Automatic cruise system under mine

Abstract

The invention relates to the technical field of mine automation, and discloses an under-mine automatic cruise system which comprises the steps that sensor input data are acquired and preprocessed; regulating and controlling path planning parameters in real time based on the preprocessed data so as to adapt to a complex and changeable environment; the collected environment sensing information is sorted according to priorities and is quickly processed to improve the reaction speed of the system; and dynamically adjusting the operation mode according to the association between the power consumption model and the task mode to ensure the cruising ability. Through real-time regulation and control of sensor input data of the automatic cruise system under the mine, the problem of insufficient path planning accuracy caused by complex and changeable environments can be solved, the automatic cruise system under the mine can more accurately plan paths, the working efficiency and safety are improved, and the method is suitable for popularization and application. And the situations of equipment collision, personnel injury and the like possibly caused by path planning errors are reduced.

Description

Technical Field

[0001] This application relates to the technical field of mine automation, and particularly to an underground automatic cruise system. Background Art

[0002] An underground automatic cruise system realizes real-time monitoring of various operating conditions in the mine environment and path planning through a series of automation devices and intelligent technologies, thereby improving the safety and efficiency of mining operations. However, in practical applications, the system still faces multiple challenges: Firstly, there is the problem of insufficient path planning accuracy. Due to the complex and changeable underground environment, the data input by sensors needs to be adjusted in real time to improve the accuracy of path planning. Secondly, there is the communication problem. The signal strength varies greatly in different operating intervals, resulting in unstable communication and large delays. An effective regulation mechanism is required to ensure the reliability and low latency of communication. In addition, the system also needs to solve the problems of slow reaction speed and lagging decision-making caused by a large amount of environmental perception information collected. This requires prioritizing and quickly processing this information. The power consumption during long-term operation is also an urgent problem to be solved. Reasonably regulating the relationship between the power consumption model and the task mode can enhance the power endurance ability. Finally, in order to reduce the false alarm and missed alarm rates in abnormal behavior detection, the adaptive adjustment mechanism of the system also needs to be optimized and improved. Generally speaking, the above five problems reflect the key pain points of the underground automatic cruise system in practical applications. In-depth research and optimization of these problems will greatly improve the performance and practicality of the system. Summary of the Invention

[0003] In order to solve the problems raised in the above background art, this application provides an underground automatic cruise system.

[0004] This application provides an underground automatic cruise system, adopting the following technical solutions: An underground automatic cruise system includes: S101. Obtain the sensor input data and perform preprocessing; S102. Based on the preprocessed data, adjust the path planning parameters in real time to adapt to the complex and changeable environment; S103. Prioritize and quickly process the collected environmental perception information to improve the system reaction speed; S104. Dynamically adjust the operation mode according to the correlation between the power consumption model and the task mode to ensure the endurance ability.

[0005] Preferably, adjusting the path planning parameters in real time based on the preprocessed data to adapt to the complex and changeable environment includes: Obtain the original signal strength S(n) of the sensor at each node; Compare the signal strength difference ΔS = |S(n + 1) - S(n)| between different nodes; If the formula condition ΔS > θ (where θ is the signal difference threshold) is satisfied, the communication parameters are dynamically adjusted to enhance the anti-interference performance; otherwise, the original communication settings are maintained. When a significant difference is detected between the current job section and the target section, optimization processing is performed in advance.

[0006] 3. A mine underground automatic cruise system according to claim 2, characterized in that, based on the above steps, the underground signals are optimized by a dynamic signal intensification algorithm: Define the signal weight Wi of the critical path node; Based on Wi, evaluate the effectiveness E of the entire path = Sum(Wi * (Si / S_max)), where Si represents the node signal strength and S_max represents the strongest signal value in the path; According to the effectiveness score E, dynamically allocate computing resources to the sections that need them more to improve the response speed and communication stability; If E > K (K is the efficiency evaluation coefficient), it is considered that the existing resource allocation is reasonable; otherwise, reduce the communication priority in the inactive area to concentrate on supporting the key inspection scope.

[0007] Preferably, the regulation of the signal strength difference in different working intervals is specifically reflected in: The mining area is divided into multiple relatively independent working faces by means of partition division, and a basic signal threshold S0 is set; Based on the real-time detection results, adjust the signal enhancement measures according to the following judgment statement: If Si < S0, enable the enhancement mode and increase the transmission power P to overcome the signal loss L = P * L(λ, d); Where L(λ, d) represents the propagation loss function, λ is the signal wavelength, and d is the propagation distance; Finally, a self-maintaining, efficient and reliable communication architecture is formed to improve the communication situation throughout the mine, especially to achieve a faster and more stable communication connection between remote working points.

[0008] Preferably, when facing a situation of drastic environmental changes, the method of further optimizing the path parameters involves four specific links, especially in solving signal problems: Regularly sample and record all factors that may affect the communication effect around, such as humidity h, temperature t, etc., and save them to the historical database D; Combined with historical records and model analysis for known problems, formulate a prevention mechanism to ensure the normal operation of the system, especially to avoid interruptions under sudden severe conditions; Design and implement a machine learning framework based on the D database to predict future trends, so as to pre-estimate the possible dilemmas. Apply the following decision formula: For a given task scenario T, considering factors F = [f_1, f_2, …], if the risk indicator Risk > δ, then trigger the alarm process, where δ refers to the maximum tolerable risk limit for evaluating potential threats in a specific situation.

[0009] Preferably, in order to further ensure the security and timeliness of information exchange, additional protection measures and technical improvement solutions are also added during the process of dealing with complex operation scenario changes: Establish a series of design plans for extreme working conditions as the underlying support layer, such as emergency measures for network disconnection, rapid repair methods for partial failures, etc., to resist the impact of unknown threats; Introduce a multiple redundancy mechanism to ensure that the overall function can still be maintained even when one or more subsystems fail, which helps to improve the robustness and tolerance of the system; Construct an uncertainty and risk management system based on Bayesian networks, and use the principles of probability theory and statistics to calculate the best response strategy; When any abnormal phenomenon such as equipment failure or communication failure is detected, immediately start the self-diagnosis process. By implementing the rule that if the same type of false alarm frequency f_i > λ_i is found three times in a row, then enter the in-depth investigation state, unnecessary interventions are reduced and the fault location efficiency is improved. Here, λ_i represents the maximum allowable false alarm rate, and f_i is the actual observed frequency of event occurrence.

[0010] Preferably, improvements are made in terms of sorting the obtained environmental perception information according to priority and processing it quickly. The specific methods are as follows: The information received is tagged with an urgency level U = High / Medium / Low to identify the urgency level of processing; The system sequentially calls the corresponding analysis engines according to the priority from high to low to perform task allocation A; Use the formula C = (N_high + N_mid / 2 + N_low / 4) / Total_number to determine the comprehensive evaluation coefficient C to evaluate the overall performance, where N represents the proportion of the number of tasks at each level; As long as C < γ (where γ sets a minimum acceptance line), it is necessary to make appropriate fine-tuning to the information processing logic to make the decision-making process faster and more accurate.

[0011] Preferably, more specifically explain how to effectively improve the system operation rate and accuracy based on the above sorting method, and propose a new reinforcement mechanism: Strengthen the data flow control mechanism between sensing nodes to prevent blocking, especially for the transmission of important intelligence; Introduce a self-optimization function by integrating artificial intelligence technology, which can autonomously learn and iterate the optimal information flow strategy B; If it is determined that the value of B is lower than the expected value β (β is the set target benefit level) in the current state, that is, B < β, then trigger a self-calibration process to evolve the entire system in a better direction; Synchronously track the latest research results and continuously upgrade the internal hardware facilities and peripheral interface specifications to ensure compatibility and expansion space.

[0012] Preferably, the further supplementation and expansion for improving power utilization efficiency during long-term operation include the following steps, especially focusing on the energy management challenges during continuous operation: Real-time collect the power consumption I of each subsystem, and accordingly construct a detailed energy usage chart R; According to the R chart and the load demand characteristics, use simulation tools to simulate the remaining battery time T under various operating modes; Adjust the limit range of I according to the accumulated experience and data analysis results - for example, apply the formula: if the average current exceeds the warning threshold μ, then start the power-saving program to reduce the load until I ≤ μ, where I refers to the instantaneous current consumption and μ represents the design tolerance; Until finally achieving the ideal state of maximizing the available power Umax with the minimum sacrifice of efficiency.

[0013] Preferably, the process of achieving optimal power distribution by introducing an intelligent scheduling algorithm includes the following measures: Set a list M of several key parameter monitoring items, including various variables such as temperature θ, humidity η, vibration acceleration γ, etc., and continuously evaluate the environmental condition impact factors; Dynamically balance the energy output O between modules according to the changes in M, avoid overcharging or excessive energy consumption, and ensure a stable and effective energy supply; Adjust O with the help of a fuzzy logic algorithm - assume that if and only if most of the factors in M deviate from the standard value interval [λ_min, λ_max], then reduce O accordingly, where [λ_min, λ_max] is used to describe the boundary of the normal operation interval.

[0014] In summary, the present application includes at least one of the following beneficial technical effects: real-time regulation of the sensor input data of the underground automatic cruise system can solve the problem of insufficient accuracy of path planning caused by complex and changeable environments, enabling the underground automatic cruise system to plan paths more accurately, improving work efficiency and safety, and reducing equipment collisions, personnel injuries, etc. that may be caused by path planning mistakes. At the same time, it can regulate the signal strength difference in different operation intervals, solve the problems of unstable communication and large delay, contribute to more stable and efficient communication, ensure the timely transmission of information between various operation links, improve the coordination and response speed of the entire underground operation, and reduce work delays or errors caused by communication problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flowchart of an underground automatic cruise system of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The following details the embodiments of the present application, and the examples of the embodiments are shown in the drawings.

[0017] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0018] Next, referring to the attached Figure 1 , an underground automatic cruise system of the present invention is described. This system can not only adapt to the complex and changeable underground mining area environment, but also maintain stable communication in different operation intervals, and ensure the efficient operation of the system through effective power consumption management and intelligent abnormal behavior detection mechanisms.

[0019] First, obtain the sensor input data and perform preprocessing. Specifically, the system is configured with various types of sensors to sense data of different attributes. For example, lidar and ultrasonic sensors are used to capture the geometry of the surrounding environment, cameras are responsible for capturing visible spectrum information, and temperature sensors and gas sensors are used to monitor air quality and the safety status of the work area. These sensors continuously generate a large amount of initial signals of complex types. If the unprocessed data is directly used for subsequent processing, it will consume extremely high system resources and affect the overall efficiency. The preprocessing operations mainly include signal denoising, missing value filling, and data type standardization, etc. After filtering out the random errors and redundant components brought by interference factors through algorithms, the system can ensure that the basic data relied on for subsequent path planning and other key decision-making links has a high signal-to-noise ratio, integrity, and uniformity. This helps to significantly improve the fitting degree and applicability of the final output conclusion or command sequence to the real world. A typical example is: in one embodiment, when the laser rangefinder occasionally fails to measure for a short time due to the special structure inside the mine, the result is corrected and remedied through a pre-established mathematical model combined with the relevant statistical data saved during the previous normal operations.

[0020] The real-time requirement of the system enables it to complete dynamic adjustment actions immediately upon receiving the initially purified dataset - that is, quickly recalculate the optimal solution combination required for path planning based on these preprocessed information flows to cope with the new situation changes that may occur at any time. To achieve this goal, various working conditions that may be encountered should be fully considered before designing the path planning algorithm and incorporated into the optimization process as constraint conditions or heuristic factors; and intelligent tools such as genetic algorithms and neural networks are used to train a flexible response ability system; in addition, a small database can be constructed to store similar cases that have been successfully solved for easy reference. For example, during a patrol, when a collapse in front blocks the road, the system quickly retrieves the internal knowledge base and finds the solutions provided by other mine peers in the past in the face of similar situations, thus bypassing the risk area in time and continuing to move forward according to the plan, greatly enhancing the robustness and generalization performance of the navigation of unmanned vehicles in the mine and solving the problem of reduced path planning accuracy due to the deviation of the original trajectory caused by geological disasters.

[0021] Considering that communication problems in actual application scenarios are often one of the bottleneck factors restricting work efficiency and accuracy, it is necessary to pay attention to improving and managing the communication failures caused by the differences in signal strength in different working areas. The system uses the self-organizing network architecture (Ad Hoc Networks) technology to enable each mobile carrier to become a temporary relay station to assist in forwarding information to the nearest destination terminal; on the other hand, a radio frequency enhancement module is introduced to expand the effective coverage area and adjust the transmission power parameters according to different positions to achieve refined management and control; in addition, distributed edge computing nodes can be deployed near the data acquisition source side to perform local operations such as caching and compression, thereby sharing the load of the core server side to shorten the time delay effect between the round-trip links. For example, specifically, assume that when the wireless AP access point in a certain specific roadway section is blocked by equipment or other physical barriers and the propagation effect is poor, several surrounding unmanned vehicles can spontaneously organize a relay transmission chain through the built-in self-healing radio interface to maintain the stability of the entire network connection.

[0022] Furthermore, it is a crucial task to reasonably determine the priority ranking principle among the numerous pieces of information collected by the sensing units. Sort and classify according to the importance of the information content and the urgency for the current mission. Those key prompts related to life, health, and safety should be arranged in the analysis queue first to wait for an emergency response, such as the warning sound from a smoke alarm or the over-standard concentration alarm signal transmitted by a toxic substance leakage detection device. The relatively less important parts can be paid attention to later, with a time delay ranging from a few seconds to a few minutes. Once a scientific and reasonable hierarchical order framework is established, it will be convenient for computer programs to more quickly lock in important elements and issue the next instruction. At the same time, with the cooperation of high-performance FPGA hardware and multi-threaded programming techniques, the calculation speed is increased to reduce the data transfer cycle and ensure instant processing performance. For example, during a rescue operation, once the gas content in the air reaches the threshold, the processing center of the mine automatic cruise system immediately marks this event as the highest level and triggers the ventilation fan to increase the air volume in the shortest time, while directing the evacuation of personnel at the nearest safety passage to avoid a larger-scale personal injury accident, greatly enhancing the accuracy and timeliness of the response to emergencies.

[0023] Finally, let's talk about the construction strategy of the battery remaining energy prediction model under long-term operation. To balance the extension of battery life without affecting daily function usage, it is necessary to deeply understand the characteristics of power consumption and the correlation between various operation processes. First, optimize the algorithm logic structure at the software level to minimize redundant steps and save memory space. At the same time, strengthen the management of sleep and wake-up, and alternately use deep / shallow sleep modes according to the task priority to reduce standby power consumption. Select more efficient and low-power components to replace the existing configuration at the hardware level. Meanwhile, research and develop new charging technologies, such as solar power supply and contact electromagnetic induction charging, to expand the means of supplementary charging. Most importantly, establish a perfect monitoring and diagnosis system to continuously track and evaluate the remaining power status and make scheduling adjustments in a timely manner. In the practice of some large mining companies, virtual reward mechanisms are set up to encourage employees to participate in energy-saving plan competitions and put forward innovative measures. Or introduce a third-party expert advisory team to regularly hold special seminars to exchange experiences and jointly explore breakthroughs and innovations in methodology to ensure that the power endurance ability under long-term operation meets the requirements.

[0024] Moreover, the criteria for identifying and judging various abnormal phenomena during the inspection process also need to have the characteristics of self-learning and correction to improve the occurrence of false alarms and missed detections. Use a large-scale sample to train a deep belief network to continuously deepen the memory storage breadth and improve the understanding and grasp of various abnormal patterns. Introduce a feedback adjustment loop mechanism. Once a false alarm is detected, immediately trace back to the source to check whether it is due to a too low or too strict setting threshold. If necessary, manually intervene to modify the parameters until they are within a reasonable range. In a specific example: whenever the siren sounds but the target identifier cannot be detected, the background server will automatically retrieve the past records to check whether the deviation is caused by inaccurate extraction of the background image features previously entered. And accordingly, it will be automatically corrected and updated to the latest version file, reducing the false touch rate and avoiding the situation of missing important clue information again, improving the reliability and credibility of the underground inspection system.

[0025] In short, this underground automatic cruise system perfectly solves many thorny problems with its advanced technology and ingenious design concept, bringing a more intelligent and efficient solution for mining.

[0026] All parts in the claims first clearly list all the covered clauses. For example, in the first clause, it clearly stipulates the basic architecture and composition of the underground automatic cruise system. This means what basic modules and functional components the system should have to form a complete defined scope. Each clause is a specific description of the uniqueness of the system. In an embodiment, the underground automatic cruise system must include a central processing unit, a sensor array, and a navigation device.

[0027] The definitions and regulations in each of the above steps need to be further explained in terms of their connotations and importance. When elaborating on the meaning of the terms in detail, emphasize the underlying design concepts and logical considerations, while ensuring that each technical feature is protected legally and reasonably. Specifically, all parts of the underground automatic cruise system need to cooperate closely to achieve the goals of safe operation and monitoring in the underground space. The sensors are used to sense external information and transmit the collected data to the central processor; while the navigation equipment is responsible for path planning based on pre-stored map information or by constructing maps on its own.

[0028] Finally, for the sake of easy understanding and providing practical operation guidelines, a scenario example is given. Suppose during a mining operation, this type of cruise device can walk autonomously in the roadway and regularly transmit the carbon monoxide concentration data in the mine to the ground control room, ensuring the safety of the lives and property of the staff and the efficient progress of production activities. During this period, a special algorithm is also used to optimize the action route to avoid hitting the wall or rock (in the formula for the optimal distance d*=(w - l) / 2, the parameter d represents the shortest straight-line distance from the obstacle to the two side boundaries of the robot, the parameter w is the width of the line-tracking area, and the parameter l is the length of the robot; setting this formula ensures that the robot can shuttle flexibly in a narrow space, with a minimum width requirement of not less than twice the size of the robot), ensuring the safety and stability of the system operation, while reducing energy consumption and improving work efficiency.

[0029] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. An underground automatic cruise system, characterized in that, Including: S101. Obtain sensor input data and perform preprocessing; S102. Based on the preprocessed data, adjust the path planning parameters in real time to adapt to the complex and changeable environment; S103. Sort the collected environmental perception information according to the priority and process it quickly to improve the system response speed; S104. Dynamically adjust the operation mode according to the correlation between the power consumption model and the task mode to ensure the endurance ability.

2. The underground automatic cruise system according to claim 1, characterized in that, Based on the preprocessed data, adjusting the path planning parameters in real time to adapt to the complex and changeable environment includes: Obtain the original signal strength S(n) of the sensor at each node; Compare the signal strength difference ΔS = |S(n + 1) - S(n)| between different nodes; If the formula condition ΔS > θ (where θ is the signal difference threshold) is satisfied, then dynamically adjust the communication parameters to enhance the anti-interference performance, otherwise maintain the original communication settings; When a significant difference is detected between the current operation section and the target section, perform optimization processing in advance.

3. The automatic underground cruise system according to claim 2, characterized in that, Based on the above steps, optimize the underground mine signal through the dynamic signal intensification algorithm: Define the signal weight Wi of the key path nodes; Evaluate the effectiveness E of the entire path based on Wi, where E = Sum(Wi * (Si / S_max)), Si represents the node signal strength, and S_max represents the strongest signal value in the path; Dynamically allocate computing resources to the sections that need them more according to the effectiveness score E to improve the response speed and communication stability; If E > K (K is the efficiency evaluation coefficient), it is considered that the existing resource allocation is reasonable; otherwise, reduce the communication priority in the inactive area to concentrate on supporting the key inspection scope.

4. The underground automatic cruise system according to claim 3, characterized in that, The regulation of the signal strength difference in different operation intervals is specifically reflected in: Adopt the method of zoning division to divide the mining area into multiple relatively independent working faces and set the basic signal threshold S0; Based on the real-time detection results, adjust the signal enhancement measures according to the following judgment statement: If Si < S0, then enable the enhancement mode and increase the transmit power P to overcome the signal loss L = P * L(λ, d); Where L(λ, d) represents the propagation loss function, λ is the signal wavelength, and d is the propagation distance; Finally, form a self-maintaining, efficient and reliable communication architecture to improve the communication situation within the entire mine, especially to achieve a faster and more stable communication connection between remote working points.

5. The automatic underground cruise system according to claim 4, characterized in that, When facing the situation of drastic environmental changes, the method of further optimizing the path parameters involves four specific links, especially in solving signal problems: Regularly sample and record all factors that may affect the communication effect around, such as humidity h, temperature t, etc., and save them to the historical database D; Combined with historical records and model analysis for known problems, formulate a prevention mechanism to ensure the normal operation of the system, especially to avoid interruptions under sudden bad conditions; Design and implement a machine learning framework based on the D database to predict future trends in order to estimate the possible dilemmas in advance; Apply the following decision formula: For a given task scenario T, considering factors F = [f_1, f_2, …], if the risk indicator Risk > δ, then trigger the alarm process, where δ refers to the maximum tolerable risk limit used to evaluate potential threats in a specific situation.

6. The automatic underground cruise system according to claim 5, characterized in that, To further ensure the security and timeliness of information exchange, additional protection measures and technical improvement solutions have been added during the process of dealing with complex operation scenario changes: Establish a series of design plans for extreme working conditions as the underlying support layer, such as emergency measures for network disconnection, rapid repair methods for partial failures, etc., to resist the impact of unknown threats; Introduce a multiple redundancy mechanism to ensure that the overall function can still be maintained even when one or more subsystems fail, which helps to improve the robustness and tolerance of the system; Construct an uncertainty and risk management system based on Bayesian networks, and use the principles of probability theory and statistics to calculate the optimal response strategy; When any abnormal phenomenon such as equipment failure or communication fault is detected, immediately start the self-diagnosis process. By implementing the rule that if the same type of false alarm frequency f_i > λ_i is found three times in a row, then enter the in-depth investigation state, unnecessary intervention can be reduced and the fault location efficiency can be improved. Here, λ_i represents the maximum allowable false alarm rate, and f_i is the actual observed frequency of event occurrence.

7. The automatic underground cruise system according to claim 6, wherein Improvements have been made in sorting the acquired environmental perception information according to priority and processing it quickly. The specific approach is as follows: The information received is tagged with an urgency level U = High / Medium / Low to identify the urgency level of processing; The system sequentially calls the corresponding analysis engines according to the priority from high to low to execute task allocation A; Use the formula C = (N_high + N_mid / 2 + N_low / 4) / Total_number to determine the comprehensive evaluation coefficient C to evaluate the overall performance, where N represents the proportion of the number of tasks at each level; As long as C < γ (where γ sets a minimum acceptance line), it is necessary to make appropriate fine-tuning to the information processing logic to make the decision-making process faster and more accurate.

8. An underground automatic cruise system according to claim 1, characterized in that Explain in more detail how to effectively improve the system operation speed and accuracy performance according to the above sorting method, and propose a new enhancement mechanism: Strengthen the data flow control mechanism between sensing nodes to prevent blockages, especially the transmission of important intelligence; Introduce a self-optimization function in combination with artificial intelligence technology, which can autonomously learn and iterate the optimal information transfer strategy B; If it is determined that the B value in the current state is lower than the expected value β (β is the set target benefit level), that is, B < β, then trigger the self-calibration process to make the entire system evolve in a better direction; Synchronously track the latest research results and continuously upgrade the internal hardware facilities and peripheral interface specifications to ensure compatibility and expansion space.

9. The automatic underground cruising system according to claim 1, characterized in that The further supplements and expansions made to improve the power utilization efficiency during long-term operation include the following steps, especially paying attention to the energy management challenges during continuous operation: Real-time collect the power consumption I of each subsystem, and construct a detailed energy usage chart R based on this; According to the R chart and the characteristics of load demand, use simulation tools to simulate the remaining battery time T under various operation modes; Adjust the limit range of I according to the results of experience accumulation and data analysis - for example, apply the formula: if the average current exceeds the warning threshold μ, then start the power-saving program to reduce the load until I ≤ μ, where I refers to the instantaneous current consumption and μ represents the design tolerance; Until finally achieving the ideal state of maximizing the available power Umax with the minimum sacrifice of efficiency.

10. The under-mine automatic cruise system according to claim 1, wherein, The process of realizing the optimization of power distribution by introducing an intelligent scheduling algorithm includes the following measures: Set a list M of several key parameter monitors, including various variables such as temperature θ, humidity η, vibration acceleration γ, etc., and continuously evaluate the environmental impact factors; Dynamically balance the energy output O between modules according to the changes in M, avoid overcharging or excessive energy consumption, and ensure a stable and effective energy supply; Adjust O with the help of a fuzzy logic algorithm - assume that and only when most of the factors in M deviate from the standard value interval [λ_min, λ_max], then reduce O accordingly, where [λ_min, λ_max] is used to describe the boundary of the normal operation interval.

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