CN120487223B - A mine-based extended broadcast rescue method based on artificial intelligence - Google Patents
A mine-based extended broadcast rescue method based on artificial intelligenceInfo
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- CN120487223B CN120487223B CN202510980629.5A CN202510980629A CN120487223B CN 120487223 B CN120487223 B CN 120487223B CN 202510980629 A CN202510980629 A CN 202510980629A CN 120487223 B CN120487223 B CN 120487223B
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Abstract
本发明提供一种基于人工智能的矿用扩播救援方法，涉及采矿技术领域。方法包括：当井下出现事故导致部分通道封堵时，根据井下交通电子地图、封堵的通道和人员聚集场所规划撤离路线；确定每条撤离路线与其他撤离路线的交汇处，针对每个交汇处，均执行：调动距离交汇处最近的采矿车辆前往交汇处；采矿车辆到达交汇处后，调节车头方向使车头方向指向撤离路线的撤离方向，调节采矿车辆上的扩音设备的输出朝向为撤离路线，并控制扩音设备输出撤离警报；避难人员根据撤离警报的声音来源来到交汇处，并根据采矿车辆的车头方向确定正确的撤离路线并撤离。本发明能够智能规划避险路线，并具有清晰的指路功能，从而能够实现精准快速救援。
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
The invention relates to the technical field of mining, in particular to a mining expanding rescue method based on artificial intelligence.
Background
A downhole broadcasting system is a system for broadcasting information to underground personnel to achieve communication downhole and uphole. Among them, the security evacuation information is one of the most important.
Currently, downhole spread-spectrum systems are mainly installed in locations where people gather, such as work surfaces, restrooms, etc. However, when an accident occurs underground and a part of channels cannot pass, the underground spread system which is fixedly installed does not have the functions of flexibly planning the danger avoidance route and clearly pointing the route.
Disclosure of Invention
The embodiment of the invention provides a mining expanding rescue method based on artificial intelligence, which can intelligently plan a risk avoidance route and realize accurate rescue. The technical scheme of the invention is as follows:
An artificial intelligence-based mining expanding rescue method comprises the following steps:
When a part of channels are blocked due to underground accidents, an evacuation route is planned according to an underground traffic electronic map, the blocked channels and the personnel gathering places, wherein the evacuation route comprises a plurality of evacuation routes, the starting point of each evacuation route is the personnel gathering place, and the end point is the refuge place;
determining intersections of each evacuation route and other evacuation routes, and for each intersection, performing maneuvering a mining vehicle nearest to the intersection, wherein a sound amplifying device is mounted on the mining vehicle and is mounted on the mining vehicle through a servo motor;
After the mining vehicle arrives at the junction, adjusting the head direction of the mining vehicle to enable the head direction to point to the evacuation direction of the evacuation route, adjusting the output direction of the sound amplifying equipment on the mining vehicle to be the evacuation route, and controlling the sound amplifying equipment to output an evacuation alarm;
the evacuees arrive at the junction according to the sound source of the evacuation alarm and determine the correct evacuation route and evacuate according to the direction of the head of the mining vehicle.
Optionally, the mining expanding rescue method based on artificial intelligence further comprises the following steps:
Maneuvering a mine vehicle closest to the junction and not carrying ore at the junction to the junction when the mine vehicle is parked at the junction;
When the newly mobilized mining vehicle drives to the junction, detecting the opening position of the old mining vehicle, detecting whether the newly mobilized mining vehicle exists in a preset range, and if so, automatically unlocking a vehicle door on the old mining vehicle and flashing a starting button in a cockpit;
The voice guidance is given by the sound amplifying equipment on the old mining vehicle so as to guide nearby personnel to enter the old mining vehicle, after the personnel enter safely, the starting button is pressed, the old mining vehicle is marked as an evacuation vehicle and starts to travel along the evacuation route, wherein the evacuation vehicle is not listed in a list which is mobilized to the junction and does not stay through other junctions;
and driving the newly mobilized mining vehicle into the junction, adjusting the direction of the head to enable the direction of the head to point to the evacuation direction of the evacuation route, adjusting the output direction of the sound amplifying equipment on the newly mobilized mining vehicle to be the evacuation route, and controlling the sound amplifying equipment to output an evacuation alarm.
Optionally, the mining expanding rescue method based on artificial intelligence further comprises the following steps:
dividing the underground passage into a plurality of segmented roads by utilizing the junction, wherein the two ends of each segmented road are the junction;
When the fact that the evacuation vehicles exist in the first distance in front of the evacuation route is detected after any evacuation vehicle is started, starting an adaptive cruise function with the front evacuation vehicles, and forming a synchronous adjustment vehicle team, wherein the evacuation vehicles in the synchronous adjustment vehicle team take the first distance as a vehicle distance, and speed and vehicle distance uniform adjustment is achieved through adaptive cruise;
Calculating the intersection time of the single evacuation vehicle which is nearest to the intersection and runs at a preset speed or the evacuation vehicles at the two ends of the synchronous regulation motorcade reaching the intersection, wherein the first distance is 2 times of the minimum safety distance;
The intersection time obtained by single evacuation vehicles or the synchronous adjustment motorcades which are about to arrive at the same intersection and in different segmented roads is compared pairwise, and if the comparison results in that the difference of all the intersection times is not smaller than the preset time, adjustment is not needed, wherein the preset time is obtained by dividing the minimum safe distance by the preset speed;
Otherwise, executing:
taking a single evacuated vehicle or the synchronous adjusting fleet closest to the junction as an adjusting target;
Taking a single evacuated vehicle or the synchronous adjusting fleet which is not in the same segmented road as the adjusting target as a reference target;
Calculating the adjustment time according to the distance between the evacuation vehicle closest to the junction in the reference target and the junction and the preset speed;
According to the current position of the evacuation vehicle closest to the junction and the distance from a preset place in the adjusting target, determining a first acceleration and a second acceleration, and sequentially controlling the speed of the adjusting target in the adjusting time according to the first acceleration and the second acceleration in a decelerating and accelerating mode so that the adjusting target reaches the preset place at the preset speed, wherein the preset place is the position with the minimum safety distance from the junction.
Optionally, the absolute values of the first acceleration and the second acceleration are equal and opposite, and the duration time of the first acceleration and the second acceleration is the same and is half of the adjustment time;
The absolute values of the first acceleration and the second acceleration are both 4 (v 0T-S）/T2; v 0 is the preset speed, T is the adjustment time, and S is the distance from the current position of the evacuation vehicle closest to the junction to the preset place in the adjustment target.
Compared with the prior art, the invention has at least the following beneficial effects:
The underground rapid spreading rescue is realized by using the underground mining vehicle in combination with the megaphone. First, accident sites and blocking positions are determined, and evacuation routes are planned in combination with an electronic map of underground traffic, blocked channels and personnel gathering places. After the evacuation routes are determined, the mining evacuation closest to the junction of the plurality of evacuation routes is maneuvered to the junction, then the output direction of the loudspeaker equipment is regulated to face the direction from which the personnel come, an evacuation alarm is sent, and the head direction of the mining vehicle is regulated to face the safe evacuation direction of the evacuation routes. The refuge personnel arrive at the junction according to the distinguishing direction of the sound source of the evacuation alarm, and although a plurality of intersections exist at the junction, the refuge personnel can determine the correct evacuation route according to the direction of the head of the vehicle, and when the refuge personnel walk to the next junction along the channel, the evacuation direction can be determined through the direction of the head of the vehicle at the junction until the personnel evacuate safely. In summary, the embodiment of the invention provides a mining expanding rescue method based on artificial intelligence, which can intelligently plan a danger avoidance route and has a clear road guiding function, so that accurate and rapid rescue can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a downhole structure according to an embodiment of the present invention.
In the figure:
1-working surface;
2-junction;
3-mining vehicles;
4-amplifying devices;
5-segment road.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As shown in fig. 1, an artificial intelligence-based mining expanding rescue method includes:
When a part of channels are blocked due to underground accidents, an evacuation route is planned according to an underground traffic electronic map, the blocked channels and the personnel gathering places, wherein the evacuation route comprises a plurality of evacuation routes, the starting point of each evacuation route is the personnel gathering place, and the end point is the refuge place;
Determining the junction of each evacuation route and other evacuation routes, and aiming at each junction, maneuvering the mining vehicle closest to the junction, wherein the mining vehicle is provided with sound amplifying equipment, and the sound amplifying equipment is arranged on the mining vehicle through a servo motor;
After the mining vehicle arrives at the junction, adjusting the head direction of the mining vehicle to enable the head direction to point to the evacuation direction of the evacuation route, adjusting the output direction of the sound amplifying equipment on the mining vehicle to be the evacuation route, and controlling the sound amplifying equipment to output an evacuation alarm;
the evacuees come to the junction according to the sound source of the evacuation alarm and determine the correct evacuation route and evacuate according to the direction of the head of the mining vehicle.
When an accident occurs underground, particularly when a passenger car, a monkey car or a sidewalk special-purpose road cannot be used, people can be rapidly evacuated by using the underground passage which is all around. However, the underground passage is complex, the evacuation direction is difficult to be rapidly indicated by a simple voice command, and the underground passage is often not fixedly provided with a spreading system. Therefore, the embodiment of the invention realizes the underground rapid broadcasting rescue by using the underground mining vehicle in combination with the sound amplifying equipment. First, accident sites and blocking positions are determined, and evacuation routes are planned in combination with an electronic map of underground traffic, blocked channels and personnel gathering places. Because of the plurality of channels under the well, the personnel positions are more scattered, so that a plurality of evacuation routes which can exist at the junction are designed according to the personnel positions. After the evacuation route is determined, the mining vehicle closest to the junction of the plurality of channels is maneuvered to the junction, then the output direction of the sound amplifying device is adjusted to face the direction of people, an evacuation alarm is output, and the head direction is adjusted to face the safe evacuation direction of the evacuation route. The refuge personnel arrive at the junction according to the distinguishing direction of the sound source of the evacuation alarm, and although a plurality of intersections exist at the junction, the refuge personnel can determine a correct evacuation route according to the direction of the head of the vehicle, and when the refuge personnel walk to the next junction along the evacuation route, the evacuation direction can be determined through the direction of the head of the vehicle at the junction until the personnel evacuate safely.
In some embodiments of the present invention, an artificial intelligence based mining broadcast rescue method further includes:
when the mining vehicle stops at the junction, the mining vehicle which is nearest to the junction and is not at the junction and does not carry ore is moved to the junction;
when the newly mobilized mining vehicle moves to the junction, detecting the starting position of the old mining vehicle, detecting whether the newly mobilized mining vehicle exists in a preset range, and if so, automatically unlocking a vehicle door on the old mining vehicle and flashing a starting button in a cockpit;
the voice guidance is given by the sound amplifying equipment on the old mining vehicle so as to guide nearby personnel to enter the old mining vehicle, after the personnel enter safely, a starting button is pressed, the old mining vehicle is marked as an evacuation vehicle and starts to run along an evacuation route, wherein the evacuation vehicle is not listed in a list of a junction any more and does not stay through other junctions;
The newly mobilized mining vehicle is driven into the junction, the direction of the head is regulated to lead the direction of the head to point to the evacuation direction of the evacuation route, the output direction of the sound amplifying equipment on the newly mobilized mining vehicle is regulated to be the evacuation route, and the sound amplifying equipment is controlled to output an evacuation alarm.
In this embodiment, in order to evacuate refuge personnel in rapid batches, evacuation may be performed with the mining vehicle not mined. When the newly mobilized mining vehicle approaches the old mining vehicle, the old mining vehicle automatically opens a lock of a cabin door, refuge personnel gathered nearby or passing through the old mining vehicle can enter the cabin, if the personnel are excessive, part of the personnel can enter a cargo warehouse or a cargo bucket, and after the personnel safely enter full load, a starting button is pressed, so that the old mining vehicle is evacuated along an evacuation route. The newly mobilized mining vehicle adjusts the directions of the headstock and the sound amplifying equipment to spread, and meanwhile, the central control automatically mobilizes the next mining vehicle to the junction.
In some embodiments of the present invention, an artificial intelligence based mining broadcast rescue method further includes:
dividing the underground passage into a plurality of segmented roads by utilizing the junction, wherein the two ends of each segmented road are the junction;
When the fact that the evacuation vehicles exist in the first distance in front of the evacuation route is detected after any evacuation vehicle is started, starting an adaptive cruise function with the front evacuation vehicles, forming a synchronous adjustment vehicle team, and enabling the evacuation vehicles in the synchronous adjustment vehicle team to realize uniform speed and vehicle distance adjustment through adaptive cruise by taking the first distance as the vehicle distance;
Calculating the intersection time of a single evacuated vehicle which is nearest to the intersection and runs at a preset speed or evacuated vehicles at two ends of a synchronous adjustment motorcade reaching the intersection, wherein the first distance is 2 times of the minimum safety distance;
The intersection time obtained by single evacuation vehicles or synchronous adjustment vehicle teams which are about to arrive at the same intersection and in different segmented roads is compared pairwise, and if the difference between all the intersection times obtained by comparison is not less than the preset time, adjustment is not needed, wherein the preset time is obtained by dividing the minimum safe distance by the preset speed;
Otherwise, executing:
taking a single evacuated vehicle or a synchronous adjusting fleet closest to the junction as an adjusting target;
taking a single evacuated vehicle or a synchronous regulation fleet which is not in the same section road with the regulation target as a reference target;
calculating the adjustment time according to the distance between the evacuation vehicle closest to the junction in the reference target and the junction and the preset speed;
according to the distance between the current position of the evacuation vehicle closest to the junction in the adjusting target and the preset place, determining a first acceleration and a second acceleration, and controlling the speed of the adjusting target in a decelerating and accelerating mode sequentially according to the first acceleration and the second acceleration in the adjusting time so that the adjusting target reaches the preset place at the preset speed, wherein the preset place is the position with the minimum safety distance from the junction.
In the embodiment of the invention, a plurality of people-carrying evacuation vehicles may be converged at the same junction, and if the people-carrying evacuation vehicles are not subjected to predictive control, the risk of collision of the evacuation vehicles may occur. Therefore, the embodiment of the invention provides the method, wherein the first distance is firstly determined, if no evacuation vehicle exists in the first distance in front of the evacuation vehicle, the distance between the evacuation vehicle and the front vehicle is enough or the front vehicle is considered to be absent, the evacuation vehicle can run at the preset speed, and if the evacuation vehicle exists in the first distance, the evacuation vehicle always keeps the distance from the front vehicle at the first distance through self-adaptive cruising, and the speed is synchronously regulated along with the front vehicle (because the front vehicle can temporarily regulate the speed in order to prevent collision at the junction). Marking the fleet which cruises in a first distance in a self-adaptive way as a synchronous regulation fleet, and carrying out speed synchronous regulation by the synchronous regulation fleet through receiving the same speed regulation instruction and combining the self-adaptive cruising. Calculating the upcoming intersection time of a single evacuation vehicle or a head vehicle and a tail vehicle in a synchronous adjustment vehicle team in different segmented roads at each intersection, comparing a plurality of intersection times, if the intersection time difference is not smaller than the preset time, keeping at least the minimum safety distance after the evacuation vehicle or the synchronous adjustment vehicle team of different segmented roads reaches the intersection, and not needing adjustment, and if the evacuation vehicle or the synchronous adjustment vehicle team is smaller than the preset time, the vehicle distance is too small, collision risk exists, and adjustment is needed. When the vehicle is not regulated, the vehicle reaching the junction first or the synchronous regulation fleet is marked as a regulation target, the forefront vehicle in the other section of the segmented road is marked as a reference target, and the time from the current position to the junction of the reference target is the regulation time. The selection of evacuation vehicles farther from the junction as a reference target is to obtain a longer adjustment time, which enables the adjustment target to have sufficient time to adjust. Specifically, according to the distance from the position of the forefront evacuation vehicle (the head vehicle in the synchronous adjustment fleet) to the preset location, the adjustment target is controlled to be decelerated and then accelerated (if the fleet is synchronously adjusted, the acceleration of the fleet is simultaneously adjusted), so that the adjustment target reaches the preset location at a preset speed after the adjustment time. At this time, the evacuation vehicles originally closest to the junction in the adjustment target reach the preset place at the preset speed, the evacuation vehicles in the reference target reach the junction, the vehicles in the adjustment target and the reference target both continue to travel at the preset speed, so that the evacuation vehicles in the reference target and the adjustment target sequentially reach the junction, no vehicle collision can occur at the junction, and the evacuation vehicles in the reference target and the adjustment target can still travel at a safe vehicle distance after converging at the junction.
It will be appreciated that after the intersection of all evacuated vehicles of the reference and adjustment targets is completed, the adjustment of the vehicle distance to the first distance may be continued by adaptive cruise.
In some embodiments of the present invention, the absolute values of the first acceleration and the second acceleration are equal and opposite, and the duration of the first acceleration and the second acceleration are the same, which is half of the adjustment time;
The absolute values of the first acceleration and the second acceleration are both 4 (v 0T-S）/T2; v 0 is a preset speed, T is an adjusting time, and S is the distance between the current position of the evacuation vehicle closest to the junction in the adjusting target and the preset place.
In this embodiment, it can be verified according to the energy consumption model and the constraint condition thereof that the whole process saves most energy when the absolute values of the first acceleration and the second acceleration are both 4 (v 0T-S）/T2).
The verification process is as follows:
energy consumption model:
Total time formula t=t 1+t2, total path of deceleration followed by acceleration is s=v 0T-(ab×T2)/2 (a+b);
The end speed v1=v 0-at1 of the deceleration stage and the end speed v 0=v1+bt2 of the acceleration stage are firstly decelerated and then accelerated, so that v 0 is unchanged, namely at 1=bt2, and after substituting the total time formula, t 1 =tb/(a+b) and t 2 =ta/(a+b) are obtained.
During uniform speed change motion, the energy consumption E is in direct proportion to the square sum of acceleration, namely:
E∝a2t1+b2t2;
Substituting the time relations t 1 =tb/(a+b) and t 2 =ta/(a+b), yields:
E∝a2（Tb/(a+b)）+b2(Ta/(a+b))=Tab;
Thus, minimizing E is equivalent to minimizing ab;
Wherein v 0 is a preset speed, a and b are absolute values of the first acceleration and the second acceleration respectively, and t 1 and t 2 are action time of the first acceleration and the second acceleration respectively.
Limiting conditions:
The expression of S is:
;
It is desirable to minimize ab while meeting this constraint.
Introducing a variable x=a/b, wherein a=x×b, substituting the constraint condition to obtain:
S=v0T-(xb×b×T2)/2(xb+b);
=v0T-(xb2T2)/2b(x+1)= v0T- (xb× T2)/2(x+1)。
Solving equation b, b=2 (x+1) (v 0T - S)/(x×T2);
objective function ab=xb 2=x×[2(x+ 1)(v0T-S)/(xT2)]2.
The object function has a symmetric solution x=1 in the domain-defining range, and the symmetric solution is the very low value point of the object function, that is, when x is the symmetric solution, ab is the minimum.
Symmetry analysis:
Let a=b, then:
。
And (3) solving to obtain: ;
at this point ab=a 2, and by comparing asymmetric cases (e.g. a+.b), it can be demonstrated that symmetric solutions minimize ab.
As to how the mining vehicle is controlled to perform a uniform acceleration movement (i.e. to travel at a first acceleration or a second acceleration), this can be achieved by establishing a vehicle dynamics model and setting PID control laws. The method comprises the following specific steps:
1. establishing a vehicle dynamics model with balanced driving force and resistance;
The vehicle acceleration a m is determined by the difference between the driving force F drive and the running resistance F resistance:
;
wherein:
And m is the total mass (including load) of the vehicle.
Fresistance=Froll+Faero+Fgrade:
Rolling resistance F roll=μroll XmXg;
Air resistance F aero=0.5×Cd×ρ×A×v2;
Gradient resistance, F grade =m×g×sin (θ) (θ is gradient angle);
;
t motor is the output torque of the engine/motor, eta motor is the efficiency of the transmission system/motor, r wheel is the radius of a tire, mu roll is the rolling resistance coefficient, cd is the air resistance coefficient, ρ is the air density, A is the windward area of the automatic driving vehicle, and v is the speed of the vehicle.
Setting a target constant acceleration a desired, and reversely pushing a required driving force according to a model:
Fdrive =m×adesired +Fresistance;
f resistance needs to be updated in real time (e.g., calculated by vehicle speed v and gradient θ).
2. Setting a PID control law;
the PID control process is expressed as:
;
e=a desired−aactual, fed back by an acceleration sensor, a actual is the actual acceleration, and T command is the output torque of the controller;
And adjusting the parameter priority, namely firstly adjusting K p to eliminate steady-state errors, then adjusting K d to inhibit overshoot, and finally eliminating residual errors through K i.
Feedforward portion, calculating feedforward control torque T ff based on model:
;
And the feedback part is used for correcting the actual acceleration deviation by PID.
3. Non-limiting compensation and dynamic adjustment;
Air resistance compensation, namely, the air resistance increases along with the square of the speed, and a feedforward term T aero_comp needs to be added into a controller:
;
Slope self-adaptation, when the slope changes, F grade is updated in real time through a slope sensor or GPS elevation data;
If the load of the vehicle changes (such as cargo), the mass m is estimated in real time by a Kalman filter or a least square method.
In some embodiments of the invention, the preset range is 5 meters square and round.
In some embodiments of the invention, the mining vehicle is an autonomous vehicle.
In some embodiments of the invention, the loudspeaker device is connected to a separate power source.
In some embodiments of the invention, the downhole channel is a single way road. The single-way road is more beneficial to the overall planning of vehicles, and the risk of wrong-car collision is avoided.
In some embodiments of the invention, the loudspeaker device is arranged on top of the mining vehicle.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present invention.
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