Multi-signal-source interactive verification positioning underground vehicle scheduling management and control method and system

Abstract

The invention relates to the technical field of underground vehicle scheduling control, in particular to an underground vehicle scheduling management and control method and system for multi-signal-source interactive verification positioning, and the method comprises the following steps: S1, constructing an underground region topology; s2, multi-source signal comprehensive positioning; s3, signal source interaction verification; and S4, scheduling management and control measures. According to the underground vehicle scheduling management and control method and system based on multi-signal-source interactive verification positioning, the accuracy is enhanced through multi-signal-source interactive verification positioning, and efficient vehicle management and scheduling are realized based on a sparrow algorithm optimization scheduling decision and previous scheduling records; the method and the system are suitable for a complex underground environment, and underground vehicles are guided to safely and efficiently complete tasks in good time; possible safety risks are reduced, and the overall production efficiency of underground operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground vehicle dispatching and control, and in particular to an underground vehicle dispatching and control method and system for interactive verification and positioning of multiple signal sources. Background Art

[0002] In mining and tunnel engineering, accurate positioning and dispatching of underground vehicles is the key to ensuring safety and efficiency. The underground environment is generally complex, including multi-layer tunnels and cross-tunnels, which increases the difficulty of positioning underground vehicles.

[0003] The satellite signal of GNS cannot be transmitted due to geological barriers deep below the ground, resulting in no satellite signal coverage in such underground environments, so GPS positioning cannot be used. Therefore, satellite-based navigation systems cannot be used in underground environments. This makes it difficult to use radio signals alone for positioning and tracking, because radio signals may be reflected, refracted, or interfered with by other signals, resulting in inaccurate positioning.

[0004] Some positioning methods for underground vehicles are disclosed in the prior art, but there are also some technical problems to be solved, such as: 1. The positioning system may not provide sufficient accuracy in complex underground environments when considering effects such as signal diffraction and reflection. This may cause misalignment of underground vehicles during dispatch, affecting the efficiency and safety of dispatch.

[0005] 2. The target underground vehicle may need to stay in the blocked location for a long time or choose a longer detour path, which may cause scheduling delays and waste of resources.

[0006] 3. The complex underground environment and ever-changing vehicle conditions require extensive data collection, analysis and storage. Huge data loads may cause the dispatch system to respond more slowly. Summary of the invention

[0007] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide an underground vehicle scheduling and control method and system with multi-signal source interactive verification and positioning, which can enhance the accuracy of multi-signal source interactive verification and positioning, optimize scheduling decisions based on the sparrow algorithm and past scheduling records to achieve efficient vehicle management and scheduling; this method and system are suitable for complex underground environments, and can guide underground vehicles to complete tasks safely and efficiently in a timely manner; the present invention not only reduces possible safety risks, but also improves the overall production efficiency of underground operations.

[0008] To achieve the above object, the present invention provides the following technical solutions: A method for underground vehicle dispatching and control with multi-signal source interactive verification positioning, comprising the following steps: S1, constructing a map of the underground area; Collect the real coordinates of key nodes in the underground area, and establish a topological module of the underground area based on the real coordinates; S2, multi-source signal integrated positioning: determining the initial position based on the correspondence between the plurality of signal sources and position points located underground; S3, signal source interactive verification: based on the initial position, determine the target point, interactively measure the distance of the target point through multiple signal sources, and determine the corrected position of the target point; S4, dispatching of control measures: guided by the target point determined in S3, dispatching vehicles to perform operations or control in the underground area; Among them, S3 specifically includes: S31, determining a signal source set; based on the initial position, determining a signal source set, the signal source set including a central signal source for determining the initial position and other signal sources for interactive ranging; S32, interactive ranging; performing interactive ranging between the remaining signal sources and the initial position to obtain interactive signal strength; S33, determining a revised position; determining a weighted average strength of the interactive signal by an interactive signal strength weighted average algorithm according to the interactive signal strength and the initial position, and determining a revised position of the target point based on the weighted average strength; Among them, the interactive signal strength weighted average algorithm is: ; in, Indicates The initial position of the target point, Indicates the serial number of the current signal source; Indicates the dynamic calculation of each signal source relative to the target point Correction factor: hour, , indicating that the signal source corresponding to the target point has no influence; when When , the correction factor is determined by the sequence number difference, which affects the weight of the signal strength; Indicates The interactive signal strength of each signal source; Indicates the average value of the interaction signal strength of all signal sources.

[0009] Furthermore, step S1 specifically includes: S11, dividing the topological module into unit areas to obtain a downhole unit area module; S12, mapping the location information of the mining equipment, sensors, working areas and working vehicles in the underground area with the underground unit area module to obtain a corresponding topological module.

[0010] Furthermore, step S1 also includes: calibrating the position information corresponding to the passage sections between different unit areas.

[0011] Furthermore, step S4 specifically includes: S41, receiving a dispatch instruction; S42, determining a dispatching route; S43, determining control measures; determining the control measures that the vehicle needs to execute at the target point based on the determined vehicle dispatch parameters.

[0012] Further, step S43 specifically includes: The dispatch parameters of the vehicle include one or more of the category of the vehicle, the type of dispatch, the load carried, and the time limit of the dispatch.

[0013] Furthermore, step S43 further includes: When dispatched vehicles enter the passable road section in sequence according to the dispatched route, they are compared with the calibration information of the passable road section to determine whether the passable road section is an open road section; If a road section is determined to be a temporarily closed section, priority will be given to determining the estimated opening time of the temporarily closed section and the time required for the detour section. If the estimated opening time is short, the vehicle will be dispatched to wait in the passable section. If the estimated opening time is long, the vehicle will be dispatched to detour.

[0014] The present invention also provides an underground vehicle dispatching and control system for multi-signal source interactive verification and positioning, which is used to execute the underground vehicle dispatching and control method for multi-signal source interactive verification and positioning, and includes: a topology module, a dispatching module, a positioning module, a control module and an information receiving terminal; Topology module, used to establish underground unit area module and determine the passage section; The dispatch module is used to determine the dispatch parameters of the vehicle according to the dispatch instruction, determine the dispatch route according to the dispatch parameters, and establish a dispatch record database; The positioning module performs multi-point interactive positioning of the predetermined target points of the scheduling module based on the topology module, and guides the scheduling vehicle to perform operations according to the determined corrected position; The control module receives dispatch instructions and dispatches control measures for operating vehicles.

[0015] Furthermore, the scheduling module also establishes a detour decision algorithm to determine the detour decision of the underground vehicle based on the scheduling parameters. The detour decision algorithm is optimized based on the sparrow search algorithm to optimize whether the vehicle detours.

[0016] Furthermore, the detour decision of the underground vehicle is determined based on the improved sparrow search algorithm, as follows: A1 initializes the decision matrix: The decision matrix consists of the agent's decision vectors, which represent The agent in The decision vector in the iteration process includes the underground operation specified vehicle On designated road section Waiting decision value while driving and detour decision value ; The scheduling module , , and The agent is randomly initialized with more than or equal to 20 decision vectors; in, Indicates the theoretical shortest waiting time of the designated vehicle on the designated road section. Indicates the theoretical maximum waiting time of the designated vehicle on the designated road section. Indicates the theoretical shortest detour time of the specified vehicle when triggered on the specified road section. Indicates the theoretical maximum detour time of the designated vehicle when triggered on the designated road section; to is the iteration value of the vehicle, is the total number of vehicles; is the path parameter value; A2: Population iteration: Standardize the decision vectors of the child agents and calculate the decision fitness value of each child agent in this round; based on the decision fitness value, select elite agents to form the next generation population; A3: Calculate the iteration time cost: For the initial population, follow the operating procedures and observe the underground operation of the designated vehicle. Waiting time during driving on designated road section R and detour time ,by The case is an iteration round, and the original time cost of all iteration rounds is calculated The original time of all iterations is The mean ; A4: Make time cost decisions based on convergence conditions: The offspring population forms a set of iterative rounds, and the time cost of all iterative rounds is calculated The mean ,determine the public time cost optimization decision according to the convergence condition; The scheduling module receives the secondary information of the driving and scheduling of multiple underground operation vehicles sent by the information receiving end, and determines the waiting time generated based on all iteration rounds according to the secondary information. and detour time The calculated common time cost optimization decision.

[0017] Further, in step A3, for the The decision vector Position Substitution and Position Substitution The agent triggered by the decision fitness value is called The position is the waiting position, The position is the bypass position, Waiting decision value for the position waiting Waiting Time , No. Detour decision value of the location Detour Time .

[0018] Furthermore, in step A4, based on the time cost of all iteration rounds The mean Is it less than the convergence condition, the system determines whether the iterative offspring population converges to the optimal offspring population; the convergence condition is determined by the original time cost Determine, indicating the time cost of all iteration rounds The mean The maximum value before convergence is Less than As a sign of convergence of iterative sub-generation population.

[0019] The technical effects of the present invention are: The present invention has made technical improvements to the problems existing in the existing technologies, specifically including: the topology module introduces a topology algorithm to actively construct a map of the underground area, the scheduling module schedules the controlled vehicles based on the topology algorithm and the position algorithm, and the guidance module guides the scheduled vehicles to ensure that the vehicles do not deviate from the predetermined trajectory, and the guidance algorithm also eliminates high latency through multiple interactive positioning. Therefore, whether it is the topology module, the scheduling module, or the guidance module, it can effectively solve the problem of difficult underground vehicle scheduling, thereby improving the stability, adaptability and responsiveness of the entire underground vehicle scheduling system, and better meeting practical needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the method flow of the present invention. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below in conjunction with specific embodiments, but the specific implementation manner of the present invention is not limited thereto.

[0022] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention but do not constitute a limitation to the embodiments of the present invention.

[0023] Example 1 This embodiment provides an underground vehicle dispatching and control method for multi-signal source interactive verification positioning, including the following steps: S1, constructing the underground area topology; Collect the actual coordinates of the key nodes in the underground area, and establish a topological module of the underground area according to the preset topological model. The topological module of the underground area includes the topology of the position in the well and the topology of the operation performed at the underground position; S2, multi-source signal integrated positioning: using sensing equipment to establish multiple signal sources in the underground area, positioning the position point in the underground area multiple times, determining the corresponding relationship between the position point and all signal sources, accumulating several position data of the position point, and determining the initial position of the position point based on the accumulated position information; S3, signal source interactive verification: based on the initial position, guide the control vehicle to travel in the underground area, determine the target position point, based on the target position point, call the set signal source, interactively measure the distance to the target point, and determine the corrected position of the position target point; S4. Scheduling of control measures: Based on the corrected position of the location point, dispatching control vehicles to perform operations or control in the underground area.

[0024] In this embodiment, the method optimizes the dispatching and control of underground vehicles from four aspects: 1. Use the topology module to divide the underground area into several sub-areas for monitoring and scheduling, so as to realize hierarchical management of the underground area.

[0025] 2. Use a multi-signal source interactive verification algorithm to determine the precise location of all equipment and vehicles in the underground area, thereby achieving precise scheduling.

[0026] 3. According to the conditions in the underground area and the different situations in each work location, the target vehicles are dispatched in a targeted manner, and the method of dispatching tracking vehicles is changed to dispatching target vehicles, which reduces the complexity of dispatching and improves the response speed of dispatching.

[0027] 4. Based on the point-to-point control method, only specific matters are controlled to reduce the burden of overall scheduling.

[0028] This method was applied to the dispatching and control system of a certain underground operation. Tests showed that the dispatching efficiency of the underground vehicle dispatching and control system using this method was improved by about 37%, and the average single dispatching time was reduced from 46 seconds to 32 seconds.

[0029] Example 2 This embodiment is based on Embodiment 1, and this embodiment further includes: Step S1 specifically includes: S11, dividing the topological module into unit areas to obtain a downhole unit area module; S12, mapping the location information of the mining equipment, sensors, working areas and working vehicles in the underground area with the underground unit area module to obtain a corresponding topological module.

[0030] In this embodiment, the topological module obtains a more visual and precise presentation of the topological module of the underground area through mapping of the unit area divisions, and because this is for scheduling and controlling the underground area, the topological module also maps some mining equipment, sensors, operating areas and work fleet data information of the underground area to the underground unit area, and then establishes a corresponding topological module for each area.

[0031] The technicians understand that when a safety hazard occurs in the underground area divided by the unit of this embodiment, only the equipment or work fleet in the same unit area needs to be regulated, which can reduce the severity of the situation without mobilizing more resources, thereby achieving rational use of resources and avoiding waste of scheduling resources. Secondly, by introducing this method, the frequency of system call information will be reduced, thereby reducing information delay and processing single events more quickly and effectively.

[0032] Example 3 This embodiment is based on Embodiment 1 or Embodiment 2, and this embodiment further includes: Step S1 further includes: The location information corresponding to the passage sections between different unit areas is calibrated.

[0033] In this embodiment, after different unit areas are established as downhole unit area modules, clear calibration is established for the traffic control center unit areas between different unit areas, which is used to distinguish between areas and for accurate positioning within the area.

[0034] Example 4 This embodiment is based on any one of Embodiments 1-3, and this embodiment further includes: Step S4 specifically includes: S41, receiving a dispatch instruction; The dispatch instructions are determined based on the real-time status of equipment and operations in the underground area; S42, determining a dispatching route; Call the topological information of different unit areas and the real-time status of equipment, operations and work fleets in the unit areas, and determine the vehicle dispatch parameters based on different events; According to the dispatching parameters, a dispatching vehicle and a dispatching route are determined, wherein the dispatching route is a route for dispatching the dispatching vehicle from a current area to a target area.

[0035] S43, determining control measures; determining control measures that need to be performed on the vehicle in the target area based on the determined vehicle dispatch parameters; The control measures include operating the equipment and operations, or making control recommendations to the personnel performing the operations of the equipment.

[0036] In this embodiment, whether to send a dispatch instruction is determined based on the real-time status of the equipment and operations in the underground area, which triggers the dispatch system to call the dispatch module and the guidance module. Then, when the vehicle completes cruising in the underground area, certain safety inspections or operation inspections are performed on the equipment and operations inside the underground area or in the interface area in the form of control, so as to avoid the dispatch system only being able to monitor the equipment and operations in the outer area, while leaving the equipment and operations in the internal area unattended, thereby causing safety hazards.

[0037] It can be seen that determining whether a dispatch instruction needs to be issued based on the real-time status of equipment or operations in the underground area is a judgment made under unknown circumstances. It is simply a division of the underground area to guide underground vehicles to investigate equipment or work fleets that have not yet entered the actual area, and calculate the resources that may be used. In this way, the unit area is divided, which is more suitable for widespread use in different types of underground areas.

[0038] Example 5 This embodiment is based on Embodiment 4, and this embodiment further includes: Step S43 specifically includes: The dispatch parameters of the vehicle include: one or more of the category of the vehicle, the type of dispatch, the load carried, and the time limit of the dispatch.

[0039] Technicians will understand that in this embodiment, different types of underground vehicles are controlled differently, and the control parameters are no longer limited to a single one. For example, the type of vehicle required for the unit area where safety hazards occur and the limited load of the vehicle can be determined. By taking out clearer values, the control range will be narrowed. Usually, only one to two kilometers of vehicles need to be controlled to achieve comprehensive control of the vehicles in the area where safety hazards occur. This is a process of determining uncertain events, which will be simpler to handle.

[0040] Example 6 This embodiment is based on Embodiment 4 or 5, and step S43 further includes: When dispatched vehicles enter the passable road section in sequence according to the dispatched route, they are compared with the calibration information of the passable road section to determine whether the passable road section is an open road section; If a road section is determined to be a temporarily closed section, priority will be given to determining the estimated opening time of the temporarily closed section and the time required for the detour section. If the estimated opening time is short, the vehicle will be dispatched to wait in the passable section. If the estimated opening time is long, the vehicle will be dispatched to detour.

[0041] Example 7 A system for dispatching and controlling underground vehicles with interactive verification and positioning of multiple signal sources, used to execute the method for dispatching and controlling underground vehicles with interactive verification and positioning of multiple signal sources as described in any one of Embodiments 1-6, comprising: a topology module, a dispatching module, a positioning module and a control module; Topology module, used to establish underground unit area module and determine the passage section; A dispatch module, used to determine the dispatch parameters of the vehicle according to the dispatch instruction, and determine the dispatch route according to the dispatch parameters; The positioning module performs multi-point interactive positioning of the predetermined target points of the scheduling module based on the topology module, and guides the scheduling vehicle to perform operations according to the determined corrected position; The control module receives dispatch instructions and dispatches control measures for operating vehicles.

[0042] Example 8 This embodiment is based on Embodiment 7. In this embodiment: the scheduling module further establishes a detour decision algorithm to determine the detour decision of the underground vehicle based on the scheduling parameters. The detour decision algorithm is optimized based on the sparrow search algorithm to optimize whether the vehicle detours.

[0043] Example 9 This embodiment is based on the embodiment 8. In this embodiment: the detour decision of the underground vehicle is determined based on the improved sparrow search algorithm as follows: A1 initializes the decision matrix: The decision matrix consists of the agent’s decision vectors, which represent the The agent in The decision vector in the iteration process includes the underground operation specified vehicle On designated road section Waiting decision value while driving and detour decision value ; The scheduling module , , and The agent is randomly initialized with more than or equal to 20 decision vectors; in, Indicates the theoretical shortest waiting time of the designated vehicle on the designated road section. Indicates the theoretical maximum waiting time of the designated vehicle on the designated road section. Indicates the theoretical shortest detour time of the specified vehicle when triggered on the specified road section. Indicates the theoretical maximum detour time of the designated vehicle when triggered on the designated road section; to is the iteration value of the vehicle, is the total number of vehicles; is the path parameter value; A2: Population iteration: Standardize the decision vectors of the child agents and calculate the decision fitness value of each child agent in this round; based on the decision fitness value, select elite agents to form the next generation population; A3: Calculate the iteration time cost: For the initial population, follow the operating procedures and observe the underground operation of the designated vehicle. Waiting time during driving on designated road section R and detour time ,by The case is an iteration round, and the original time cost of all iteration rounds is calculated The original time of all iterations is The mean ; A4: Make time cost decisions based on convergence conditions: The offspring population forms a set of iterative rounds, and the time cost of all iterative rounds is calculated The mean ,determine the public time cost optimization decision according to the convergence condition; The scheduling module receives the secondary information of the driving and scheduling of multiple underground operation vehicles sent by the information receiving end, and determines the waiting time generated based on all iteration rounds according to the secondary information. and detour time The calculated common time cost optimization decision.

[0044] Example 10 This embodiment is based on Embodiment 9. In this embodiment: in step A3, for The decision vector Position Substitution and Position Substitution The agent triggered by the decision fitness value is called The position is the waiting position, The position is the bypass position, Waiting decision value for the position waiting Waiting Time , No. Detour decision value of the location Detour Time .

[0045] Embodiment 11 This embodiment is based on embodiment 10. In this embodiment: in step A4, based on the time cost of all iteration rounds The mean Is it less than the convergence condition? The system determines whether the iterative sub-generation population converges to the optimal sub-generation population; the convergence condition is determined by the original time cost Determine, indicating the time cost of all iteration rounds The mean The maximum value before convergence is Less than As a sign of convergence of iterative sub-generation population.

Claims

1. A method for underground vehicle dispatching and control based on interactive verification and positioning of multiple signal sources, characterized in that: The following steps are involved: S1. Construct a map of the underground area; collect the real coordinates of key nodes in the underground area, and establish a topological module of the underground area based on the real coordinates; S2, multi-source signal integrated positioning: determining the initial position based on the correspondence between the plurality of signal sources and position points located underground; S3, signal source interaction verification; Based on the initial position, the target point is determined, and the target point is interactively measured via a plurality of signal sources to determine the corrected position of the target point; S4. Dispatch of control measures; Guided by the target point determined in S3, the vehicle is dispatched to perform operations or control in the underground area; Among them, S3 specifically includes: S31, determining a signal source set; based on the initial position, determining a signal source set, the signal source set including a central signal source for determining the initial position and other signal sources for interactive ranging; S32, interactive ranging; performing interactive ranging between the remaining signal sources and the initial position to obtain interactive signal strength; S33, determining a revised position; determining a weighted average strength of the interactive signal by an interactive signal strength weighted average algorithm according to the interactive signal strength and the initial position, and determining a revised position of the target point based on the weighted average strength; Among them, the interactive signal strength weighted average algorithm is: ； in, Indicates The initial position of the target point, Indicates the serial number of the current signal source; Indicates the dynamic calculation of each signal source relative to the target point Correction factor: hour, , indicating that the signal source corresponding to the target point has no influence; when When , the correction factor is determined by the sequence number difference, which affects the weight of the signal strength; Indicates The interactive signal strength of each signal source; Indicates the average value of the interaction signal strength of all signal sources.

2. The underground vehicle dispatching and control method for multi-signal source interactive verification positioning according to claim 1 is characterized by: Step S1 specifically includes: S11, dividing the topological module into unit areas to obtain a downhole unit area module; S12, mapping the location information of the mining equipment, sensors, working areas and working vehicles in the underground area with the underground unit area module to obtain a corresponding topological module.

3. The method for underground vehicle dispatching and control with multi-signal source interactive verification positioning according to any one of claims 1 or 2, characterized in that: Step S1 also includes: calibrating the position information corresponding to the passage sections between different unit areas.

4. The underground vehicle dispatching and control method for multi-signal source interactive verification positioning according to claim 3 is characterized by: Step S4 specifically includes: S41, receiving a dispatch instruction; S42, determining the dispatching route; S43, determining control measures; determining the control measures that the vehicle needs to execute at the target point based on the determined vehicle dispatch parameters.

5. The underground vehicle dispatching and control method for multi-signal source interactive verification positioning according to claim 4 is characterized in that: Step S43 specifically includes: The dispatch parameters of the vehicle include one or more of the category of the vehicle, the type of dispatch, the load carried, and the time limit of the dispatch.

6. The method for underground vehicle dispatching and control based on multi-signal source interactive verification positioning according to any one of claims 4 or 5, characterized in that: Step S43 also includes: When dispatched vehicles enter the passable road section in sequence according to the dispatched route, they are compared with the calibration information of the passable road section to determine whether the passable road section is an open road section; If a road section is determined to be a temporarily closed section, priority will be given to determining the estimated opening time of the temporarily closed section and the time required for the detour section. If the estimated opening time is short, the vehicle will be dispatched to wait in the passable section. If the estimated opening time is long, the vehicle will be dispatched to detour.

7. An underground vehicle dispatching and control system for multi-signal source interactive verification and positioning, used to execute the underground vehicle dispatching and control method for multi-signal source interactive verification and positioning as described in any one of claims 1-2, characterized in that: include: Topology module, scheduling module, positioning module, control module and information receiving terminal; Topology module, used to establish underground unit area module and determine the passage section; The dispatch module is used to determine the dispatch parameters of the vehicle according to the dispatch instruction, determine the dispatch route according to the dispatch parameters, and establish a dispatch record database; The positioning module performs multi-point interactive positioning of the predetermined target points of the scheduling module based on the topology module, and guides the scheduling vehicle to perform operations according to the determined corrected position; The control module receives dispatch instructions and dispatches control measures for operating vehicles.

8. The underground vehicle dispatching and control system with multiple signal sources interactively verifying positioning according to claim 7 is characterized by: The scheduling module also establishes a detour decision algorithm to determine the detour decision of the underground vehicle based on the scheduling parameters. The detour decision algorithm is optimized based on the sparrow search algorithm to optimize whether the vehicle detours.

9. The underground vehicle dispatching and control system with multiple signal sources interactively verifying positioning according to claim 8 is characterized by: The detour decision of underground vehicles is determined based on the improved sparrow search algorithm, as follows: A1 initializes the decision matrix: The decision matrix consists of the agent's decision vectors, which represent The agent in The decision vector in the iteration process includes the underground operation specified vehicle On designated road section Waiting decision value while driving and detour decision value ; The scheduling module , , and The agent is randomly initialized with more than or equal to 20 decision vectors; in, Indicates the theoretical shortest waiting time of the designated vehicle on the designated road section. Indicates the theoretical maximum waiting time of the designated vehicle on the designated road section. Indicates the theoretical shortest detour time of the specified vehicle when triggered on the specified road section. Indicates the theoretical maximum detour time of the designated vehicle when triggered on the designated road section; to is the iteration value of the vehicle, is the total number of vehicles; is the path parameter value; A2: Population iteration: Standardize the decision vectors of the child agents and calculate the decision fitness value of each child agent in this round; based on the decision fitness value, select elite agents to form the next generation population; A3: Calculate the iteration time cost: For the initial population, follow the operating procedures and observe the underground operation of the designated vehicle. Waiting time during driving on designated road section R and detour time ,by The case is an iteration round, and the original time cost of all iteration rounds is calculated The original time of all iterations is The mean ; A4: Make time cost decisions based on convergence conditions: The offspring population forms a set of iterative rounds, and the time cost of all iterative rounds is calculated The mean ,determine the public time cost optimization decision according to the convergence condition; The scheduling module receives the secondary information of the driving and scheduling of multiple underground operation vehicles sent by the information receiving end, and determines the waiting time generated based on all iteration rounds according to the secondary information. and detour time The calculated common time cost optimization decision.

10. The underground vehicle dispatching and control system with multi-signal source interactive verification and positioning according to claim 9, characterized in that: In step A3, for The decision vector Position Substitution and Position Substitution The agent triggered by the decision fitness value is called The position is the waiting position, The position is the bypass position, Waiting decision value for the position waiting Waiting Time , No. Detour decision value of location Detour Time ; In step A4, the time cost of all iteration rounds is The mean Is it less than the convergence condition, the system determines whether the iterative offspring population converges to the optimal offspring population; the convergence condition is determined by the original time cost Determine, indicating the time cost of all iteration rounds The mean The maximum value before convergence is Less than As a sign of convergence of iterative sub-generation population.

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