Personnel safety protection method and system in an open-pit mine unmanned driving system

Abstract

The present invention discloses a method and system for protecting personnel safety in an unmanned open-pit mine system, comprising: collecting personnel location information and unmanned vehicle location information on open-pit mine roads in real time, and obtaining right-of-way request information for the unmanned vehicle; determining whether there are unprotected personnel on the requested travel section based on the personnel location information, the unmanned vehicle location information, and the right-of-way request information; if so, determining the type of personnel; if all personnel are qualified, granting the unmanned vehicle the right of way for the requested travel section, but reducing the vehicle's speed upon entering the travel section; if any personnel are unqualified, denying the vehicle the right of way for the travel section. Advantages: By incorporating personnel into the management of the unmanned system, the safety of personnel within the unmanned operating area is under control, thereby improving the safety of the unmanned system.

Description

Technical Field

[0001] The present invention relates to a personnel safety protection method and system in an open-pit mine unmanned driving system, belonging to the technical field of unmanned driving. Background Art

[0002] Open-pit mines are generally located in remote areas with harsh working environments. In addition, the drivers of mine transport vehicles are aging. Safety accidents caused by driver negligence, fatigue, and other reasons occur frequently. The economic burden of mine operators in terms of safety management and personnel investment is increasing. Therefore, unmanned open-pit mine transportation solutions are gradually beginning to develop.

[0003] Due to the gradual development of technology, technicians and safety officers may still enter the unmanned operation area in open-pit mine unmanned driving systems. Although unmanned vehicles are equipped with detection equipment such as lidar and millimeter-wave radar, which can sense obstacles on the road and perform actions such as slowing down, stopping, and detouring, they have large detection blind spots. When a person enters the detection blind spot, the vehicle cannot detect the person, which poses a huge threat to personnel safety and can easily cause personal safety accidents. Therefore, the protection of personnel safety in open-pit mine unmanned driving systems is a very important issue.

[0004] Existing technologies focus on monitoring and providing alarms for the health status of mining workers, but cannot prevent incidents such as collisions between personnel and vehicles, and are not suitable for unmanned mining operation scenarios. Alternatively, they achieve distance control and collision warning between unmanned vehicles by setting up vehicle protection circles, thereby realizing safety protection between vehicles. However, no relevant explanation or treatment is made for the safety of personnel entering unmanned operation areas. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the existing technology and provide a personnel safety protection method and system in the unmanned driving system of open-pit mines, which incorporates personnel into the unmanned system management, puts the safety of personnel in the unmanned driving operation area under control, and improves the safety of the unmanned driving system.

[0006] To solve the above technical problems, the present invention provides a personnel safety protection method in an unmanned driving system of an open-pit mine, comprising:

[0007] Real-time collection of personnel location information and unmanned vehicle location information on open-pit mine roads, as well as obtaining the right-of-way request information of the unmanned vehicle;

[0008] Based on the personnel location information, the unmanned vehicle location information and the right-of-way request information, it is determined whether there are unprotected personnel in the requested driving section. If so, the type of personnel is determined. If all personnel are qualified personnel, the right of way for the driving section requested by the unmanned vehicle is granted, but the vehicle slows down after entering the driving section; if the personnel include unqualified personnel, the vehicle is not granted the right of way for the driving section.

[0009] Furthermore, the unprotected person refers to a person whose current location is within the lane area and is not in a safe place;

[0010] The qualified personnel mentioned above are those who have received relevant training on unmanned driving systems;

[0011] The so-called unqualified personnel refer to those who have not received relevant training on open-pit mine unmanned driving systems.

[0012] Furthermore, it also includes:

[0013] When the unmanned vehicle is traveling on a two-way road, determining that the unmanned vehicle is about to cross an unprotected person in an opposite lane based on the person's position information, the unmanned vehicle's position information, and the right-of-way request information, determining the type of the person;

[0014] If all personnel are qualified, the vehicle will be controlled to slow down. If there are unqualified personnel among the personnel, the vehicle speed reduction ratio will be increased.

[0015] Furthermore, it also includes:

[0016] The vehicle radar of the unmanned vehicle collects real-time information about people or objects in front of the driving section. If a person or object is detected, it will autonomously perform parking avoidance measures.

[0017] Furthermore, it also includes:

[0018] Determine in real time whether there are any unprotected people entering the emergency stop protection circle of the unmanned vehicle. If there are and the unmanned vehicle is moving, control the unmanned vehicle to stop suddenly. If the vehicle is in a stopped state, keep the vehicle moving.

[0019] Furthermore, it also includes:

[0020] It determines in real time whether there are any unprotected people entering the speed reduction protection circle of the unmanned vehicle. If there are any unprotected people and the unmanned vehicle is moving, the unmanned vehicle will be controlled to slow down.

[0021] Furthermore, it also includes:

[0022] Real-time monitoring of the location of pre-marked persons. If the person's location information cannot be received normally for a period of time, all vehicles within a certain radius will be stopped urgently with the person's last seen location as the center of the circle. The radius will be increased as the time for which the person's location information cannot be received normally increases.

[0023] A personnel safety protection system in an open-pit mine unmanned driving system includes: a cluster center and a vehicle control module, wherein the cluster center includes a position monitoring module, a traffic control module, and a safety protection circle control module;

[0024] The location monitoring module is used to collect the location information of personnel and unmanned vehicles on the open-pit mine road in real time and send it to the traffic control module;

[0025] The vehicle control system is used to send the unmanned vehicle's right-of-way request information to the cluster center, receive vehicle control information fed back by the cluster center, and autonomously control the vehicle's movements according to its own program;

[0026] The traffic control module is used to determine whether there are unprotected persons in the requested driving section based on the personnel position information, the unmanned vehicle position information and the driving right-of-way request information, and if so, determine the type of persons; if all the persons are qualified persons, grant the unmanned vehicle the right of way for the driving section requested, but the vehicle will slow down after entering the driving section; if there are unqualified persons among the persons, the vehicle will not be granted the right of way for the driving section; when the unmanned vehicle is driving on a two-way road, based on the personnel position information, the unmanned vehicle position information and the driving right-of-way request information, determine the type of persons; if all the persons are qualified persons, control the vehicle to slow down; if there are unqualified persons among the persons, increase the vehicle speed reduction ratio;

[0027] The safety protection circle protection module includes an emergency stop protection circle control module and a speed reduction protection circle control module;

[0028] The emergency stop protection circle control module is used to determine in real time whether there is an unprotected person entering the emergency stop protection circle of the unmanned vehicle. If so, and the unmanned vehicle is moving, the unmanned vehicle is controlled to stop suddenly. If the vehicle is in a stopped state, the vehicle is kept moving.

[0029] The deceleration protection circle control module is used to determine in real time whether there is an unprotected person entering the deceleration protection circle of the unmanned vehicle. If there is and the unmanned vehicle is moving, the unmanned vehicle is controlled to decelerate.

[0030] The unprotected person refers to a person whose current location is within the lane area and is not in a safe place;

[0031] The qualified personnel mentioned above are those who have received relevant training on unmanned driving systems;

[0032] The so-called unqualified personnel refer to those who have not received relevant training on open-pit mine unmanned driving systems.

[0033] Furthermore, the vehicle control system includes an obstacle detection module,

[0034] It is used to collect real-time information about people or objects in front of the driving section through the vehicle radar of the unmanned vehicle. If people or objects are detected, the vehicle will autonomously perform parking avoidance measures.

[0035] Furthermore, the cluster center includes a missing personnel protection control module.

[0036] It is used to monitor the location of pre-marked people in real time. If the location information of the person cannot be received normally for a period of time, all vehicles within a certain radius will be stopped urgently with the location of the person last seen as the center of the circle. The radius will be increased as the time for which the location information of the person cannot be received normally increases.

[0037] The beneficial effects achieved by the present invention are:

[0038] This invention integrates personnel into the management of unmanned driving systems, leveraging complementary approaches at various levels to fully ensure personnel safety. Traffic control measures are implemented in advance to reduce the likelihood of collisions between drivers and vehicles. Autonomous vehicle obstacle avoidance, safety zone protection, and missing personnel protection are implemented to prevent potential collisions. Personnel are categorized by protected status and training qualifications, avoiding frequent vehicle stops and speed reductions caused by a single strategy, effectively improving vehicle operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the structure of the personnel safety protection system;

[0040] Figure 2 It is a schematic diagram of multi-layer personnel safety protection;

[0041] Figure 3 This is a schematic diagram of the personnel safety protection scenario in an unmanned driving system. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0043] A personnel safety protection method in an open-pit mine unmanned driving system, comprising:

[0044] Real-time collection of personnel location information and unmanned vehicle location information on open-pit mine roads, as well as obtaining the right-of-way request information of the unmanned vehicle;

[0045] Based on the personnel location information, the unmanned vehicle location information and the right-of-way request information, it is determined whether there are unprotected personnel in the requested driving section. If so, the type of personnel is determined. If all personnel are qualified personnel, the right of way for the driving section requested by the unmanned vehicle is granted, but the vehicle slows down after entering the driving section; if the personnel include unqualified personnel, the vehicle is not granted the right of way for the driving section.

[0046] The unprotected personnel refer to those whose current location is within the lane area and are not in a safe place such as the vehicle cab; the qualified personnel refer to those who have received relevant training on unmanned driving systems, and the unqualified personnel refer to those who have not received relevant training on open-pit mine unmanned driving systems.

[0047] The method further includes: when the unmanned vehicle is traveling on a two-way road, determining that the unmanned vehicle is about to intersect an unprotected person in an opposite lane based on the person's position information, the unmanned vehicle's position information, and the right-of-way request information, determining the type of the person;

[0048] If all personnel are qualified, the vehicle will be controlled to slow down. If there are unqualified personnel among the personnel, the vehicle speed reduction ratio will be increased.

[0049] It also includes: the vehicle radar of the unmanned vehicle collects real-time information about people or objects in front of the driving section. If people or objects are collected, the vehicle will autonomously perform parking avoidance measures.

[0050] The system also includes: determining in real time whether an unprotected person has entered the unmanned vehicle's emergency stop protection circle. If so, and the unmanned vehicle is moving, the unmanned vehicle is brought to an emergency stop; if the vehicle is already stopped, the vehicle is kept stopped. The radius of the emergency stop protection circle is set to twice the maximum braking distance at the vehicle's current speed.

[0051] The system also includes: determining in real time whether an unprotected person has entered the unmanned vehicle's speed reduction protection circle; if so, and the unmanned vehicle is in motion, controlling the unmanned vehicle to reduce its speed. The radius of the speed reduction protection circle is set to be greater than twice and less than four times the maximum braking distance of the vehicle at its current speed.

[0052] It also includes: real-time monitoring of the location of pre-marked persons. If the location information of the person cannot be received normally for a period of time, all vehicles within a certain radius will be stopped urgently with the location of the person last seen as the center of the circle, and the radius will be increased as the time for which the location information of the person cannot be received normally increases.

[0053] The present invention also provides a personnel safety protection system in an unmanned open-pit mine system. The system includes a cluster center and a vehicle control system. The cluster center has a traffic control module, a safety protection circle protection module, and a personnel position monitoring module. The personnel position monitoring module realizes personnel positioning, protection status judgment, and personnel qualification setting, etc. The specific description is as follows:

[0054] (1) Traffic control module. This module can monitor the operation of vehicles in real time, control the movement of vehicles according to pre-set traffic rules, and allocate road rights to vehicles.

[0055] (2) Safety circle protection module. This module can calculate the vehicle's safety circle such as deceleration and emergency stop in real time based on the vehicle's speed, load and other information, and realize vehicle collision warning, braking, etc. through the safety circle.

[0056] (3) Personnel location monitoring module. This module can obtain the real-time location of personnel and other relevant information, and take early warning measures when the personnel location monitoring is abnormal.

[0057] The personnel positioning system includes a positioning module, a protection status judgment module, and a qualification setting module, which are used to locate personnel positions in real time, judge personnel protection status, set personnel qualifications, etc., and feed back information to the personnel position detection module in the cluster center. The specific descriptions are as follows:

[0058] (1) The personnel positioning system may be in the form of intelligently modified helmets, reflective vests, backpacks, etc. Such devices should generally include modules such as satellite positioning, RFID near-field communication, contactless mode setting, and mobile communication. The satellite positioning module is used to locate personnel in real time, the RFID near-field communication module is used to sense the location of personnel, the contactless mode setting module is used to set personnel qualifications and prevent personnel from tampering with the mode without authorization, and the mobile communication module is used to communicate with the cluster center.

[0059] (2) The protected status of personnel is divided into protected status and unprotected status. The protected status refers to the status in which personnel are in places such as the cab of a vehicle and their safety is protected. The unprotected status refers to the status in which personnel are in open places such as roads and their safety is not protected.

[0060] (3) Personnel qualifications. This qualification refers to whether the personnel have received relevant training on unmanned driving systems, thus having relevant safety qualifications and being familiar with the operating mechanism of unmanned driving system vehicles, so that they can take measures such as active avoidance of vehicles to avoid danger.

[0061] The vehicle control system includes a vehicle motion control module, an obstacle detection module, etc., which are described in detail as follows:

[0062] (1) Vehicle motion control module. This module can control the vehicle's movement, such as driving, deceleration, and stopping, according to the instructions sent by the cluster center. It can also autonomously control the vehicle's movement according to its own program.

[0063] (2) Obstacle detection module. This module can detect obstacles through radar and other equipment, and control the vehicle to slow down, stop, etc. according to the set rules.

[0064] The personnel safety protection method and system in the open-pit mine unmanned driving system proposed by the present invention will implement different protection measures at the following levels based on the functions of the above parts, as detailed below:

[0065] (1) Traffic control level, at which preventive measures can be taken in advance to reduce the possibility of collisions between vehicles and people:

[0066] A. When a vehicle requests the right of way for the next section of road, if the fleet center detects the presence of personnel in a protective state on the road ahead, it will determine the type of personnel. If all personnel are qualified, the vehicle is granted the right of way for the next section of road, but the vehicle must reduce speed after entering the next section of road. If any personnel are unqualified, the vehicle is not granted the right of way for the next section of road.

[0067] B. When a vehicle is traveling on a two-way street and the fleet center detects that it is about to intersect unprotected personnel in the opposite lane, it determines the type of personnel. If all personnel are qualified, the vehicle is controlled to slow down. If the personnel include unqualified personnel, the vehicle's speed reduction ratio is increased.

[0068] (2) Vehicle autonomous obstacle avoidance: At this level, the vehicle radar plays a role in identifying people in front of the vehicle as obstacles and autonomously performing parking avoidance measures.

[0069] (3) Safety protection circle level: At this level, the fleet center monitors in real time whether there are unprotected personnel entering the vehicle safety protection circle and implements corresponding protection measures:

[0070] A. When an unprotected person appears in the emergency stop protection circle of the vehicle, if the vehicle is moving, the vehicle will be controlled to stop suddenly. If the vehicle is in a stopped state, the vehicle will not be allowed to move.

[0071] B. When there are unprotected persons within the vehicle's speed reduction protection circle or outside the emergency stop protection circle, if the vehicle is moving, the vehicle will be controlled to slow down.

[0072] (4) Missing personnel protection level. At this level, the cluster center monitors the location of personnel in real time. If the cluster center fails to receive personnel location information for a period of time, resulting in a missing person phenomenon, all vehicles within a certain radius will be stopped with the location of the person last seen as the center of the circle. The radius will be increased as the time when the personnel location information cannot be received normally increases.

[0073] The protection measures at the above levels complement each other and can provide multiple guarantees for the safety of personnel in the unmanned driving system of open-pit mines.

[0074] In the example, when the unmanned driving system of an open-pit mine is running, safety officers, other vehicle drivers, and temporary personnel may enter the unmanned driving operation area. In order to cope with the complex safety scenarios of mixed people and vehicles, such as Figure 2 As shown in the figure, different personnel safety protection measures are implemented at four levels: traffic control, safety protection circle, vehicle autonomous obstacle avoidance, and personnel missing protection. The means at multiple levels complement each other to provide multiple guarantees for personnel safety. Figure 3 Provide explanation.

[0075] For example, the vehicle is currently moving forward in the right lane of a two-way road. Is there a person in a protected state in the opposite lane in front of the left side of the vehicle? Figure 3 As shown in the figure, if the fleet center detects that a vehicle is about to cross paths with a person, it will send a speed reduction command to the vehicle. The speed reduction ratio varies depending on the type of person. If all the people are qualified, the speed reduction ratio will be the same as that for a normal passing vehicle. If there are unqualified people among the people, the speed reduction ratio will be increased.

[0076] For example, a vehicle is currently traveling on road section 1 and is about to enter road section 2. The vehicle requests the right-of-way for road section 2 from the swarm center in advance. The swarm center then checks to see if there are any unprotected personnel on the next road section. If so, the swarm will determine the personnel's type. If all personnel are qualified, the swarm will grant the vehicle the right-of-way for the next section and issue a command to slow down upon entering the next section. If any personnel are unqualified, the swarm center will not grant the vehicle the right-of-way for the next section, and the vehicle will stop at the road section junction.

[0077] For example, if the vehicle radar detects the presence of a person on the road ahead, the vehicle control system will identify the person as an obstacle and implement obstacle avoidance parking.

[0078] For example, Figure 3As shown, there is a person on the side of the vehicle, which is in the radar blind spot and cannot be effectively guaranteed. This is when the safety protection circle comes into play. The fleet center monitors the vehicle in real time and, if it detects a person in a protected state entering the vehicle's emergency stop safety circle, it issues a command to control the vehicle to an emergency stop.

[0079] For example, if the cluster center cannot receive the location information of a person for a period of time and the person is in a missing state, the cluster center sets a circle with a radius and the last location of the person as the center, such as Figure 3 If the cluster center detects a vehicle entering the circle, it will issue a command to control the vehicle to make an emergency stop to prevent danger.

[0080] For example, when a person enters the vehicle cab, the personnel positioning system will adjust the person's protection status to a protected state to prevent the person from interfering with the normal operation of the vehicle.

[0081] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0083] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0084] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0085] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A personnel safety protection method in an open-pit mine unmanned driving system, characterized in that: include: The cluster center obtains real-time location information of personnel and unmanned vehicles on open-pit mine roads, as well as the right-of-way request information of the unmanned vehicles; Determining whether there are any unprotected persons in the requested driving section based on the personnel location information, the unmanned vehicle location information, and the right-of-way request information; if so, determining the type of persons; and if all persons are qualified, granting the unmanned vehicle the right of way for the driving section requested, but reducing the vehicle's speed after entering the driving section; If there are unqualified personnel among the personnel, the vehicle will not be granted the right of way for that section of road; The unprotected person refers to a person whose current location is within the lane area and is not in a safe place; The qualified personnel mentioned above are those who have received relevant training on unmanned driving systems; The unqualified personnel referred to herein are those who have not received any training related to unmanned driving systems in open-pit mines; It also includes: real-time determination of whether there is an unprotected person in the emergency stop protection circle of the unmanned vehicle. If so, and the unmanned vehicle is moving, the unmanned vehicle is controlled to make an emergency stop. If the vehicle is in a stopped state, the vehicle is kept stopped. Real-time judgment on whether there are unprotected people entering the unmanned vehicle's speed reduction protection circle. If there are unprotected people and the unmanned vehicle is moving, the unmanned vehicle will be controlled to slow down. Real-time monitoring of the location of pre-marked persons. If the person's location information cannot be received normally for a period of time, all vehicles within a certain radius will be stopped urgently with the person's last seen location as the center of the circle. The radius will be increased as the time for which the person's location information cannot be received normally increases.

2. The personnel safety protection method in an open-pit mine unmanned driving system according to claim 1 is characterized in that: Also includes: When the unmanned vehicle is traveling on a two-way road, determining that the unmanned vehicle is about to cross an unprotected person in an opposite lane based on the person's position information, the unmanned vehicle's position information, and the right-of-way request information, determining the type of the person; If all personnel are qualified, the vehicle will be controlled to slow down. If there are unqualified personnel among the personnel, the vehicle speed reduction ratio will be increased.

3. The personnel safety protection method in an open-pit mine unmanned driving system according to claim 1 is characterized in that: Also includes: The vehicle radar of the unmanned vehicle collects real-time information about people or objects in front of the driving section. If a person or object is detected, it will autonomously perform parking avoidance measures.

4. A personnel safety protection system in an unmanned driving system of an open-pit mine, characterized in that: include: A cluster center and a vehicle control module, wherein the cluster center includes a position monitoring module, a traffic control module, and a safety protection circle control module; The location monitoring module is used to collect the location information of personnel and unmanned vehicles on the open-pit mine road in real time and send it to the traffic control module; The vehicle control module is used to send the unmanned vehicle's right-of-way request information to the cluster center, receive the vehicle control information fed back by the cluster center, and autonomously control the vehicle's movements according to its own program; The traffic control module is configured to determine whether there are any unprotected persons in the requested driving section based on the person location information, the unmanned vehicle location information, and the right-of-way request information; if so, determine the type of persons; and if all persons are qualified, grant the unmanned vehicle the right of way for the driving section requested, but reduce the vehicle's speed after entering the driving section; If there are unqualified personnel among the personnel, the vehicle will not be granted the right of way for that section of road; When the unmanned vehicle is traveling on a two-way road, determining that the unmanned vehicle is about to cross an unprotected person in an opposite lane based on the person's position information, the unmanned vehicle's position information, and the right-of-way request information, determining the type of the person; If all personnel are qualified, the vehicle will be controlled to slow down. If there are unqualified personnel among the personnel, the vehicle speed reduction ratio will be increased. The safety protection circle control module includes an emergency stop protection circle control module and a speed reduction protection circle control module; The emergency stop protection circle control module is used to determine in real time whether there is an unprotected person entering the emergency stop protection circle of the unmanned vehicle. If so, and the unmanned vehicle is moving, the unmanned vehicle is controlled to stop suddenly. If the vehicle is in a stopped state, the vehicle is kept stopped. The deceleration protection circle control module is used to determine in real time whether there is an unprotected person entering the deceleration protection circle of the unmanned vehicle. If there is and the unmanned vehicle is moving, the unmanned vehicle is controlled to decelerate. The unprotected person refers to a person whose current location is within the lane area and is not in a safe place; The qualified personnel mentioned above are those who have received relevant training on unmanned driving systems; The unqualified personnel referred to herein are those who have not received any training related to unmanned driving systems in open-pit mines; The cluster center includes a missing personnel protection control module, It is used to monitor the location of pre-marked people in real time. If the location information of the person cannot be received normally for a period of time, all vehicles within a certain radius will be stopped urgently with the location of the person last seen as the center of the circle. The radius will be increased as the time of failure to receive the location information of the person becomes longer.

5. The personnel safety protection system in the open-pit mine unmanned driving system according to claim 4 is characterized in that: The vehicle control module includes an obstacle detection module, It is used to collect real-time information about people or objects in front of the driving section through the vehicle radar of the unmanned vehicle. If people or objects are detected, the vehicle will autonomously perform parking avoidance measures.

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