A method for controlling underground mine traffic information based on congestion analysis

Abstract

The invention discloses a mine underground traffic information control method based on congestion degree analysis, including: S1: obtaining the maximum vehicle capacity of all traffic light waiting areas in the mine; S2: receiving the real-time positions and planned paths of all vehicles in the mine; S3: calculating the real-time number of vehicles in the waiting area at the current moment according to the real-time positions of all vehicles, and calculating the congestion degree at the current moment in combination with the maximum vehicle capacity of the waiting area; S4: calculating the predicted number of vehicles in the waiting area at the future moment according to the planned paths of all vehicles, and calculating the congestion degree at the future moment in combination with the maximum vehicle capacity of the waiting area and the road conditions of the planned paths; S4: calculating the light colors at the current moment and the future moment according to the congestion degree of a certain traffic light at the current moment and the future moment respectively; S5: realizing underground traffic light control based on the light colors of each traffic light at the current moment and the future moment. The invention can improve the traffic efficiency of underground vehicles and reduce delays and energy consumption caused by congestion.

Description

Technical Field

[0001] The invention relates to the technical field of underground mine transportation management, and in particular to an underground mine traffic information control method based on congestion degree analysis. Background Art

[0002] In the complex environment of mine mining, safety management and operating efficiency are two crucial factors. In order to find a balance between the two, the introduction of underground traffic light management system is particularly important. As an important tool for traffic instructions, traffic lights also play an irreplaceable role in mines.

[0003] The complex internal environment of the mine, insufficient light, and obstructed vision all pose a threat to the safety of miners. In order to ensure the safety of miners and the efficient operation of mine operations, the setting of underground traffic lights is particularly important. The main function of underground traffic lights is to indicate the traffic conditions in the mine and regulate the passage of moving objects such as mine cars and personnel. The red light means stop. When the red light is on, it means that vehicles are prohibited from passing; the green light means pass. When the green light is on, it means that vehicles can pass; the yellow light means wait. When the yellow light is on, it means that vehicles are waiting to pass. This simple signal system can significantly reduce the risk of traffic accidents in mines and improve the safety of operators.

[0004] In addition to improving safety, underground traffic lights can also effectively improve the efficiency of mine operations. Without traffic lights, the traffic in the mine is often chaotic, and mine cars and personnel pass in disorder, which not only may cause accidents, but also waste a lot of time and resources. The introduction of traffic lights makes the traffic in the mine orderly, reduces unnecessary waiting and conflicts, and thus improves the efficiency of operations.

[0005] Although the setting of underground traffic lights plays an important role in mine operations, there are also some problems in practical applications, especially in terms of light color control. First, the switching timing of traffic lights needs to be more accurate. Inside the mine, due to the complex environment, the operation of transport vehicles is relatively chaotic. Therefore, the switching of traffic lights must be dynamically adjusted according to the actual traffic conditions in the mine. However, the current mine traffic light control system cannot achieve this dynamic adjustment, resulting in the switching timing of traffic lights not being accurate enough. Secondly, the light color control of traffic lights needs to be more intelligent. At present, the traffic light control system of mines still adopts the traditional timing control method, that is, the traffic lights are switched at a certain time interval. However, this method cannot adapt to the changes in traffic flow inside the mine, nor can it be flexibly adjusted according to the actual situation in the mine. Therefore, how to design a more intelligent traffic light control method is a technical problem that needs to be solved urgently. Summary of the invention

[0006] In view of the deficiencies of the above-mentioned prior art, the technical problem to be solved by the present invention is: how to provide a method for controlling underground mine traffic information based on congestion level analysis, thereby realizing the light color control of traffic lights by considering the congestion level at the current moment and the future moment underground, thereby ensuring the accuracy and effectiveness of the light color control, thereby improving the traffic efficiency of underground vehicles and reducing delays and energy consumption caused by congestion.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A mine underground traffic information control method based on congestion analysis, comprising:

[0009] S1: Get the maximum vehicle capacity of all traffic light waiting areas underground;

[0010] S2: Receive the real-time position and planned path of all vehicles in the mine;

[0011] S3: Calculate the real-time number of vehicles in the waiting area of ​​a traffic light at the current moment based on the real-time positions of all vehicles, and calculate the congestion level of the traffic light at the current moment in combination with the maximum vehicle capacity of the waiting area;

[0012] S4: Calculate the predicted number of vehicles in the waiting area of ​​a certain traffic light at a future moment according to the planned paths of all vehicles, and calculate the congestion degree of the traffic light at a future moment in combination with the maximum vehicle capacity of the waiting area and the congestion condition of the planned paths;

[0013] S5: Calculate the light color of a traffic light at the current moment and the future moment respectively according to the congestion degree of the traffic light at the current moment and the future moment;

[0014] S6: Implement underground traffic light control based on the light colors of each traffic light at the current moment and the future moment.

[0015] Preferably, in step S3, the congestion level of the traffic light at the current moment is calculated by the following formula:

[0016]

[0017] Where: d i represents the congestion level of the i-th traffic light at the current moment; K i represents the real-time number of vehicles in the waiting area of ​​the i-th traffic light at the current moment; J i Represents the maximum vehicle capacity of the i-th traffic light waiting area.

[0018] Preferably, in step S4, the congestion level of the traffic light at the future moment is calculated by the following steps:

[0019] S401: Obtain the travel speed of all vehicles in the mine;

[0020] S402: Calculate all target vehicles arriving at the waiting area of ​​traffic light i at the future time t according to the planned paths of all vehicles and their driving speeds;

[0021] S403: Calculate the congestion coefficient of the planned path corresponding to the target vehicle, where the congestion coefficient reflects the situation of the planned path;

[0022] S404: Calculate the congestion level of traffic light i at the future time t according to the number of target vehicles and the congestion coefficient of the planned path corresponding to the target vehicles.

[0023] Preferably, in step S403, the congestion coefficient of the planned path is calculated by the following steps:

[0024]

[0025] Where: j represents the congestion coefficient of the planned path corresponding to the target vehicle j; m j represents the number of vehicles traveling in the same direction as the target vehicle j on the planned path; l j represents the distance between the target vehicle j and the first vehicle traveling in the same direction on its planned path; a is a constant; d i Indicates the congestion level of the i-th traffic light at the current moment; n j Represents the number of traffic lights on the jth reachable path.

[0026] Preferably, in step S404, the congestion level of the traffic light at the future moment is calculated by the following formula:

[0027]

[0028] Where: represents the congestion level of the i-th traffic light at the future time t; C represents the number of target vehicles; λ i represents the congestion coefficient of the planned path corresponding to the target vehicle j; J i Represents the maximum vehicle capacity of the i-th traffic light waiting area.

[0029] Preferably, in step S5, the light color of traffic light i is calculated according to its own congestion level and the congestion level of the next adjacent traffic light i+1.

[0030] Preferably, in step S5, the calculation logic of the light color of the traffic light at the current moment is as follows:

[0031] If d is satisfied i >D and d i+1 >D, then the light color of the i-th traffic light at the current moment is yellow;

[0032] If d is satisfied i >D and d i+1 ≤D, then the light color of the i-th traffic light at the current moment is green;

[0033] If d is satisfied i ≤D and d i+1 >D, then the light color of the i-th traffic light at the current moment is red;

[0034] If d is satisfied i ≤D and d i+1 ≤D, then the light color of the i-th traffic light at the current moment is green.

[0035] Preferably, in step S5, the calculation logic of the light color of the traffic light at the future moment is as follows:

[0036] If satisfied and Then the light color of the i-th traffic light in the future will be yellow;

[0037] If satisfied and Then the light color of the i-th traffic light in the future will be green;

[0038] If satisfied and Then the light color of the i-th traffic light in the future will be red;

[0039] If satisfied and Then the light color of the i-th traffic light in the future will be green.

[0040] Preferably, in step S5, the types of all vehicles in the traffic light waiting area are obtained, and when there are priority vehicles in the waiting area, the color of the traffic light is set to green.

[0041] Compared with the prior art, the mine underground traffic information control method based on congestion analysis in the present invention has the following beneficial effects:

[0042] Firstly, the present invention obtains the real-time positions and planned paths of all vehicles underground to calculate the real-time number of vehicles in the waiting area of ​​a certain traffic light at the current moment, and then compares it with the maximum vehicle capacity of the waiting area. The congestion degree of the traffic light at the current moment can be accurately calculated, and the congestion state of underground traffic is reflected in real time, so that the control of traffic lights is no longer blind, but dynamically adjusted based on the actual underground traffic conditions, thereby improving the effect of traffic light control in mines.

[0043] Secondly, the present invention calculates the light color of the traffic light at the current moment according to the current congestion level, so as to improve the accuracy of light color control; when the number of vehicles in the waiting area approaches or reaches the maximum capacity, the red light comes on to prevent more vehicles from entering in time and avoid aggravating congestion; when the number of vehicles in the waiting area is small, the green light comes on to allow vehicles to pass and ensure smooth traffic. This dynamic adjustment not only improves the safety of underground traffic, but also effectively improves the traffic efficiency of underground vehicles.

[0044] Then, the present invention analyzes the planned paths of all vehicles, predicts the number of vehicles in a certain traffic light waiting area at a future moment, and calculates the congestion degree of the traffic light at a future moment in combination with the maximum vehicle capacity of the waiting area and the congestion condition on the planned path. That is, the future trend of underground traffic is prospectively considered, so that traffic light control is no longer limited to the current state, but can foresee and respond to potential traffic congestion; at the same time, based on the calculation of the color of the traffic light at a future moment in time based on the future congestion degree, traffic diversion arrangements can be made in advance, such as by turning on the red light in advance or adjusting the duration of the green light, effectively guiding vehicles to avoid peak hours or congested areas, thereby further improving the traffic efficiency of underground vehicles and reducing delays and energy consumption caused by congestion.

[0045] Finally, the present invention realizes underground traffic light control based on the light color of each traffic light at the current moment and the future moment, which not only improves the intelligence level of underground traffic management, but also significantly enhances the flexibility and response speed of underground traffic. Through the dual consideration of real-time and predicted data, the traffic light system can more accurately adjust the underground traffic flow, effectively avoid the occurrence of traffic congestion, and improve the overall operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to make the purpose, technical solution and advantages of the invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings, in which:

[0047] Figure 1 The logical block diagram of the underground mine traffic information control method based on congestion analysis. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but only represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0049] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, the terms "horizontal", "vertical", etc. do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] The following is a further detailed description through specific implementation methods:

[0051] Example:

[0052] This embodiment discloses a method for controlling underground mine traffic information based on congestion analysis.

[0053] like Figure 1 As shown, a mine underground traffic information control method based on congestion analysis includes:

[0054] S1: Get the maximum vehicle capacity of all traffic light waiting areas underground;

[0055] S2: Receive the real-time position and planned path of all vehicles in the mine;

[0056] In this embodiment, the real-time location of the vehicle in the mine is located by the Internet of Things technology. The planned path is the optimal transportation path generated for the vehicle, and the specific generation logic is described in detail in the subsequent content.

[0057] S3: Calculate the real-time number of vehicles in the waiting area of ​​a traffic light at the current moment based on the real-time positions of all vehicles, and calculate the congestion level of the traffic light at the current moment in combination with the maximum vehicle capacity of the waiting area;

[0058] S4: Calculate the predicted number of vehicles in the waiting area of ​​a certain traffic light at a future moment according to the planned paths of all vehicles, and calculate the congestion degree of the traffic light at a future moment in combination with the maximum vehicle capacity of the waiting area and the congestion condition of the planned paths;

[0059] S5: Calculate the light color of a traffic light at the current moment and the future moment respectively according to the congestion degree of the traffic light at the current moment and the future moment;

[0060] S6: Implement underground traffic light control based on the light colors of each traffic light at the current moment and the future moment.

[0061] Firstly, the present invention obtains the real-time positions and planned paths of all vehicles underground to calculate the real-time number of vehicles in the waiting area of ​​a certain traffic light at the current moment, and then compares it with the maximum vehicle capacity of the waiting area. The congestion degree of the traffic light at the current moment can be accurately calculated, and the congestion state of underground traffic is reflected in real time, so that the control of traffic lights is no longer blind, but dynamically adjusted based on the actual underground traffic conditions, thereby improving the effect of traffic light control in mines.

[0062] Secondly, the present invention calculates the light color of the traffic light at the current moment according to the current congestion level, so as to improve the accuracy of light color control; when the number of vehicles in the waiting area approaches or reaches the maximum capacity, the red light comes on to prevent more vehicles from entering in time and avoid aggravating congestion; when the number of vehicles in the waiting area is small, the green light comes on to allow vehicles to pass and ensure smooth traffic. This dynamic adjustment not only improves the safety of underground traffic, but also effectively improves the traffic efficiency of underground vehicles.

[0063] Then, the present invention analyzes the planned paths of all vehicles, predicts the number of vehicles in a certain traffic light waiting area at a future moment, and calculates the congestion degree of the traffic light at a future moment in combination with the maximum vehicle capacity of the waiting area and the congestion condition on the planned path. That is, the future trend of underground traffic is prospectively considered, so that traffic light control is no longer limited to the current state, but can foresee and respond to potential traffic congestion; at the same time, based on the calculation of the color of the traffic light at a future moment in time based on the future congestion degree, traffic diversion arrangements can be made in advance, such as by turning on the red light in advance or adjusting the duration of the green light, effectively guiding vehicles to avoid peak hours or congested areas, thereby further improving the traffic efficiency of underground vehicles and reducing delays and energy consumption caused by congestion.

[0064] Finally, the present invention realizes underground traffic light control based on the light color of each traffic light at the current moment and the future moment, which not only improves the intelligence level of underground traffic management, but also significantly enhances the flexibility and response speed of underground traffic. Through the dual consideration of real-time and predicted data, the traffic light system can more accurately adjust the underground traffic flow, effectively avoid the occurrence of traffic congestion, and improve the overall operation efficiency.

[0065] In the specific implementation process, the congestion level of the traffic light at the current moment is calculated by the following formula:

[0066]

[0067] Where: d i represents the congestion level of the i-th traffic light at the current moment; K i represents the real-time number of vehicles in the waiting area of ​​the i-th traffic light at the current moment; J i Represents the maximum vehicle capacity of the i-th traffic light waiting area.

[0068] In the specific implementation process, the congestion level of traffic lights at future moments is calculated through the following steps:

[0069] S401: Obtain the travel speed of all vehicles in the mine;

[0070] S402: Calculate all target vehicles that will arrive at the waiting area of ​​traffic light i at future time t based on the planned paths of all vehicles combined with their driving speeds; that is, predict their positions underground at each future time based on the driving speed of the vehicle combined with the planned paths.

[0071] S403: Calculate the congestion coefficient of the planned path corresponding to the target vehicle, where the congestion coefficient reflects the situation of the planned path;

[0072] The congestion coefficient of the planned path is calculated through the following steps:

[0073]

[0074] Where: j represents the congestion coefficient of the planned path corresponding to the target vehicle j, where λ j is a unitless value; m j represents the number of vehicles traveling in the same direction as the target vehicle j on the planned path, where m j It is a value without unit. For example, if there are ten vehicles traveling in the same direction, m j =10; l j represents the distance between the target vehicle j and the first vehicle traveling in the same direction on its planned path, where l j It is a value without unit. For example, when the distance is 500 meters, l j =500; a is a constant used to adjust λ j , for example, it can be set to 1000; d i Indicates the congestion level of the i-th traffic light at the current moment; n j Represents the number of traffic lights on the jth reachable path.

[0075] S404: Calculate the congestion level of traffic light i at the future time t according to the number of target vehicles and the congestion coefficient of the planned path corresponding to the target vehicles.

[0076] The congestion level of traffic lights at future times is calculated using the following formula:

[0077]

[0078] Where: represents the congestion level of the i-th traffic light at the future time t; C represents the number of target vehicles; λ i represents the congestion coefficient of the planned path corresponding to the target vehicle t; J i Represents the maximum vehicle capacity of the i-th traffic light waiting area.

[0079] The present invention combines the congestion situation (coefficient) of the planned path when calculating the congestion level of the traffic light at the future moment, which better considers the future trend of underground traffic, foresees and responds to potential traffic congestion, and thus improves the accuracy of the calculation of the congestion level at the future moment. At the same time, the calculation formula of the congestion coefficient considers the number of vehicles on the planned path, the following distance, and the congestion level of the traffic light, so that the congestion situation of the planned path can be accurately reflected.

[0080] In the specific implementation process, the planned path (shortest time path) of the target vehicle t is generated through the following steps:

[0081] S201: Generate a plurality of reachable paths based on the starting position and the end position of the target vehicle combined with available lane information; the reachable paths are composed of one or more lanes;

[0082] S202: Obtain vehicle information of vehicles traveling on each reachable path;

[0083] S203: For each reachable path, the travel time of the target vehicle is calculated through the following steps:

[0084] S2031: Taking the vehicle on the achievable path that is closest to the target vehicle and traveling in the same direction as the reference vehicle;

[0085] S2032: Calculate the departure position and departure time of the reference vehicle on the current achievable path according to the real-time position, terminal position and travel speed of the reference vehicle;

[0086] S2033: Calculating the arrival time of the target vehicle at the departure position of the reference vehicle according to the starting position and the driving speed of the target vehicle;

[0087] S2034: judging whether the target vehicle follows the vehicle according to the arrival time of the target vehicle and the departure time of the reference vehicle: if following the vehicle occurs, executing step S2035; if following the vehicle does not occur, the driving time of the target vehicle on the reachable path = the length of the reachable path / the driving speed of the target vehicle;

[0088] S2035: Calculating the following starting positions of the target vehicle and the reference vehicle according to the starting position and driving speed of the target vehicle and the real-time position and driving speed of the reference vehicle;

[0089] S2036: Calculate the following vehicle start time t1 based on the distance between the starting position of the target vehicle and the following vehicle start position in combination with the driving speed of the target vehicle;

[0090] S2037: Calculate the following vehicle time t2 according to the distance between the following vehicle start position and the leaving position of the reference vehicle in combination with the driving speed of the reference vehicle;

[0091] S2038: Calculate the remaining travel time t3 based on the distance between the starting position of the following vehicle and the end position of the target vehicle and the driving speed of the target vehicle;

[0092] S2039: The travel time of the target vehicle on the reachable path = (t1+t2+t3)(1+λ j ), where λ j Indicates the congestion coefficient of the reachable path.

[0093] S204: Selecting a reachable path with the shortest travel time for the target vehicle as the planned path.

[0094] The present invention generates the shortest time path so that the target vehicle can reach the end point (destination) as soon as possible, thereby ensuring the operating efficiency of the underground vehicle. At the same time, in the process of calculating the driving time of the target vehicle, the present invention fully considers the situation that other vehicles in front of the target vehicle need to follow when the driving speed is too slow, and the situation that other vehicles in front of the target vehicle need to switch paths, so that the actual situation of the underground environment can be better dealt with, and the driving time of the target vehicle can be accurately calculated, and the operating efficiency of the underground vehicle can be improved by selecting the shortest time path.

[0095] During the specific implementation process, the light color of traffic light i is calculated according to its own congestion level and the congestion level of the next adjacent traffic light i+1.

[0096] The specific calculation logic is as follows:

[0097] If d is satisfied i >D and d i+1 >D, then the light color of the i-th traffic light at the current moment is yellow;

[0098] If d is satisfied i >D and d i+1 ≤D, then the light color of the i-th traffic light at the current moment is green;

[0099] If d is satisfied i ≤D and d i+1 >D, then the light color of the i-th traffic light at the current moment is red;

[0100] If d is satisfied i ≤D and d i+1 ≤D, then the light color of the i-th traffic light at the current moment is green;

[0101] If satisfied and Then the light color of the i-th traffic light in the future will be yellow;

[0102] If satisfied and Then the light color of the i-th traffic light in the future will be green;

[0103] If satisfied and Then the light color of the i-th traffic light in the future will be red;

[0104] If satisfied and Then the light color of the i-th traffic light in the future will be green.

[0105] Where: D represents the set congestion threshold.

[0106] During the specific implementation process, the types of all vehicles in the traffic light waiting area are obtained. When there are vehicles with priority passage (such as special vehicles and rescue vehicles) in the waiting area, the color of the traffic light is set to green.

[0107] The present invention can better ensure the safety of underground traffic by considering the priority passage of vehicles with priority passage.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the technical solution. Those skilled in the art should understand that those modifications or equivalent substitutions of the technical solution of the present invention that do not depart from the purpose and scope of the technical solution should be included in the scope of the claims of the present invention.

Claims

1. A method for controlling underground mine traffic information based on congestion analysis, characterized in that: include: S1: Get the maximum vehicle capacity of all traffic light waiting areas underground; S2: Receive the real-time position and planned path of all vehicles in the mine; S3: Calculate the real-time number of vehicles in the waiting area of ​​a certain traffic light at the current moment based on the real-time positions of all vehicles, and calculate the congestion level of the traffic light at the current moment in combination with the maximum vehicle capacity of the waiting area; S4: Calculate the predicted number of vehicles in the waiting area of ​​a certain traffic light at a future moment according to the planned paths of all vehicles, and calculate the congestion degree of the traffic light at a future moment in combination with the maximum vehicle capacity of the waiting area and the congestion condition of the planned paths; S5: Calculate the light color of a traffic light at the current moment and the future moment respectively according to the congestion degree of the traffic light at the current moment and the future moment; S6: Implement underground traffic light control based on the light colors of each traffic light at the current moment and the future moment.

2. The method for controlling underground mine traffic information based on congestion analysis according to claim 1, characterized in that: In step S3, the congestion level of the traffic light at the current moment is calculated by the following formula: Where: d i represents the congestion level of the i-th traffic light at the current moment; K i represents the real-time number of vehicles in the waiting area of ​​the i-th traffic light at the current moment; J i Represents the maximum vehicle capacity of the i-th traffic light waiting area.

3. The method for controlling underground mine traffic information based on congestion analysis according to claim 1, characterized in that: In step S4, the congestion level of the traffic light at the future time is calculated by the following steps: S401: Obtain the travel speed of all vehicles in the mine; S402: Calculate all target vehicles arriving at the waiting area of ​​traffic light i at the future time t according to the planned paths of all vehicles and their driving speeds; S403: Calculate the congestion coefficient of the planned path corresponding to the target vehicle, where the congestion coefficient reflects the situation of the planned path; S404: Calculate the congestion level of traffic light i at the future time t according to the number of target vehicles and the congestion coefficient of the planned path corresponding to the target vehicles.

4. The method for controlling underground mine traffic information based on congestion analysis according to claim 3, characterized in that: In step S403, the congestion coefficient of the planned path is calculated by the following steps: Where: j represents the congestion coefficient of the planned path corresponding to the target vehicle j; m j represents the number of vehicles traveling in the same direction as the target vehicle j on the planned path; l j represents the distance between the target vehicle j and the first vehicle traveling in the same direction on its planned path; a is a constant; d i Indicates the congestion level of the i-th traffic light at the current moment; n j Represents the number of traffic lights on the jth reachable path.

5. The method for controlling underground mine traffic information based on congestion analysis according to claim 4, characterized in that: In step S404, the congestion level of the traffic light at the future moment is calculated by the following formula: Where: represents the congestion level of the i-th traffic light at the future time t; C represents the number of target vehicles; λ i represents the congestion coefficient of the planned path corresponding to the target vehicle j; J i Represents the maximum vehicle capacity of the i-th traffic light waiting area.

6. The method for controlling underground mine traffic information based on congestion analysis according to claim 1, characterized in that: In step S5, the light color of traffic light i is calculated according to its own congestion level and the congestion level of the next adjacent traffic light i+1.

7. The method for controlling underground mine traffic information based on congestion analysis according to claim 6, characterized in that: In step S5, the calculation logic of the traffic light color at the current moment is as follows: If d is satisfied i >D and d i+1 >D, then the light color of the i-th traffic light at the current moment is yellow; If d is satisfied i >D and d i+1 ≤D, then the light color of the i-th traffic light at the current moment is green; If d is satisfied i ≤D and d i+1 >D, then the light color of the i-th traffic light at the current moment is red; If d is satisfied i ≤D and d i+1 ≤D, then the light color of the i-th traffic light at the current moment is green; Where: D represents the set congestion threshold.

8. The method for controlling underground mine traffic information based on congestion analysis according to claim 6, characterized in that: In step S5, the calculation logic of the traffic light color at the future moment is as follows: If satisfied and Then the light color of the i-th traffic light in the future will be yellow; If satisfied and Then the light color of the i-th traffic light in the future will be green; If satisfied and Then the light color of the i-th traffic light in the future will be red; If satisfied and Then the light color of the i-th traffic light in the future will be green; Where: D represents the set congestion threshold.

9. The method for controlling underground mine traffic information based on congestion analysis according to claim 1, characterized in that: In step S5, the types of all vehicles in the traffic light waiting area are obtained, and when there are priority vehicles in the waiting area, the color of the traffic light is set to green.

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