A mine-based extended broadcast rescue method based on artificial intelligence

Abstract

The present invention provides an artificial intelligence-based mine broadcast rescue method, relating to the field of mining technology. The method comprises: when an underground accident causes partial channel blockage, planning an evacuation route based on an underground traffic electronic map, blocked channels, and gathering places; determining the intersection of each evacuation route with other evacuation routes, and for each intersection, executing the following: mobilizing the mining vehicle closest to the intersection to the intersection; upon arrival at the intersection, adjusting the direction of the mining vehicle's front end to point in the evacuation direction of the evacuation route, adjusting the output direction of the mining vehicle's loudspeaker to point toward the evacuation route, and controlling the loudspeaker to output an evacuation alarm; refugees arrive at the intersection based on the source of the evacuation alarm, determine the correct evacuation route based on the direction of the mining vehicle's front end, and evacuate. The present invention can intelligently plan an evacuation route and has a clear navigation function, thereby enabling accurate and rapid rescue.

Description

Technical Field

[0001] The present invention relates to the field of mining technology, and in particular to an artificial intelligence-based mine broadcast rescue method. Background Art

[0002] The underground broadcast system is a system used to broadcast information to underground personnel to facilitate communication between the surface and underground. Among them, safe evacuation information is the most important one.

[0003] Currently, underground broadcast systems are primarily installed in locations where personnel gather, such as work faces and rest rooms. However, when an accident occurs underground and some passages become impassable, these fixed-installation broadcast systems lack the ability to flexibly plan evacuation routes and provide clear guidance. Summary of the Invention

[0004] The embodiment of the present invention provides an artificial intelligence-based mine broadcast rescue method that can intelligently plan risk avoidance routes and achieve precise rescue. The technical solution of the present invention is as follows:

[0005] An artificial intelligence-based mine broadcast rescue method, comprising:

[0006] When an accident occurs underground and some passages are blocked, an evacuation route is planned based on the underground traffic electronic map, the blocked passages, and places where people gather; wherein the evacuation routes include multiple ones, each of which starts at a place where people gather and ends at a refuge;

[0007] Determine the intersection of each evacuation route and other evacuation routes, and for each intersection, execute: mobilize the mining vehicle closest to the intersection to the intersection; wherein the mining vehicle is equipped with a sound amplification device, and the sound amplification device is installed on the mining vehicle via a servo motor;

[0008] After the mining vehicle reaches the intersection, the front direction of the mining vehicle is adjusted to point to the evacuation direction of the evacuation route, the output direction of the loudspeaker on the mining vehicle is adjusted to the evacuation route, and the loudspeaker is controlled to output an evacuation alarm;

[0009] The refugees come to the intersection according to the sound source of the evacuation alarm, and determine the correct evacuation route according to the direction of the front of the mining vehicle and evacuate.

[0010] Optionally, an artificial intelligence-based mine broadcast rescue method further includes:

[0011] When the mining vehicle is parked at the intersection, maneuvering the mining vehicle closest to the intersection and not at the intersection and not carrying ore to the intersection;

[0012] When the newly mobilized mining vehicle approaches the intersection, the old mining vehicle starts position detection to detect whether there is a newly mobilized mining vehicle within a preset range. If there is, the door of the old mining vehicle is automatically unlocked and the start button in the cockpit flashes;

[0013] The loudspeaker on the old mining vehicle gives voice guidance to guide nearby personnel to enter the old mining vehicle. After the personnel have safely entered, they press the start button, and the old mining vehicle is marked as an evacuation vehicle and starts to travel along the evacuation route. The evacuation vehicle is no longer included in the list of vehicles to be transferred to the intersection, and will not stop at other intersections.

[0014] The newly mobilized mining vehicle enters the intersection, adjusts the direction of the vehicle head so that the vehicle head points to the evacuation direction of the evacuation route, adjusts the output direction of the loudspeaker on the newly mobilized mining vehicle to the evacuation route, and controls the loudspeaker to output an evacuation alarm.

[0015] Optionally, an artificial intelligence-based mine broadcast rescue method further includes:

[0016] The underground passage is divided into a plurality of segmented roads by using the intersection; wherein both ends of each segmented road are the intersection;

[0017] When any of the evacuation vehicles detects an evacuation vehicle within a first distance ahead of the evacuation route after starting, it activates the adaptive cruise control function with the evacuation vehicle ahead to form a synchronous adjustment convoy. The evacuation vehicles in the synchronous adjustment convoy use the first distance as the distance between them to uniformly adjust their speed and distance through adaptive cruise control.

[0018] Calculating the time it takes for a single evacuation vehicle closest to the intersection and traveling at a preset speed, or the evacuation vehicles at both ends of the synchronous adjustment fleet, to reach the intersection; wherein the first distance is twice the minimum safety distance;

[0019] Comparing the merging times obtained for individual evacuation vehicles or synchronized adjustment convoys that are about to arrive at the same intersection but on different segmented roads, and if the differences between all merging times obtained by comparison are not less than a preset time, no adjustment is required; wherein the preset time is obtained by dividing the minimum safe distance by the preset speed;

[0020] Otherwise execute:

[0021] Taking the single evacuation vehicle or the synchronous adjustment fleet closest to the intersection as the adjustment target;

[0022] Taking the single evacuation vehicle or the synchronous adjustment fleet that is not in the same segmented road as the adjustment target as a reference target;

[0023] Calculating the adjustment time according to the distance from the intersection to the evacuation vehicle closest to the intersection among the reference targets and the preset speed;

[0024] A first acceleration and a second acceleration are determined based on the current position of the evacuation vehicle closest to the intersection among the adjustment targets and the distance from the preset location. Within the adjustment time, the speed of the adjustment target is controlled by first decelerating and then accelerating using the first acceleration and the second acceleration in sequence, so that the adjustment target reaches the preset location at the preset speed; the preset location is the position at the minimum safe distance from the intersection.

[0025] Optionally, the first acceleration and the second acceleration have the same absolute value and opposite directions, and the first acceleration and the second acceleration have the same duration, which is half of the adjustment time;

[0026] The absolute values ​​of the first acceleration and the second acceleration are both 4(v0T-S) / T 2 ; Wherein, v0 is the preset speed, T is the adjustment time, and S is the distance between the current position of the evacuation vehicle closest to the intersection in the adjustment target and the preset location.

[0027] Compared with the prior art, the present invention has at least the following beneficial effects:

[0028] By using underground mining vehicles combined with loudspeaker equipment, rapid underground broadcast rescue is achieved. First, the accident location and blockage location are determined, and an evacuation route is planned based on an electronic map of underground traffic, blocked passages, and gathering places. After the evacuation route is determined, the mining evacuees closest to the intersection of multiple evacuation routes are mobilized to the intersection. The output direction of the loudspeaker equipment is then adjusted to face the direction of the personnel, an evacuation alarm is sent, and the mining vehicle's head direction is adjusted to face the safe evacuation direction of the evacuation route. Refugees identify the direction to the intersection based on the sound source of the evacuation alarm. Although there are multiple forks at the intersection, refugees can determine the correct evacuation route based on the direction of the vehicle's head. When walking along the passage to the next intersection, they can also determine the evacuation direction based on the head direction of the vehicle at the intersection until the personnel are safely evacuated. In summary, the embodiments of the present invention provide an artificial intelligence-based mine broadcast rescue method that can intelligently plan an evacuation route and has a clear guidance function, thereby enabling accurate and rapid rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 This is a schematic diagram of an underground structure provided by an embodiment of the present invention.

[0031] In the picture:

[0032] 1-working surface;

[0033] 2-Intersection;

[0034] 3- Mining vehicles;

[0035] 4- Sound amplification equipment;

[0036] 5- Segmented roads. DETAILED DESCRIPTION

[0037] 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 the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] like Figure 1 As shown, a mine-use spreading rescue method based on artificial intelligence includes:

[0039] When an accident occurs underground and some passages are blocked, evacuation routes are planned based on the underground traffic electronic map, the blocked passages, and places where people gather. There are multiple evacuation routes, each of which starts at a place where people gather and ends at a refuge.

[0040] Determine the intersection of each evacuation route with other evacuation routes, and for each intersection, perform the following steps: mobilize the mining vehicle closest to the intersection to the intersection; wherein the mining vehicle is equipped with a sound amplification device, and the sound amplification device is installed on the mining vehicle via a servo motor;

[0041] After the mining vehicle arrives at the intersection, the front direction of the mining vehicle is adjusted so that the front direction points to the evacuation direction of the evacuation route, the output direction of the loudspeaker on the mining vehicle is adjusted to the evacuation route, and the loudspeaker is controlled to output an evacuation alarm;

[0042] The evacuees came to the intersection according to the source of the evacuation alarm, and determined the correct evacuation route according to the direction of the mining vehicle's head and evacuated.

[0043] When an accident occurs underground, especially when people-carts, monkey cars, or pedestrian lanes are unavailable, the extensive underground passages can be used to quickly evacuate people. However, underground passages are relatively complex, and it is difficult to quickly indicate the evacuation direction using only simple voice commands. In addition, underground passages are often not permanently installed with a broadcasting system. Therefore, an embodiment of the present invention uses an underground mining vehicle in combination with a loudspeaker to achieve rapid underground broadcasting rescue. First, the accident location and blockage location are determined, and an evacuation route is planned based on an electronic map of underground traffic, blocked passages, and places where people gather. Since there are multiple passages underground and the locations of people are relatively dispersed, multiple evacuation routes with possible intersections are designed based on the locations of the people. After the evacuation route is determined, the mining vehicle closest to the intersection of the multiple passages is mobilized to the intersection, and then the output direction of the loudspeaker is adjusted to face the direction from which the people are coming, and an evacuation alarm is output, while the direction of the vehicle head is adjusted to face the safe evacuation direction of the evacuation route. The evacuees determine the direction based on the source of the evacuation alarm and come to the intersection. Although there are multiple forks at the intersection, the evacuees can determine the correct evacuation route based on the direction of the vehicle's head. When walking along the evacuation route to the next intersection, the evacuation direction can also be determined by the direction of the vehicle's head at the intersection until the people are safely evacuated.

[0044] In some embodiments of the present invention, an artificial intelligence-based mine broadcast rescue method further includes:

[0045] When there are mining vehicles parked at the interchange, mobilize the mining vehicles closest to the interchange that are not at the interchange and are not carrying ore to the interchange;

[0046] When the newly mobilized mining vehicle approaches the intersection, the old mining vehicle starts position detection to detect whether there is a newly mobilized mining vehicle within the preset range. If there is, the door on the old mining vehicle is automatically unlocked and the start button in the cockpit flashes;

[0047] The loudspeaker system on the old mining vehicle gives voice guidance to guide nearby personnel to enter the old mining vehicle. After the personnel are safely inside, they press the start button. The old mining vehicle is marked as an evacuation vehicle and starts to drive along the evacuation route. Among them, the evacuation vehicle is no longer included in the list of vehicles to be transferred to the interchange and will not stop at other interchanges.

[0048] The newly mobilized mining vehicle enters the intersection, adjusts the direction of the vehicle head so that it points to the evacuation direction of the evacuation route, adjusts the output direction of the loudspeaker on the newly mobilized mining vehicle to the evacuation route, and controls the loudspeaker to output the evacuation alarm.

[0049] In this embodiment, to quickly and efficiently evacuate refugees in batches, non-mining mining vehicles can be used for evacuation. The nearest empty mining vehicle is dispatched to the intersection. When the newly dispatched mining vehicle approaches the old mining vehicle, the old mining vehicle automatically unlocks the cab door, allowing nearby or passing evacuees to enter the cab. If there are too many people, some can enter the cargo hold or cargo bed. Once the evacuees are safely inside and fully loaded, the start button is pressed, causing the old mining vehicle to evacuate along the evacuation route. The newly dispatched mining vehicle adjusts the direction of its head and loudspeaker system to broadcast a message, while the central control system automatically dispatches the next mining vehicle to the intersection.

[0050] In some embodiments of the present invention, an artificial intelligence-based mine broadcast rescue method further includes:

[0051] The underground passage is divided into multiple segmented roads by using the intersection; wherein both ends of each segmented road are intersections;

[0052] When any evacuation vehicle detects an evacuation vehicle within the first distance ahead of the evacuation route after starting, it activates the adaptive cruise control function with the evacuation vehicle ahead and forms a synchronous adjustment convoy. The evacuation vehicles in the synchronous adjustment convoy use the first distance as the distance between them to achieve uniform speed and distance adjustment through adaptive cruise control.

[0053] Calculate the time it takes for a single evacuation vehicle closest to the intersection and traveling at a preset speed, or for evacuation vehicles at both ends of a synchronously adjusted convoy to reach the intersection; the first distance is twice the minimum safe distance;

[0054] Compare the merging times obtained for individual evacuation vehicles or synchronized convoys approaching the same intersection on different road segments. If the difference between all merging times is no less than the preset time, no adjustment is required. The preset time is the minimum safe distance divided by the preset speed.

[0055] Otherwise execute:

[0056] The single evacuation vehicle or synchronized adjustment fleet closest to the intersection is used as the adjustment target;

[0057] A single evacuation vehicle or a synchronous regulation fleet that is not in the same segmented road as the regulation target is used as a reference target;

[0058] Calculate the adjustment time based on the distance from the intersection to the evacuation vehicle closest to the intersection among the reference targets and the preset speed;

[0059] The first acceleration and the second acceleration are determined based on the distance between the current position of the evacuation vehicle closest to the intersection in the adjustment target and the preset location. During the adjustment time, the speed of the adjustment target is controlled by first decelerating and then accelerating using the first acceleration and the second acceleration in sequence, so that the adjustment target reaches the preset location at the preset speed; the preset location is the position with the minimum safe distance from the intersection.

[0060] In an embodiment of the present invention, multiple evacuation vehicles carrying passengers may converge at the same intersection. Without predictive control, there is a risk of collision between the evacuation vehicles. Therefore, this embodiment of the present invention proposes the aforementioned method, which first determines a first distance. If there are no evacuation vehicles within the first distance ahead of the evacuation vehicle, the distance to the preceding vehicle is sufficient or it is assumed that there are no vehicles ahead, and the evacuation vehicle may proceed at a preset speed. If there are evacuation vehicles within the first distance, adaptive cruise control is used to ensure that the evacuation vehicle maintains the first distance from the preceding vehicle, and its speed is adjusted synchronously with the preceding vehicle (since the preceding vehicle may temporarily adjust its speed to prevent a collision at the intersection). The convoy that adaptively cruises at the first distance is marked as a synchronously adjusted convoy. The synchronously adjusted convoy receives the same speed adjustment instructions and synchronizes its speed with the adaptive cruise control. At each intersection, the approaching convergence time of individual evacuation vehicles or the leading and trailing vehicles in a synchronous adjustment convoy on different road segments is calculated. Multiple convergence times are compared. If the convergence time difference is at least a preset time, the evacuation vehicles or synchronous adjustment convoys on different road segments maintain at least the minimum safe distance upon reaching the intersection, and no adjustment is required. If it is less than this, the distance between vehicles is too small, posing a collision risk and requiring adjustment. When no adjustment is determined, the evacuation vehicle or synchronous adjustment convoy that arrives at the intersection first is marked as the adjustment target, and the frontmost evacuation vehicle on the other road segment is marked as the reference target. The time it takes for the reference target to travel from its current position to the intersection is the adjustment time. The evacuation vehicle farther from the intersection is selected as the reference target to provide a longer adjustment time, which allows the adjustment target ample time to adjust. Specifically, based on the distance from the frontmost evacuation vehicle (which can be the leading vehicle in a synchronous adjustment convoy) to the preset location, the adjustment target is controlled by first decelerating and then accelerating (in the case of a synchronous adjustment convoy, the convoy's acceleration is also adjusted) so that it reaches the preset location at the preset speed after the adjustment time. At this time, the evacuation vehicle in the adjustment target that was originally closest to the intersection arrives at the preset location at the preset speed, and the evacuation vehicle in the reference target arrives at the intersection. The vehicles in the adjustment target and the reference target continue to travel at the preset speed, so that the evacuation vehicles in the reference target and the adjustment target reach the intersection in turn, and no vehicle collision occurs at the intersection. After the evacuation vehicles in the reference target and the adjustment target merge at the intersection, they can still travel at a safe distance.

[0061] It is understandable that after completing the intersection of all evacuation vehicles of the reference target and the adjustment target, the vehicle distance can continue to be adjusted to the first distance through adaptive cruise control.

[0062] In some embodiments of the present invention, the first acceleration and the second acceleration have the same absolute value and opposite directions, and the first acceleration and the second acceleration have the same duration, which is half the adjustment time;

[0063] The absolute values ​​of the first acceleration and the second acceleration are both 4 (v0T-S) / T 2 ; Where v0 is the preset speed, T is the adjustment time, and S is the distance between the current position of the evacuation vehicle closest to the intersection in the adjustment target and the preset location.

[0064] In this embodiment, it can be verified according to the energy consumption model and its constraints that when the absolute values ​​of the first acceleration and the second acceleration are both 4(v0T-S) / T 2 The whole process saves the most energy.

[0065] The verification process is as follows:

[0066] Energy consumption model:

[0067] The total time formula is T=t1+t2, and the total distance of deceleration and acceleration is S = v0T-(ab×T 2 ) / 2(a + b);

[0068] The speed at the end of the deceleration stage is v1=v0-at1, and the speed at the end of the acceleration stage is v0=v1+bt2. First decelerate and then accelerate to keep v0 unchanged, that is, at1=bt2. After substituting into the total time formula, we get t1= Tb / (a+b) and t2=Ta / (a+b).

[0069] During uniformly accelerated motion, energy consumption E is proportional to the square of acceleration and time, that is:

[0070] E∝a 2 t1+b 2 t2;

[0071] Substituting the time relations t1= Tb / (a+b) and t2=Ta / (a+b), we get:

[0072] E∝a 2 (Tb / (a+b))+b 2 (Ta / (a+b))=Tab;

[0073] Therefore, minimizing E is equivalent to minimizing ab;

[0074] Wherein, v0 is the preset velocity, a and b are the absolute values ​​of the first acceleration and the second acceleration respectively, and t1 and t2 are the action time of the first acceleration and the second acceleration respectively.

[0075] Restrictions:

[0076] The expression of S is:

[0077] ;

[0078] ab needs to be minimized while satisfying this constraint.

[0079] Introducing the variables x=a / b, a=x×b, and substituting the constraints, we get:

[0080] S=v0T-(xb×b×T 2 ) / 2(xb+b);

[0081] =v0T-(xb 2 T 2 ) / 2b(x+1)= v0T- (xb× T 2 ) / 2(x+1).

[0082] Solve the equation to find b, b=2(x + 1)(v0T - S) / (x×T 2 );

[0083] Objective function ab=xb 2 =x×[2(x+ 1)(v0T-S) / (xT 2 )] 2 .

[0084] The objective function has a symmetric solution x=1 within the domain of definition. This symmetric solution is the lowest point of the objective function, that is, when x is a symmetric solution, ab is the smallest.

[0085] Symmetry analysis:

[0086] Let a=b, then:

[0087] .

[0088] The solution is: ;

[0089] At this time ab=a 2 , and by comparing the asymmetric case (such as a≠b), it can be proved that the symmetric solution minimizes ab.

[0090] As for how to control the mining vehicle to move at a uniform acceleration (i.e., travel at the first acceleration or the second acceleration), this can be achieved by establishing a vehicle dynamics model and setting a PID control law. The specific steps are as follows:

[0091] 1. Establish a vehicle dynamics model that balances driving force and resistance;

[0092] Vehicle acceleration a m Driven by F drive and driving resistance F resistance The difference determines:

[0093] ;

[0094] in:

[0095] m: Total vehicle mass (including load).

[0096] F resistance =F roll +F aero +F grade :

[0097] Rolling resistance: F roll =m roll ×m×g ;

[0098] Air resistance: F aero =0.5×Cd×ρ×A×v 2 ;

[0099] Slope resistance ：F grade =m×g×sin (θ) (θ is the slope angle);

[0100] ;

[0101] T motor Output torque for the engine / motor, or motor is the drive train / motor efficiency, r wheel is the tire radius, m roll is the rolling resistance coefficient, CD is the air resistance coefficient, r is the air density, A is the frontal area of ​​the autonomous vehicle, v For vehicle speed.

[0102] Set target constant acceleration a desired, according to the model, the required driving force is deduced:

[0103] F drive = m×a desired +F resistance ;

[0104] Need to update F in real time resistance (e.g. calculated by vehicle speed v and slope θ).

[0105] 2. Set the PID control law;

[0106] The PID control process is expressed as:

[0107] ;

[0108] e=a desired −a actual , through the acceleration sensor feedback, a actual is the actual acceleration, T command is the output torque of the controller;

[0109] Parameter adjustment priority: adjust first K p Eliminate steady-state error and then adjust K d Suppress overshoot and finally pass K i Eliminate residual errors.

[0110] Feedforward part: Calculate the feedforward control torque T based on the model ff :

[0111] ;

[0112] Feedback part: PID corrects the actual acceleration deviation.

[0113] 3. Unlimited compensation and dynamic adjustment;

[0114] Air resistance compensation: Air resistance increases with the square of speed, so a feedforward term T needs to be added to the controller. aero_comp :

[0115] ;

[0116] Slope adaptation: when the slope changes, it is updated in real time through the slope sensor or GPS elevation data F grade ;

[0117] If the vehicle load changes (e.g., cargo), the mass m needs to be estimated in real time using a Kalman filter or the least squares method.

[0118] In some embodiments of the present invention, the preset range is 5 meters in radius.

[0119] In some embodiments of the present invention, the mining vehicle is an autonomous vehicle.

[0120] In some embodiments of the present invention, the sound amplification device is connected to an independent power supply.

[0121] In some embodiments of the present invention, the underground passage is a one-way road. A one-way road is more conducive to the overall planning of vehicles and avoids the risk of collisions caused by vehicles passing each other.

[0122] In some embodiments of the present invention, the sound amplification device is located on top of the mining vehicle.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A mine-based rescue method based on artificial intelligence, characterized in that: include: When an accident occurs underground and some passages are blocked, an evacuation route is planned based on the underground traffic electronic map, the blocked passages, and places where people gather; wherein the evacuation routes include multiple ones, each of which starts at a place where people gather and ends at a refuge; Determine the intersection of each evacuation route and other evacuation routes, and for each intersection, execute: mobilize the mining vehicle closest to the intersection to the intersection; wherein the mining vehicle is equipped with a sound amplification device, and the sound amplification device is installed on the mining vehicle via a servo motor; After the mining vehicle reaches the intersection, the front direction of the mining vehicle is adjusted to point to the evacuation direction of the evacuation route, the output direction of the loudspeaker on the mining vehicle is adjusted to the evacuation route, and the loudspeaker is controlled to output an evacuation alarm; The evacuees arrive at the intersection according to the sound source of the evacuation alarm, determine the correct evacuation route according to the direction of the mining vehicle's head, and evacuate; Also includes: When the mining vehicle is parked at the intersection, maneuvering the mining vehicle closest to the intersection and not at the intersection and not carrying ore to the intersection; When the newly mobilized mining vehicle approaches the intersection, the old mining vehicle starts position detection to detect whether there is a newly mobilized mining vehicle within a preset range. If there is, the door of the old mining vehicle is automatically unlocked and the start button in the cockpit flashes; The loudspeaker on the old mining vehicle gives voice guidance to guide nearby personnel to enter the old mining vehicle. After the personnel have safely entered, they press the start button, and the old mining vehicle is marked as an evacuation vehicle and starts to travel along the evacuation route. The evacuation vehicle is no longer included in the list of vehicles to be transferred to the intersection, and will not stop at other intersections. The newly mobilized mining vehicle enters the intersection, adjusts the vehicle head direction so that the vehicle head direction points to the evacuation direction of the evacuation route, adjusts the output direction of the loudspeaker on the newly mobilized mining vehicle to the evacuation route, and controls the loudspeaker to output an evacuation alarm; Also includes: The underground passage is divided into a plurality of segmented roads by using the intersection; wherein both ends of each segmented road are the intersection; When any of the evacuation vehicles detects an evacuation vehicle within a first distance ahead of the evacuation route after starting, it activates the adaptive cruise control function with the evacuation vehicle ahead to form a synchronous adjustment convoy. The evacuation vehicles in the synchronous adjustment convoy use the first distance as the distance between them to uniformly adjust their speed and distance through adaptive cruise control. Calculating the time it takes for a single evacuation vehicle closest to the intersection and traveling at a preset speed, or the evacuation vehicles at both ends of the synchronous adjustment fleet, to reach the intersection; wherein the first distance is twice the minimum safety distance; Comparing the merging times obtained for individual evacuation vehicles or synchronized adjustment convoys that are about to arrive at the same intersection but on different segmented roads, and if the differences between all merging times obtained by comparison are not less than a preset time, no adjustment is required; wherein the preset time is obtained by dividing the minimum safe distance by the preset speed; Otherwise execute: Taking the single evacuation vehicle or the synchronous adjustment fleet closest to the intersection as the adjustment target; Taking the single evacuation vehicle or the synchronous adjustment fleet that is not in the same segmented road as the adjustment target as a reference target; Calculating the adjustment time according to the distance from the intersection to the evacuation vehicle closest to the intersection among the reference targets and the preset speed; A first acceleration and a second acceleration are determined based on the current position of the evacuation vehicle closest to the intersection among the adjustment targets and the distance from the preset location. Within the adjustment time, the speed of the adjustment target is controlled by first decelerating and then accelerating using the first acceleration and the second acceleration in sequence, so that the adjustment target reaches the preset location at the preset speed; the preset location is the position at the minimum safe distance from the intersection.

2. The artificial intelligence-based mine rescue method according to claim 1, characterized in that: The first acceleration and the second acceleration have the same absolute value and opposite directions, and the first acceleration and the second acceleration have the same duration, which is half of the adjustment time; The absolute values ​​of the first acceleration and the second acceleration are both 4(v0T-S) / T 2 ; Wherein, v0 is the preset speed, T is the adjustment time, and S is the distance between the current position of the evacuation vehicle closest to the intersection in the adjustment target and the preset location.

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