Vehicle passing control system of coal mine underground spiral rising tunnel

Abstract

The invention discloses a vehicle passing control system for an underground coal mine spiral ascending tunnel, and relates to the technical field of underground traffic control. Comprising a vehicle-mounted intelligent terminal with a built-in UWB positioning module, a UWB positioning intelligent traffic light, an edge calculation controller and a server. The UWB positioning intelligent traffic light is matched with a UWB positioning module in the vehicle-mounted intelligent terminal to carry out UWB positioning, and position information of the underground transport vehicle is obtained; the edge calculation controller receives the position information of the underground transport vehicle, and controls the traffic state indication of the UWB positioning intelligent traffic lights connected with the edge calculation controller according to the position information of the underground transport vehicle; and the server receives a priority passing application from the vehicle-mounted intelligent terminal so as to control the edge computing controller to issue a control instruction of the priority passing application to the UWB positioning intelligent traffic light. The waiting time of vehicles in the same direction can be shortened, and the passing utilization rate of the coal mine underground spiral ascending tunnel is increased.

Description

Technical Field

[0001] This invention relates to the field of underground traffic control technology, and in particular to a vehicle traffic control system for a spiral ascending tunnel in a coal mine. Background Technology

[0002] The spiral ascent tunnel in an underground coal mine serves as a core passage for vertical lifting over a short horizontal distance. Its structure consists of multiple alternating straight ramps and detours. Compared to straight-ascent tunnels, it has a gentler gradient, making it more suitable for vehicle ascent. Due to tunnel excavation costs, the straight ramps are relatively narrow, allowing only one-way traffic. After a vehicle enters in the upward direction, vehicles in the downward direction must wait in the detour at the ramp entrance; overtaking and passing must also be done within the detour.

[0003] The existing traffic control system for spiral ramp tunnels uses standard traffic lights installed at key intersections. These lights have preset switching cycles or are manually switched by ground personnel after a rough assessment of the ramp's condition via monitoring. Drivers decide whether to enter the ramp based on the traffic light display. If oncoming traffic is encountered, drivers must stop and wait or exit the ramp. For emergency vehicles, drivers must contact ground or on-site personnel via walkie-talkie to temporarily adjust the traffic light status.

[0004] Existing vehicle traffic control systems for spiral ascending tunnels are prone to causing lane-jumping in multi-vehicle scenarios with unclear right-of-way definitions. Furthermore, in two-way traffic scenarios, the lack of a priority strategy leaves vehicles waiting without a clear basis for decision-making. Therefore, the existing vehicle traffic control logic for spiral ascending tunnels is incomplete, resulting in disordered scheduling in multi-vehicle situations and a reduction in overall traffic efficiency. Summary of the Invention

[0005] Therefore, it is necessary to provide a vehicle traffic control system for a spiral ascent tunnel in a coal mine to address the aforementioned technical problems.

[0006] This invention provides a vehicle access control system for a spiral ascending tunnel in an underground coal mine. The spiral ascending tunnel includes multiple alternating spiral channels, each spiral channel including: a ramp, a forward detour, and a backward detour; the vehicle access control system includes: A vehicle-mounted intelligent terminal with a built-in UWB positioning module is installed on underground transport vehicles entering or leaving the spiral ascent tunnel of a coal mine. UWB positioning smart traffic lights are deployed at the exit and entrance of the front and rear detours in each spiral channel to work with the UWB positioning module in the vehicle-mounted smart terminal to perform ultra-wideband positioning and obtain the location information of underground transport vehicles. The edge computing controller is deployed at the midpoint of the ramp in each spiral channel and is communicatively connected to the four UWB positioning smart traffic lights deployed in the spiral channel where the edge computing controller is located. It is used to receive the location information of the underground transport vehicles and control the passage status indication of the UWB positioning smart traffic lights connected to it according to the location information of the underground transport vehicles. The server is used to receive priority access requests from in-vehicle intelligent terminals, and to control the edge computing controller to send control commands for priority access requests to the UWB positioning intelligent traffic lights.

[0007] Optionally, the UWB positioning smart traffic light includes: a controller, a traffic light, an LED dot matrix screen, a speaker, a UWB positioning base station, and a CAN bus; UWB positioning base stations are used to perform ultra-wideband positioning with the UWB positioning module in the vehicle-mounted intelligent terminal to obtain the location information of underground transport vehicles. Traffic lights are used to issue red, yellow, and green light signals according to instructions from the edge computing controller; LED dot matrix screen is used to display text prompts; A loudspeaker is used to broadcast voice prompts. The CAN bus is used for communication between the UWB positioning smart traffic light and the edge computing controller, and to receive control commands from the edge computing controller. The controller is used to control traffic lights, LED dot matrix screens, and speakers according to control instructions from the edge computing controller; The side where the traffic light is located is designated as the front of the UWB positioning smart traffic light.

[0008] Optionally, the deployment location of the UWB-based smart traffic lights includes: The first UWB-based intelligent traffic light is installed at the uphill entrance of the detour and faces the previous ramp. It is used to warn uphill vehicles heading towards this ramp about the status of underground transport vehicles in the detour. The second UWB positioning intelligent traffic light is installed at the uphill exit of the front detour and faces the front detour. It is used to control underground transport vehicles to enter this slope for uphill travel. The third UWB positioning intelligent traffic light is installed at the downhill exit of the rear detour and faces the rear detour. It is used to control underground transport vehicles entering the downhill section of this ramp. The fourth UWB-based intelligent traffic light is installed at the downhill entrance of the detour and faces the next ramp. It is used to warn downhill vehicles heading towards this ramp about the vehicle status of underground transport vehicles in the detour.

[0009] Optionally, the edge computing controller is specifically used to control the traffic status indication of the UWB positioning smart traffic lights connected to it based on the location information of the underground transport vehicle, including: When there are underground transport vehicles in the detour, control the first UWB positioning smart traffic light to turn yellow; When there is a downhill underground transport vehicle in this ramp, control the second UWB positioning smart traffic light to turn red; When there is an upward underground transport vehicle in this ramp, control the third UWB positioning intelligent traffic light to turn red; When there is an underground transport vehicle in the bypass, control the fourth UWB positioning intelligent traffic light to turn yellow. When there are no underground transport vehicles on the current detour, this ramp, and the subsequent detour, control the first, second, third, and fourth UWB positioning intelligent traffic lights to all turn green. In this system, a red light means stop and wait, a green light means go, and a yellow light means a warning.

[0010] Optionally, the in-vehicle intelligent terminal includes: a UWB positioning module, a WiFi communication module, an attitude sensor, and an audible and visual alarm; The UWB positioning module is used to feed back the actual position of underground transport vehicles on ramps, forward detours and backward detours to the UWB positioning smart traffic lights. WiFi communication module, used for communication between vehicle-mounted smart terminals and servers; Attitude sensors are used to collect data on the speed and direction of underground transport vehicles. The audible and visual alarm is used to provide voice and visual warnings to the drivers of underground transport vehicles based on received instructions.

[0011] Optionally, the server is specifically used to receive priority passage requests from in-vehicle intelligent terminals, and to control the edge computing controller to issue control commands for the priority passage requests to the UWB positioning intelligent traffic lights, including: The underground transport vehicle where the vehicle-mounted intelligent terminal that sent the priority application is located will be marked as a priority vehicle. The edge computing controller issues control commands to turn the UWB positioning smart traffic lights in the same direction ahead of the priority vehicle's running path into green lights, and to turn the UWB positioning smart traffic lights in the opposite direction ahead of the priority vehicle's running path into red lights, so that the oncoming vehicles can detour ahead or behind and wait. After the priority vehicle has passed, the system returns to normal control of the edge computing controller.

[0012] The vehicle access control system for a spiral ascent tunnel in a coal mine provided in this embodiment of the invention has the following advantages compared with the prior art: This invention discretizes the continuous spiral tunnels in underground coal mines into multiple independently controlled traffic units by deploying UWB traffic lights at the detour entrances and exits of each spiral tunnel and an edge computing controller at the midpoint of the ramp in the same spiral tunnel. Through the mandatory constraints of traffic lights, the right-of-way of underground transport vehicles in each spiral tunnel is clearly defined based on the location information of the underground transport vehicles. This avoids the conflicts of rushing to pass in the same direction in the scenario of multiple vehicles in the same direction, which can shorten the waiting time of vehicles in the same direction and improve the traffic utilization rate of underground spiral tunnels in coal mines.

[0013] Furthermore, this invention introduces a priority passage application mechanism for two-way traffic scenarios, allowing emergency or important vehicles to submit priority passage applications through onboard intelligent terminals. The server then sends control commands for the priority passage applications to the UWB positioning intelligent traffic lights through the edge computing controller, ensuring that two-way vehicle traffic follows a preset priority strategy, reducing ramp occupancy and improving the passage efficiency of high-priority vehicles. Attached Figure Description

[0014] Figure 1 This is a system overall block diagram of a vehicle passage control system for a spiral ascent tunnel in a coal mine, provided in one embodiment. Figure 2 This is a schematic diagram of an on-board intelligent terminal for a vehicle access control system in a spiral ascending tunnel underground in a coal mine, provided in one embodiment. Figure 3 This is a schematic diagram of a UWB-based intelligent traffic light for a vehicle access control system in a spiral ascending tunnel in a coal mine, provided in one embodiment. Figure 4 This is an external structural diagram of a UWB positioning intelligent traffic light for a vehicle traffic control system in a spiral ascending tunnel in a coal mine, provided in one embodiment. Figure 5 This is a schematic diagram of the layout of a single edge computing controller in a vehicle access control system for a spiral ascending tunnel in an underground coal mine, provided in one embodiment. Figure 6 This is a schematic diagram illustrating the arrangement of multiple edge computing controllers in a vehicle access control system for a spiral ascending tunnel in a coal mine, as provided in one embodiment. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0016] Currently, vehicle control in this area mainly relies on two methods: Manual guidance: Dedicated personnel are assigned to observe vehicle status at each ramp entrance or detour, informing drivers via hand gestures or walkie-talkies whether it is safe to proceed, or drivers can determine whether oncoming vehicles are approaching by using lights and sounds.

[0017] Simple traffic light control: Ordinary traffic lights are hung at the entrance of each ramp, with only fixed logic prompts of green light for passage and red light for prohibition. The red and green lights switch at timed intervals, lacking intelligent control functions such as vehicle position and direction recognition.

[0018] This invention relates to an intelligent vehicle access control system for spiral ascent tunnels in coal mines. The system employs a four-layer architecture: a perception layer (UWB positioning base stations and vehicle-mounted intelligent terminals), a decision-making layer (edge ​​computing controller), an execution layer (UWB positioning intelligent traffic lights), and an interaction layer (server). The hardware system consists of three parts: the vehicle-mounted intelligent terminal, the UWB positioning intelligent traffic lights, and the edge computing controller. The overall system block diagram is shown below. Figure 1 As shown.

[0019] UWB: Ultra Wide Band (UWB) technology is a wireless carrier communication technology that does not use sinusoidal carriers but instead transmits data using nanosecond-level non-sinusoidal narrow pulses, thus occupying a very wide spectrum. UWB technology has advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy, making it particularly suitable for high-speed wireless access in dense multipath environments such as indoor spaces.

[0020] This invention provides a vehicle access control system for a spiral ascending tunnel in an underground coal mine. The spiral ascending tunnel includes multiple alternating spiral channels, each spiral channel including: a ramp, a forward detour, and a backward detour. The vehicle access control system includes:

[0021] The vehicle-mounted intelligent terminal with a built-in UWB positioning module is installed on underground transport vehicles entering or leaving the spiral ascending tunnel of a coal mine.

[0022] UWB positioning smart traffic lights are deployed at the exits and entrances of the front and rear detours in each spiral channel. They are used in conjunction with the UWB positioning module in the vehicle-mounted smart terminal to perform ultra-wideband (UWB) positioning and obtain the location information of underground transport vehicles.

[0023] An edge computing controller is deployed at the midpoint of the ramp in each spiral channel and communicates with four UWB-based intelligent traffic lights deployed in the same spiral channel. It receives location information from underground transport vehicles and controls the traffic status indication of the connected UWB-based intelligent traffic lights based on the vehicle's location information.

[0024] The server is used to receive priority access requests from in-vehicle intelligent terminals, and to control the edge computing controller to send control commands for priority access requests to the UWB positioning intelligent traffic lights.

[0025] Preferably, the UWB positioning intelligent traffic light includes: a controller, a traffic light, an LED dot matrix screen, a speaker, a UWB positioning base station, and a CAN bus.

[0026] UWB positioning base stations are used to perform ultra-wideband positioning with the UWB positioning module in the vehicle-mounted intelligent terminal to obtain the location information of underground transport vehicles.

[0027] Traffic lights are used to issue red, yellow, and green light signals according to instructions from the edge computing controller.

[0028] LED dot matrix screen is used to display text prompts.

[0029] A speaker, used to broadcast voice prompts.

[0030] The CAN bus is used for communication between the UWB positioning smart traffic light and the edge computing controller, and to receive control commands from the edge computing controller.

[0031] The controller is used to control traffic lights, LED dot matrix screens, and speakers based on control instructions from the edge computing controller.

[0032] The side where the traffic light is located is designated as the front of the UWB positioning smart traffic light.

[0033] Preferably, the deployment location of the UWB-based intelligent traffic light includes: The first UWB-based intelligent traffic light is installed at the uphill entrance of the detour and faces the previous ramp. It is used to warn uphill vehicles heading towards this ramp about the status of underground transport vehicles in the detour.

[0034] The second UWB-based intelligent traffic light is installed at the uphill exit of the detour and faces the detour directly. It is used to control underground transport vehicles entering this ramp for uphill travel.

[0035] The third UWB-based intelligent traffic light is installed at the downhill exit of the detour and faces the detour directly. It is used to control underground transport vehicles entering the downhill section of this ramp.

[0036] The fourth UWB-based intelligent traffic light is installed at the downhill entrance of the detour and faces the next ramp. It is used to warn downhill vehicles heading towards this ramp about the vehicle status of underground transport vehicles in the detour.

[0037] Preferably, the edge computing controller is specifically used to control the traffic status indication of the UWB positioning smart traffic lights connected to it based on the location information of the underground transport vehicle, including: When there are underground transport vehicles in the detour, control the first UWB positioning smart traffic light to turn yellow.

[0038] When there is a downhill underground transport vehicle in this ramp, control the second UWB positioning smart traffic light to turn red.

[0039] When there is an upward underground transport vehicle in this ramp, control the third UWB positioning intelligent traffic light to turn red.

[0040] When there is an underground transport vehicle in the bypass, control the fourth UWB positioning intelligent traffic light to turn yellow.

[0041] When there are no underground transport vehicles on the current detour, this ramp, and the subsequent detour, the first, second, third, and fourth UWB positioning intelligent traffic lights should all be turned green.

[0042] In this system, a red light means stop and wait, a green light means go, and a yellow light means a warning.

[0043] Preferably, the vehicle-mounted intelligent terminal includes: a UWB positioning module, a WiFi communication module, an attitude sensor, and an audible and visual alarm.

[0044] The UWB positioning module is used to feed back the actual position of underground transport vehicles on ramps, detours, and back detours to the UWB positioning smart traffic lights.

[0045] The WiFi communication module is used for communication between the vehicle-mounted smart terminal and the server.

[0046] Attitude sensors are used to collect data on the speed and direction of underground transport vehicles.

[0047] The audible and visual alarm is used to provide voice and visual warnings to the drivers of underground transport vehicles based on received instructions.

[0048] Preferably, the server is specifically used to receive priority passage requests from in-vehicle intelligent terminals, so as to control the edge computing controller to issue control commands for priority passage requests to the UWB positioning intelligent traffic lights, including: The underground transport vehicle, located where the onboard intelligent terminal that sent the priority passage request is located, is marked as a priority vehicle. The edge computing controller issues control commands to turn the UWB positioning intelligent traffic lights in the same direction ahead of the priority vehicle's path green, and turn the UWB positioning intelligent traffic lights in the opposite direction ahead of the priority vehicle's path red, so that oncoming vehicles can detour ahead or behind. After the priority vehicle has passed, the edge computing controller returns to normal control.

[0049] A specific embodiment of the present invention is provided: 1. In-vehicle intelligent terminal.

[0050] The block diagram of the vehicle-mounted intelligent terminal is as follows: Figure 2 As shown, it is installed on all underground transport vehicles and mainly consists of four parts: UWB positioning module, WiFi communication module, attitude sensor and audible and visual alarm.

[0051] The UWB positioning module performs real-time positioning at a frequency of 5Hz with a positioning accuracy of 30cm, and can accurately feed back the actual position of the vehicle in detours and slopes to the UWB positioning smart traffic lights.

[0052] The WiFi communication module enables communication with the server, allowing it to receive parameter settings and control commands from the server and upload vehicle status.

[0053] The attitude sensor uses a three-axis gyroscope and a three-axis accelerometer to collect the vehicle's speed and direction.

[0054] The audible and visual alarm consists of an alarm indicator light and a speaker, which can provide voice and visual warnings to the driver.

[0055] 2. UWB positioning intelligent traffic lights.

[0056] UWB positioning intelligent traffic lights, such as Figure 3 As shown in the schematic diagram of the external structure Figure 4 As shown, it consists of a controller, traffic lights, an LED dot matrix screen, a speaker, a UWB positioning base station, and a CAN bus.

[0057] The controller is responsible for the communication between the UWB positioning smart traffic light and the edge computing controller, as well as the control of its internal components.

[0058] Traffic lights can emit red, yellow, and green lights to indicate the traffic status to drivers. A red light means to stop and wait, a green light means to go, and a yellow light means to be warned.

[0059] The LED dot matrix screen is used to display text prompts, including the estimated waiting time and the number of vehicles ahead.

[0060] The loudspeaker broadcasts voice prompts to the driver, such as "Please be aware of an approaching vehicle" when a vehicle is approaching from the front, "Please be aware of a vehicle running a red light" when a vehicle runs a red light, and "Please move away as soon as possible" when a vehicle remains stopped in the intersection for an extended period of time.

[0061] The CAN bus is used to communicate with the edge computing controller, report UWB positioning data, and receive control commands.

[0062] UWB positioning base stations work in conjunction with in-vehicle intelligent terminals to locate vehicles and upload the results to the edge computing controller. The UWB positioning base stations are connected to intelligent traffic lights via RS-485 bus, with one UWB positioning base station for each traffic light. A set of UWB positioning intelligent traffic lights is deployed at each detour and ramp entrance / exit, achieving full UWB positioning coverage within the system and detecting vehicle entry and exit.

[0063] 3. Edge computing controller.

[0064] The edge computing controller is the core device of the entire control system. This device has Ethernet and CAN bus communication capabilities. It connects to the server via Ethernet, reporting control status logs and receiving control parameters and manual control commands. It connects to the UWB positioning smart traffic lights via the CAN bus, receiving vehicle distance data from the UWB positioning base station and sending control commands to the traffic lights, speakers, and LED dot matrix screen.

[0065] To achieve vehicle control in the spiral ramp, an edge computing controller is placed in the middle of each ramp. Each edge computing controller is connected to four UWB positioning smart traffic lights. The positions of the UWB positioning smart traffic lights connected to a single edge computing controller are as follows: Figure 5 As shown.

[0066] First UWB positioning smart traffic light ( Figure 5 Traffic light #1 is located at the entrance of the detour for vehicles traveling uphill. This traffic light faces the ramp ahead and is used to remind vehicles climbing uphill from the ramp ahead that there is a vehicle in the detour ahead, indicating that vehicles traveling uphill should slow down.

[0067] Second UWB positioning smart traffic light ( Figure 5 Traffic light #2 is located at the entrance to the uphill section of this ramp. This traffic light faces forward and detours. When there is a vehicle going downhill in this ramp, this light turns red, indicating that there is a vehicle coming downhill towards this location. You should stop and wait for this vehicle to leave before entering the ramp to start going uphill.

[0068] Third UWB positioning intelligent traffic light ( Figure 5Traffic light #3 is located at the entrance to the downhill section of this ramp. This traffic light faces the back of the ramp. When there is a vehicle going uphill in this ramp, this light will turn red, indicating that there is a vehicle coming uphill to this location. You should stop and wait for this vehicle to leave before entering the ramp to begin going downhill.

[0069] Fourth UWB positioning intelligent traffic light ( Figure 5 Traffic light #4 is located at the entrance of the detour in the downhill direction. This traffic light faces the back ramp and is used to remind vehicles coming down the ramp. When there is a vehicle in the detour, the light turns yellow, indicating that there is a vehicle in the detour ahead and that downhill vehicles should slow down.

[0070] An underground spiral tunnel consists of multiple ramps and detours, requiring multiple edge computing controllers to be nested and controlled. The arrangement of these edge computing controllers, like traffic lights, is as follows: Figure 6 As shown. Each controller is located in the center of the ramp, controlling the traffic lights at the entrances in both directions of the ramp, the traffic lights at the entrance of the detour ramp (upward direction), and the traffic lights at the entrance of the detour ramp (downward direction). The traffic lights at the detour entrances are yellow when there are vehicles, and the traffic lights at the ramp entrances are red when there are vehicles, and green when there are no vehicles.

[0071] 4. Prioritize approval.

[0072] When a high-priority vehicle needs to pass quickly through a spiral tunnel, it can send a priority passage request to the server via its onboard smart terminal. Once the request is approved, the server, based on the vehicle's direction and location, sends control commands to the edge computing controller. This causes the UWB-based smart traffic lights along the vehicle's path to turn green, and the oncoming traffic lights to turn red, forcing oncoming vehicles to wait in the detour. This improves the efficiency of high-priority vehicle passage. After the high-priority vehicle has passed, the system reverts to normal control logic.

[0073] 5. Effect description.

[0074] The beneficial effects of the present invention include, but are not limited to: 1) Improved positioning accuracy and safety: UWB positioning achieves centimeter-level accuracy, and trajectory analysis can determine the vehicle's direction of travel, solving the problem of oncoming vehicles accidentally entering the wrong lane and reducing the risk of collision; 2) Improved traffic efficiency: The multi-vehicle queuing and sequential release mechanism shortens the waiting time for vehicles traveling in the same direction. Compared with the timed switching logic of traffic lights, the utilization rate of ramps is improved.

[0075] 3) Accelerate emergency response and prioritize the scheduling logic for high-priority vehicles. Control the lights in the direction of high-priority vehicles to be green and the lights in the other direction to be red, reduce the occupancy rate of ramps and improve the passage efficiency of high-priority vehicles.

[0076] 4) Improved human-computer interaction experience, dynamic information display and two-way communication function allow drivers to keep abreast of road conditions in real time, reduce the rate of violations and improve operational safety.

[0077] 5) Traffic lights are installed at the entrance of the detour to remind drivers whether there are vehicles in the detour. If there are vehicles, drivers should slow down in advance to prepare for overtaking and passing.

[0078] 6) Vehicle driving control is independently implemented by the edge computing controller. Even if the device is offline and disconnected from the server, the control function can still be completed.

[0079] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A vehicle access control system for a spiral ascending tunnel in an underground coal mine, wherein the spiral ascending tunnel comprises multiple alternating spiral channels, each spiral channel comprising: The system includes ramps, forward detours, and rear detours; characterized in that the vehicle traffic control system comprises: A vehicle-mounted intelligent terminal with a built-in UWB positioning module is installed on underground transport vehicles entering or leaving the underground spiral tunnel of the coal mine. UWB positioning intelligent traffic lights are deployed at the exit and entrance of the front and rear detours in each spiral channel to cooperate with the UWB positioning module in the vehicle-mounted intelligent terminal to perform ultra-wideband positioning and obtain the location information of the underground transport vehicle. The edge computing controller is deployed at the midpoint of the ramp in each spiral channel and is communicatively connected to the four UWB positioning smart traffic lights deployed in the spiral channel where the edge computing controller is located. It is used to receive the location information of the underground transport vehicles and control the passage status indication of the UWB positioning smart traffic lights connected to it according to the location information of the underground transport vehicles. The server is used to receive priority passage requests from the vehicle-mounted intelligent terminal, and to control the edge computing controller to send control commands for priority passage requests to the UWB positioning intelligent traffic lights.

2. The vehicle passage control system for a spiral ascent tunnel in a coal mine as described in claim 1, characterized in that, The UWB positioning intelligent traffic light includes: a controller, a traffic light, an LED dot matrix screen, a speaker, a UWB positioning base station, and a CAN bus; The UWB positioning base station is used to perform ultra-wideband positioning with the UWB positioning module in the vehicle-mounted intelligent terminal to obtain the location information of the underground transport vehicle. The traffic lights are used to emit red, yellow, and green light signals according to the instructions of the edge computing controller; The LED dot matrix screen is used to display text prompts. The speaker is used to broadcast voice prompts; The CAN bus is used for communication between the UWB positioning smart traffic light and the edge computing controller, and to receive control commands from the edge computing controller; The controller is used to control the traffic lights, the LED dot matrix screen, and the speaker according to control instructions from the edge computing controller; The side where the traffic light is located is considered the front of the UWB positioning smart traffic light.

3. The vehicle passage control system for a spiral ascent tunnel in a coal mine as described in claim 2, characterized in that, The deployment location of the UWB-based intelligent traffic lights specifically includes: The first UWB-based intelligent traffic light is installed at the uphill entrance of the detour and faces the previous ramp. It is used to warn uphill vehicles heading towards this ramp about the status of underground transport vehicles in the detour. The second UWB positioning intelligent traffic light is installed at the uphill exit of the front detour and faces the front detour. It is used to control underground transport vehicles to enter this slope for uphill travel. The third UWB positioning intelligent traffic light is installed at the downhill exit of the rear detour and faces the rear detour. It is used to control underground transport vehicles entering the downhill section of this ramp. The fourth UWB-based intelligent traffic light is installed at the downhill entrance of the detour and faces the next ramp. It is used to warn downhill vehicles heading towards this ramp about the vehicle status of underground transport vehicles in the detour.

4. The vehicle passage control system for a spiral ascent tunnel in a coal mine as described in claim 3, characterized in that, The edge computing controller is specifically used to control the traffic status indication of the UWB positioning smart traffic lights connected to the underground transport vehicle based on the vehicle's location information, including: When there is an underground transport vehicle in the detour, control the first UWB positioning smart traffic light to turn yellow; When there is a downhill underground transport vehicle in this ramp, control the second UWB positioning smart traffic light to turn red; When there is an upward underground transport vehicle in this ramp, control the third UWB positioning smart traffic light to turn red; When there is an underground transport vehicle in the bypass, control the fourth UWB positioning smart traffic light to turn yellow. When there are no underground transport vehicles on the current detour, this ramp, and the subsequent detour, control the first UWB positioning smart traffic light, the second UWB positioning smart traffic light, the third UWB positioning smart traffic light, and the fourth UWB positioning smart traffic light to all turn green. In this system, a red light means stop and wait, a green light means go, and a yellow light means a warning.

5. A vehicle passage control system for a spiral ascent tunnel in a coal mine as described in claim 1, characterized in that, The vehicle-mounted intelligent terminal includes: a UWB positioning module, a WiFi communication module, an attitude sensor, and an audible and visual alarm. The UWB positioning module is used to feed back the actual position of the underground transport vehicle on the ramp, the front detour and the back detour to the UWB positioning smart traffic light; The WiFi communication module is used for communication between the vehicle-mounted intelligent terminal and the server; The attitude sensor is used to collect the speed and direction data of the underground transport vehicle; The audible and visual alarm is used to provide voice and visual warnings to the driver of the underground transport vehicle based on the received instructions.

6. A vehicle passage control system for a spiral ascent tunnel in a coal mine as described in claim 1, characterized in that, The server is specifically used to receive priority passage requests from in-vehicle intelligent terminals, and to control the edge computing controller to issue control commands for priority passage requests to the UWB positioning intelligent traffic lights, including: The underground transport vehicle where the vehicle-mounted intelligent terminal that sent the priority application is located will be marked as a priority vehicle. The edge computing controller issues control commands to turn the UWB positioning smart traffic lights in the same direction ahead of the priority vehicle's running path into green lights, and to turn the UWB positioning smart traffic lights in the opposite direction ahead of the priority vehicle's running path into red lights, so that the oncoming vehicles can detour ahead or behind and wait. After the priority vehicle has passed, the system returns to normal control of the edge computing controller.

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