meters, the lane change safety distance is 10 meters, and the speed of the first target vehicle is set to 5 meters per second, then the time required for the rear end of the first target vehicle to travel to the front end of the faulty vehicle is 4 seconds;

[0168] When the first target vehicle completes the lane change, the driving speed of the third target vehicle is adjusted according to the time required for the rear end of the first target vehicle to travel to the front end of the faulty vehicle;

[0169] The adjusted driving speed of the third target vehicle is calculated by the following formula:

[0170] Where V4 is the adjusted speed of the third target vehicle, L3 is the distance from the front of the third target vehicle to the front of the faulty vehicle, T2 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, and L is the length of the vehicle;

[0171] For example, if the length of the vehicle is 5 meters, the distance from the front of the third target vehicle to the front of the faulty vehicle is 29 meters, and the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle is 4 seconds, then the adjusted travel speed of the third target vehicle is 6 meters per second;

[0172] When the first target vehicle completes the lane change, the driving speed of the first target vehicle remains unchanged, and the driving speed of the third target vehicle is adjusted to V4;

[0173] Obtain the position of the first target vehicle, and when the rear end of the first target vehicle reaches the position of the front end of the faulty vehicle, change lanes to the up lane;

[0174] The position of the third target vehicle is obtained. When the front of the third target vehicle travels to a position one vehicle body ahead of the front of the faulty vehicle, the travel speed of the third target vehicle is adjusted to V2.

[0175] The vehicle driving adjustment according to the uplink vehicle fault dispatching strategy also includes:

[0176] If the distance from the front of the second target vehicle to the rear of the faulty vehicle is greater than the distance threshold;

[0177] If the distance from the front of the second target vehicle to the rear of the faulty vehicle is greater than the distance threshold, the first target vehicle has sufficient time and space to overtake the faulty vehicle; therefore, the speed of the second target vehicle is adjusted at this time, and the second target vehicle and the faulty vehicle are met after the first target vehicle has completed overtaking the faulty vehicle;

[0178] Obtain the distance from the rear of the first target vehicle to the front of the faulty vehicle, recorded as L4;

[0179] Obtain the distance between the front of the second target vehicle and the front of the faulty vehicle, recorded as L5;

[0180] Obtain the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, and calculate the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle using the following formula:

[0181] Where T3 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, L4 is the distance from the rear of the first target vehicle to the front of the faulty vehicle, and V1 is the driving speed of the first target vehicle;

[0182] For example, the distance from the rear of the first target vehicle to the front of the faulty vehicle is 40 meters, and the driving speed of the first target vehicle is 5 meters per second; then the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle is 8 seconds;

[0183] Adjusting the travel speed of the second target vehicle according to the time required for the rear end of the first target vehicle to travel to the front end of the faulty vehicle;

[0184] The adjusted driving speed of the second target vehicle is calculated by the following formula:

[0185] Where V5 is the adjusted speed of the second target vehicle, L5 is the distance from the front of the second target vehicle to the front of the faulty vehicle, L is the length of the vehicle, and T3 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle;

[0186] For example, if the length of the vehicle is 5 meters, the distance from the front of the second target vehicle to the front of the faulty vehicle is 29 meters, and the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle is 8 seconds, then the adjusted travel speed of the second target vehicle is 3 meters per second;

[0187] When the faulty vehicle stops moving, the driving speed of the first target vehicle remains unchanged, and the driving speed of the second target vehicle is adjusted to V5;

[0188] Obtain the position of the first target vehicle, and when the front of the first target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, change lanes to the down lane;

[0189] When the rear end of the first target vehicle reaches the front end of the faulty vehicle, the first target vehicle changes lanes to the up lane;

[0190] The position of the second target vehicle is obtained. When the second target vehicle travels to the position of a vehicle body in front of the front of the faulty vehicle, the travel speed of the second target vehicle is adjusted to V2;

[0191] This mine safety detection method based on digital twins can monitor the status of each vehicle in real time. Once a potential fault or abnormal situation is detected, the system can automatically take measures to calculate the safe lane change distance and speed adjustment plan in real time according to the location of the faulty vehicle and the driving status of other vehicles; this not only ensures that the faulty vehicle can be dealt with in time without affecting the safety of other vehicles, but also protects the driving safety of the entire fleet and reduces chain reaction accidents caused by sudden faults; the present invention not only enhances the response speed and processing efficiency of the mine transportation system to faults, but also fundamentally improves the safe operation level of the system, providing a new technical support and guarantee for mine transportation safety management.

[0192] The vehicle driving adjustment according to the downlink vehicle fault dispatching strategy specifically includes:

[0193] Obtain the moment when the faulty vehicle stops moving;

[0194] It is stipulated that the movement direction of the faulty vehicle before the fault occurs is the positive direction;

[0195] The direction opposite to the direction of movement of the faulty vehicle before the fault occurs is defined as the reverse direction;

[0196] Starting from the faulty vehicle and moving in the reverse direction, obtain the vehicle closest to the faulty vehicle and record it as the fourth target vehicle;

[0197] Obtain the distance from the front of the fourth target vehicle to the rear of the faulty vehicle, recorded as L6, L6 ≥ 0;

[0198] Starting from the faulty vehicle along the positive direction, obtain the upgoing vehicle closest to the faulty vehicle, which is recorded as the fifth target vehicle;

[0199] Obtain the distance from the front of the fifth target vehicle to the rear of the faulty vehicle, recorded as L7, L7 ≥ 0;

[0200] Set distance threshold;

[0201] Set a lane change safety distance, denoted as A. The lane change safety distance refers to a distance behind the rear of the faulty vehicle, which is used for vehicles behind the faulty vehicle to change lanes;

[0202] Reserving a safe distance for lane changes can give vehicles enough space to change lanes, reducing the chance of collisions.

[0203] If the distance from the front of the fifth target vehicle to the rear of the faulty vehicle is less than or equal to the distance threshold;

[0204] If the distance between the front of the fifth target vehicle and the rear of the faulty vehicle is less than or equal to the distance threshold, the fourth target vehicle does not have sufficient time and space to overtake the faulty vehicle; therefore, the fifth vehicle's speed is increased to enable the fifth target vehicle to quickly meet the faulty vehicle; after the fifth target vehicle and the faulty vehicle have met, the fourth target vehicle then overtakes the faulty vehicle;

[0205] The time required for the front of the fourth target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle is obtained, and the time required for the front of the fourth target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle is calculated by the following formula:

[0206] Wherein T4 is the time required for the front of the fourth target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle, L6 is the distance from the front of the fourth target vehicle to the rear of the faulty vehicle, A is the safe lane change distance, and V2 is the driving speed of the fourth target vehicle;

[0207] For example, if the lane change safety distance is 10 meters, the distance from the front of the fourth target vehicle to the rear of the faulty vehicle is 20 meters, and the speed of the fourth target vehicle is 5 meters per second, then the time required for the front of the fourth target vehicle to travel to the position of the lane change safety distance behind the rear of the faulty vehicle is 2 seconds;

[0208] The vehicle driving adjustment according to the downlink vehicle fault dispatching strategy also includes:

[0209] When the faulty vehicle stops moving, the speed of the fifth target vehicle is adjusted according to the time required for the front of the fourth target vehicle to travel to the position of the lane change safety distance behind the rear of the faulty vehicle;

[0210] The adjusted driving speed of the fifth target vehicle is calculated by the following formula:

[0211] Wherein V6 is the adjusted speed of the fifth target vehicle, L is the length of the vehicle, L7 is the distance from the front of the fifth target vehicle to the rear of the faulty vehicle, A is the safe distance for lane change, and T4 is the time required for the front of the fourth target vehicle to travel to the rear of the faulty vehicle;

[0212] For example, if the length of the vehicle is 5 meters, the lane change safety distance is 10 meters, the distance from the front of the fifth target vehicle to the rear of the faulty vehicle is 10 meters, and the time required for the front of the fourth target vehicle to travel to the position of the lane change safety distance behind the rear of the faulty vehicle is 2 seconds, then the adjusted driving speed of the fifth target vehicle is 15 meters per second;

[0213] When the faulty vehicle stops moving, the driving speed of the fourth target vehicle remains unchanged, and the driving speed of the second target vehicle is adjusted to V6;

[0214] Obtaining the position of the fourth target vehicle, and when the front of the fourth target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, the fourth target vehicle changes lanes to the up lane;

[0215] The position of the fifth target vehicle is obtained, and when the rear end of the fifth target vehicle reaches the rear end of the fourth target vehicle, the travel speed of the fifth target vehicle is adjusted to V1;

[0216] After the fourth target vehicle completes the lane change, the nearest up-going vehicle to the fourth target vehicle is obtained from the fourth target vehicle in the positive direction and recorded as the sixth target vehicle;

[0217] Obtain the distance between the front of the sixth target vehicle and the front of the faulty vehicle, recorded as L8;

[0218] The time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle is obtained, and the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle is calculated by the following formula:

[0219] Where T5 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle, L is the length of the vehicle, A is the safe distance for lane change, and V2 is the speed of the fourth target vehicle;

[0220] For example, if the length of the vehicle is 5 meters, the lane change safety distance is 10 meters, and the speed of the fourth target vehicle is 5 meters per second, then the time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle is 4 seconds;

[0221] When the fourth target vehicle completes the lane change, the travel speed of the sixth target vehicle is adjusted according to the time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle;

[0222] The adjusted driving speed of the third target vehicle is calculated by the following formula:

[0223] Wherein V7 is the adjusted speed of the sixth target vehicle, L8 is the distance from the front of the sixth target vehicle to the front of the faulty vehicle, T5 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle, and L is the length of the vehicle;

[0224] For example, if the length of the vehicle is 5 meters, the distance from the front of the sixth target vehicle to the front of the faulty vehicle is 29 meters, and the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle is 4 seconds, then the adjusted speed of the sixth target vehicle is 6 meters per second.

[0225] When the fourth target vehicle completes the lane change, the driving speed of the fourth target vehicle remains unchanged, and the driving speed of the sixth target vehicle is adjusted to V7;

[0226] Obtaining the position of the fourth target vehicle, and when the rear end of the fourth target vehicle reaches the position of the front end of the faulty vehicle, changing lanes to the downlink lane;

[0227] The position of the sixth target vehicle is obtained. When the front of the sixth target vehicle travels to a position one vehicle body ahead of the front of the faulty vehicle, the travel speed of the sixth target vehicle is adjusted to V1.

[0228] The step of adjusting the vehicle driving according to the uplink vehicle fault dispatching strategy also includes:

[0229] If the distance from the front of the fifth target vehicle to the rear of the faulty vehicle is greater than the distance threshold;

[0230] If the distance from the front of the fifth target vehicle to the rear of the faulty vehicle is greater than the distance threshold, the fourth target vehicle has sufficient time and space to overtake the faulty vehicle; therefore, the speed of the fifth target vehicle is adjusted at this time, and the fifth target vehicle and the faulty vehicle are met after the fourth target vehicle has completed overtaking the faulty vehicle;

[0231] Obtain the distance from the rear of the fourth target vehicle to the front of the faulty vehicle, recorded as L9;

[0232] Get the distance from the front of the fifth target vehicle to the front of the faulty vehicle, denoted as L 10 ;

[0233] The time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle is obtained, and the time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle is calculated by the following formula:

[0234] Wherein T6 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle, L9 is the distance from the rear of the fourth target vehicle to the front of the faulty vehicle, and V2 is the travel speed of the fourth target vehicle;

[0235] For example, if the distance from the rear of the fourth target vehicle to the front of the faulty vehicle is 40 meters, and the speed of the fourth target vehicle is 5 meters per second, then the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle is 8 seconds.

[0236] Adjusting the travel speed of the fifth target vehicle according to the time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle;

[0237] The adjusted driving speed of the fifth target vehicle is calculated by the following formula:

[0238] Where V8 is the adjusted driving speed of the fifth target vehicle, L 10is the distance from the front of the fifth target vehicle to the front of the faulty vehicle, L is the length of the vehicle, and T6 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle;

[0239] For example, if the length of the vehicle is 5 meters, the distance from the front of the fifth target vehicle to the front of the faulty vehicle is 29 meters, and the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle is 8 seconds, then the adjusted speed of the fifth target vehicle is 3 meters per second.

[0240] When the faulty vehicle stops moving, the driving speed of the fourth target vehicle remains unchanged, and the driving speed of the fifth target vehicle is adjusted to V8;

[0241] Obtaining the position of the fourth target vehicle, and when the front of the fourth target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, the fourth target vehicle changes lanes to the up lane;

[0242] When the rear end of the fourth target vehicle reaches the front end of the faulty vehicle, the fourth target vehicle changes lanes to the down lane;

[0243] The position of the fifth target vehicle is obtained. When the fifth target vehicle travels to a position one vehicle body ahead of the front of the faulty vehicle, the travel speed of the fifth target vehicle is adjusted to V1;

[0244] This mine safety detection method based on digital twins can monitor the status of each vehicle in real time. Once a potential fault or abnormal situation is detected, the system can automatically take measures to calculate the safe lane change distance and speed adjustment plan in real time according to the location of the faulty vehicle and the driving status of other vehicles; this not only ensures that the faulty vehicle can be dealt with in time without affecting the safety of other vehicles, but also protects the driving safety of the entire fleet and reduces chain reaction accidents caused by sudden faults; the present invention not only enhances the response speed and processing efficiency of the mine transportation system to faults, but also fundamentally improves the safe operation level of the system, providing a new technical support and guarantee for mine transportation safety management.

[0245] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0246] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A mine safety detection method based on digital twins, characterized in that: include: Use digital twin technology to model mine transportation information; The mine transportation information includes: an up lane, a down lane, an up vehicle and a down vehicle; All the upgoing vehicles constitute the upgoing vehicle set, and all the upgoing vehicles have the same travel speed, which is denoted as V1; All downlink vehicles constitute a downlink vehicle set, and all downlink vehicles have the same travel speed, denoted as V2; All vehicles have the same length, denoted as L; Determine whether the vehicle is faulty according to the vehicle fault judgment strategy; If the vehicle has no fault, no action will be taken; If a vehicle breaks down, determine the set to which the broken vehicle belongs; If the faulty vehicle belongs to the upstream vehicle set, the vehicle driving is adjusted according to the upstream vehicle fault dispatching strategy; If the faulty vehicle belongs to the downlink vehicle set, the vehicle driving is adjusted according to the downlink vehicle fault dispatching strategy.

2. A mine safety detection method based on digital twin according to claim 1, characterized in that: The determining whether the vehicle is faulty according to the vehicle fault determination strategy specifically includes: Get the driving speed of all vehicles; Set the speed threshold of the faulty vehicle; If the vehicle's running speed is not equal to the faulty vehicle speed threshold, the vehicle whose running speed is not equal to the faulty vehicle speed threshold is deemed to be a normal vehicle; If the vehicle's running speed is equal to the faulty vehicle speed threshold, the vehicle whose running speed is equal to the faulty vehicle speed threshold is deemed to be a faulty vehicle; If the faulty vehicle belongs to the upstream vehicle set, the vehicle driving is adjusted according to the upstream vehicle fault dispatching strategy; If the faulty vehicle belongs to the downlink vehicle set, the vehicle driving is adjusted according to the downlink vehicle fault dispatching strategy.

3. A mine safety detection method based on digital twin according to claim 2, characterized in that: The vehicle driving adjustment according to the uplink vehicle fault dispatching strategy specifically includes: Obtain the moment when the faulty vehicle stops moving; It is stipulated that the movement direction of the faulty vehicle before the fault occurs is the positive direction; The direction opposite to the direction of movement of the faulty vehicle before the fault occurs is defined as the reverse direction; Starting from the faulty vehicle and moving in the reverse direction, obtain the upgoing vehicle closest to the faulty vehicle, which is recorded as the first target vehicle; Obtain the distance from the front of the first target vehicle to the rear of the faulty vehicle, recorded as L1, L1 ≥ 0; Starting from the faulty vehicle, along the positive direction, obtain the downlink vehicle closest to the faulty vehicle, which is recorded as the second target vehicle; Obtain the distance from the front of the second target vehicle to the rear of the faulty vehicle, recorded as L2, L2 ≥ 0; Set distance threshold; Set a lane change safety distance, denoted as A. The lane change safety distance refers to a distance behind the rear of the faulty vehicle, which is used for vehicles behind the faulty vehicle to change lanes; If the distance from the front of the second target vehicle to the rear of the faulty vehicle is less than or equal to the distance threshold; Obtain the time required for the front of the first target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle, and calculate the time required for the front of the first target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle using the following formula: Among them, T1 is the time required for the front of the first target vehicle to travel to the position of the safe distance for lane change behind the rear of the faulty vehicle, L1 is the distance from the front of the first target vehicle to the rear of the faulty vehicle, A is the safe distance for lane change, and V1 is the driving speed of the first target vehicle.

4. A mine safety detection method based on digital twin according to claim 3, characterized in that: The vehicle driving adjustment according to the uplink vehicle fault dispatching strategy also includes: When the faulty vehicle stops moving, the speed of the second target vehicle is adjusted according to the time required for the front of the first target vehicle to travel to the position of the lane change safety distance behind the rear of the faulty vehicle; The adjusted driving speed of the second target vehicle is calculated by the following formula: Where V3 is the adjusted speed of the second target vehicle, L is the length of the vehicle, L2 is the distance from the front of the second target vehicle to the rear of the faulty vehicle, A is the lane change safety distance, and T1 is the time required for the front of the first target vehicle to travel to the rear of the faulty vehicle; When the faulty vehicle stops moving, the driving speed of the first target vehicle remains unchanged, and the driving speed of the second target vehicle is adjusted to V3; Obtain the position of the first target vehicle, and when the front of the first target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, change lanes to the down lane; The position of the second target vehicle is obtained, and when the rear end of the second target vehicle reaches the position of the rear end of the first target vehicle, the travel speed of the second target vehicle is adjusted to V2; After the first target vehicle completes lane change, the nearest downlink vehicle to the first target vehicle is obtained from the first target vehicle in the positive direction, which is recorded as the third target vehicle; Obtain the distance from the front of the third target vehicle to the front of the faulty vehicle, recorded as L3; Obtain the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, and calculate the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle using the following formula: Where T2 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, L is the length of the vehicle, A is the safe distance for lane change, and V1 is the speed of the first target vehicle; When the first target vehicle completes the lane change, the driving speed of the third target vehicle is adjusted according to the time required for the rear end of the first target vehicle to travel to the front end of the faulty vehicle; The adjusted driving speed of the third target vehicle is calculated by the following formula: Where V4 is the adjusted speed of the third target vehicle, L3 is the distance from the front of the third target vehicle to the front of the faulty vehicle, T2 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, and L is the length of the vehicle; When the first target vehicle completes the lane change, the driving speed of the first target vehicle remains unchanged, and the driving speed of the third target vehicle is adjusted to V4; Obtain the position of the first target vehicle, and when the rear end of the first target vehicle reaches the position of the front end of the faulty vehicle, change lanes to the up lane; The position of the third target vehicle is obtained. When the front of the third target vehicle travels to a position one vehicle body ahead of the front of the faulty vehicle, the travel speed of the third target vehicle is adjusted to V2.

5. The mine safety detection method based on digital twin according to claim 3 is characterized in that: The vehicle driving adjustment according to the uplink vehicle fault dispatching strategy also includes: If the distance from the front of the second target vehicle to the rear of the faulty vehicle is greater than the distance threshold; Obtain the distance from the rear of the first target vehicle to the front of the faulty vehicle, recorded as L4; Obtain the distance between the front of the second target vehicle and the front of the faulty vehicle, recorded as L5; Obtain the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, and calculate the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle using the following formula: Where T3 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle, L4 is the distance from the rear of the first target vehicle to the front of the faulty vehicle, and V1 is the travel speed of the first target vehicle; Adjusting the speed of the second target vehicle according to the time required for the rear end of the first target vehicle to travel to the front end of the faulty vehicle; The adjusted driving speed of the second target vehicle is calculated by the following formula: Where V5 is the adjusted speed of the second target vehicle, L5 is the distance from the front of the second target vehicle to the front of the faulty vehicle, L is the length of the vehicle, and T3 is the time required for the rear of the first target vehicle to travel to the front of the faulty vehicle; When the faulty vehicle stops moving, the driving speed of the first target vehicle remains unchanged, and the driving speed of the second target vehicle is adjusted to V5; Obtain the position of the first target vehicle, and when the front of the first target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, change lanes to the down lane; When the rear end of the first target vehicle reaches the front end of the faulty vehicle, the first target vehicle changes lanes to the up lane; The position of the second target vehicle is obtained. When the second target vehicle travels to the position of a vehicle body in front of the front of the faulty vehicle, the travel speed of the second target vehicle is adjusted to V2.

6. The mine safety detection method based on digital twin according to claim 2 is characterized in that: The vehicle driving adjustment according to the downlink vehicle fault dispatching strategy specifically includes: Obtain the moment when the faulty vehicle stops moving; It is stipulated that the movement direction of the faulty vehicle before the fault occurs is the positive direction; The direction opposite to the direction of movement of the faulty vehicle before the fault occurs is defined as the reverse direction; Starting from the faulty vehicle and moving in the reverse direction, obtain the vehicle closest to the faulty vehicle and record it as the fourth target vehicle; Obtain the distance from the front of the fourth target vehicle to the rear of the faulty vehicle, recorded as L6, L6 ≥ 0; Starting from the faulty vehicle along the positive direction, obtain the upgoing vehicle closest to the faulty vehicle, which is recorded as the fifth target vehicle; Obtain the distance from the front of the fifth target vehicle to the rear of the faulty vehicle, recorded as L7, L7 ≥ 0; Set distance threshold; Set a lane change safety distance, denoted as A. The lane change safety distance refers to a distance behind the rear of the faulty vehicle, which is used for vehicles behind the faulty vehicle to change lanes; If the distance from the front of the fifth target vehicle to the rear of the faulty vehicle is less than or equal to the distance threshold; The time required for the front of the fourth target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle is obtained, and the time required for the front of the fourth target vehicle to travel to the position of the safe lane change distance behind the rear of the faulty vehicle is calculated by the following formula: Among them, T4 is the time required for the front of the fourth target vehicle to travel to the safe distance for lane change behind the rear of the faulty vehicle, L6 is the distance from the front of the fourth target vehicle to the rear of the faulty vehicle, A is the safe distance for lane change, and V2 is the driving speed of the fourth target vehicle.

7. A mine safety detection method based on digital twin according to claim 6, characterized in that: The vehicle driving adjustment according to the downlink vehicle fault dispatching strategy also includes: When the faulty vehicle stops moving, the speed of the fifth target vehicle is adjusted according to the time required for the front of the fourth target vehicle to travel to the position of the lane change safety distance behind the rear of the faulty vehicle; The adjusted driving speed of the fifth target vehicle is calculated by the following formula: Wherein V6 is the adjusted speed of the fifth target vehicle, L is the length of the vehicle, L7 is the distance from the front of the fifth target vehicle to the rear of the faulty vehicle, A is the safe distance for lane change, and T4 is the time required for the front of the fourth target vehicle to travel to the rear of the faulty vehicle; When the faulty vehicle stops moving, the driving speed of the fourth target vehicle remains unchanged, and the driving speed of the second target vehicle is adjusted to V6; The position of the fourth target vehicle is obtained, and when the front of the fourth target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, the fourth target vehicle changes lanes to the up lane; The position of the fifth target vehicle is obtained, and when the rear end of the fifth target vehicle reaches the rear end of the fourth target vehicle, the travel speed of the fifth target vehicle is adjusted to V1; After the fourth target vehicle completes the lane change, the nearest up-going vehicle to the fourth target vehicle is obtained from the fourth target vehicle in the positive direction and recorded as the sixth target vehicle; Obtain the distance between the front of the sixth target vehicle and the front of the faulty vehicle, recorded as L8; The time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle is obtained, and the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle is calculated by the following formula: Where T5 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle, L is the length of the vehicle, A is the safe distance for lane change, and V2 is the speed of the fourth target vehicle; When the fourth target vehicle completes the lane change, the travel speed of the sixth target vehicle is adjusted according to the time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle; The adjusted driving speed of the third target vehicle is calculated by the following formula: Wherein V7 is the adjusted speed of the sixth target vehicle, L8 is the distance from the front of the sixth target vehicle to the front of the faulty vehicle, T5 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle, and L is the length of the vehicle; When the fourth target vehicle completes the lane change, the driving speed of the fourth target vehicle remains unchanged, and the driving speed of the sixth target vehicle is adjusted to V7; Obtaining the position of the fourth target vehicle, and when the rear end of the fourth target vehicle reaches the position of the front end of the faulty vehicle, changing lanes to the downlink lane; The position of the sixth target vehicle is obtained. When the front of the sixth target vehicle travels to a position one vehicle body ahead of the front of the faulty vehicle, the travel speed of the sixth target vehicle is adjusted to V1.

8. The mine safety detection method based on digital twin according to claim 6 is characterized in that: The step of adjusting the vehicle driving according to the uplink vehicle fault dispatching strategy also includes: If the distance from the front of the fifth target vehicle to the rear of the faulty vehicle is greater than the distance threshold; Obtain the distance from the rear of the fourth target vehicle to the front of the faulty vehicle, recorded as L9; Get the distance from the front of the fifth target vehicle to the front of the faulty vehicle, denoted as L 10 ; The time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle is obtained, and the time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle is calculated by the following formula: Wherein T6 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle, L9 is the distance from the rear of the fourth target vehicle to the front of the faulty vehicle, and V2 is the travel speed of the fourth target vehicle; Adjusting the travel speed of the fifth target vehicle according to the time required for the rear end of the fourth target vehicle to travel to the front end of the faulty vehicle; The adjusted driving speed of the fifth target vehicle is calculated by the following formula: Where V8 is the adjusted driving speed of the fifth target vehicle, L 10 is the distance from the front of the fifth target vehicle to the front of the faulty vehicle, L is the length of the vehicle, and T6 is the time required for the rear of the fourth target vehicle to travel to the front of the faulty vehicle; When the faulty vehicle stops moving, the driving speed of the fourth target vehicle remains unchanged, and the driving speed of the fifth target vehicle is adjusted to V8; The position of the fourth target vehicle is obtained, and when the front of the fourth target vehicle reaches a position at a safe lane change distance behind the rear of the faulty vehicle, the fourth target vehicle changes lanes to the up lane; When the rear end of the fourth target vehicle reaches the front end of the faulty vehicle, the fourth target vehicle changes lanes to the down lane; The position of the fifth target vehicle is obtained. When the fifth target vehicle travels to a position one vehicle body ahead of the front of the faulty vehicle, the travel speed of the fifth target vehicle is adjusted to V1.

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