Mine vehicle positioning and personnel positioning protection method and system based on multiple positioning systems

Abstract

This invention discloses a method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system. The method includes: all positioning terminals within the mining area publishing their own positioning messages; a cloud-based central control server receiving and processing all positioning messages; an unmanned vehicle (UAV) querying all existing positioning terminals and obstacles within its radius from the cloud-based central control server, and obtaining updated obstacle location information based on the perception results of the UAV's autonomous driving system, which is then uploaded; planning the UAV's trajectory based on the perception results to avoid obstacles ahead; and using a virtual map to monitor the mining area's operations in real time and issue alerts for critical situations. A mining area vehicle and personnel safety protection alarm system and device based on a multi-positioning system monitors the current location of personnel and vehicles in the mining area in real time using multiple positioning terminals, and assists the autonomous driving system in planning obstacle avoidance paths for the UAV, thereby achieving all-weather, high-precision monitoring of the mining area's operational situation and providing safety protection alarms for personnel and vehicles.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving in mining areas, and in particular to a method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system. Background Technology

[0002] The mining industry is gradually moving towards green, sustainable, intelligent, and digital development. With the continuous advancement of digital and intelligent technologies, intelligent and unmanned mining has become an important goal for improving mine safety and efficiency. This is especially true for open-pit coal mines, which have large mining areas and complex operating environments. Factors such as large machinery, flammable, explosive, and toxic materials, and special operations mean that potential dangers are ever-present, and even slight negligence can lead to personal injury accidents. Therefore, in this context, safety protection and alarm systems based on accurate positioning technology are particularly important, as they are key to ensuring mine safety.

[0003] Currently, real-time monitoring of mining areas primarily relies on deploying wide-angle surveillance cameras at high points and monitoring equipment in key operational areas. However, this method has several limitations. First, the observation effect of the monitoring equipment is limited at night, and even with lighting, it is difficult to achieve ideal results. Second, prolonged video recording generates a large amount of invalid data, resulting in low resource utilization and high storage space consumption. Furthermore, once monitoring points are set up, it is difficult to flexibly adjust the monitoring range as operational conditions change.

[0004] To address these issues, this invention proposes a mine vehicle and personnel safety protection alarm system and device based on a multi-positioning system. Utilizing positioning terminals installed on all personnel and vehicles within the mine area, it achieves comprehensive, real-time, and accurate tracking and location information of vehicles and personnel, thus protecting their safety. Furthermore, this positioning information can provide effective assistance for the operation of unmanned vehicles, improving their operational efficiency and safety. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] In view of the aforementioned existing problems, the present invention is proposed.

[0007] Therefore, this invention provides a method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system, which can solve the problems of safety monitoring and disaster early warning protection for workers and vehicles in mining areas.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system, comprising:

[0009] All positioning terminals within the mining area publish their own location messages; the cloud-based central control server receives and organizes all positioning messages; the unmanned vehicle queries the cloud-based central control server for all existing positioning terminals and obstacles within its radius, and obtains updated obstacle location information by combining the perception results of the unmanned vehicle's autonomous driving system and uploads it; the unmanned vehicle's trajectory is planned based on the perception results to avoid obstacles ahead; the operation in the mining area is monitored in real time using a virtual map, and alarms are issued for crisis situations.

[0010] As a preferred embodiment of the multi-positioning system-based method for vehicle and personnel positioning and protection in mining areas according to the present invention, the step of publishing a self-positioning message includes using a state update equation to describe the changes in the internal state of the system over time.

[0011] P (t+1) =F*P (t) +W (t)

[0012] Among them, P (t) The state information is determined by the device's motion mode and measurement error. F represents the state transition matrix, which describes the device's motion mode. W (t) P is a random noise vector, resulting from state estimation errors due to measurement errors and unmodeled dynamic factors. (t+1) Indicates the predicted state at the next moment;

[0013] The server receives the perception results uploaded by the autonomous vehicle, including the location information of the positioning terminal and obstacles, and uses observation equations to obtain the observed data from the internal state of the system.

[0014] Y (t) =H*P (t) +V (t)

[0015] Among them, Y (t) This represents the observation results at time t, the published location information, where H represents the observation matrix, and V represents the location information. (t) The observation noise at time t includes equipment error, equipment propagation delay, and observation error caused by environmental noise.

[0016] As a preferred embodiment of the multi-positioning system-based mining area vehicle and personnel positioning protection method described in this invention, the step of organizing all positioning messages includes:

[0017] Y (t) ={y1,y2,…,y n}

[0018] Where y1, y2, ..., y n This represents the positioning information observed by the positioning device;

[0019] Based on the observation equations, the state information P of each device is calculated using the least squares method. (t) ,

[0020] P (t) =(H T *H) -1 *H T *Y (t)

[0021] Where T represents a point in time, H T It is the transpose of H, (H T *H) -1 *H T It is the pseudo-inverse of H. It handles the conflict between devices through the maximum weight matching algorithm. The server assigns a unique ID to the status information of the device and records the location and historical trajectory of each ID.

[0022] As a preferred embodiment of the multi-positioning system-based mining area vehicle positioning and personnel positioning protection method described in this invention, the query radius area includes all existing positioning terminals and obstacles. The autonomous driving system deployed on the unmanned vehicle sends a request to the cloud central control server at a fixed frequency to query all recorded current-time positioning information within a fixed radius centered on the unmanned vehicle positioning terminal. This positioning information includes positioning information uploaded by other positioning terminals and obstacle information obtained in real time by the unmanned vehicle in combination with the positioning terminal and the multi-sensor deployed on the vehicle.

[0023] As a preferred embodiment of the multi-positioning system-based mining area vehicle positioning and personnel positioning protection method described in this invention, the updated obstacle location information includes: the autonomous driving system acquiring current multi-sensor perception data and obstacle information in the nearby area provided by the cloud central control server, and updating the current vehicle-side perception result through the vehicle-side perception module;

[0024] The vehicle-side perception module consists of two parts: detection and tracking. The detection part includes multiple sensor detection modules, a data synchronization module, a camera detection module, a lidar monitoring module, and a millimeter-wave detection module. Each module obtains the environmental information around the vehicle detected by the corresponding sensor, outputs the perception result of a single sensor through the detection model, and saves the result in the corresponding array.

[0025] After obtaining the perception results from each of the multiple sensors, the results are combined with the nearby obstacle information queried from the cloud central control server and entered into the obstacle maintenance and tracking queue for multi-sensor perception result fusion. After obtaining the fusion result, the result is used for downstream unmanned vehicle trajectory planning. At the same time, the fusion result will update the positioning information of the entire mining area maintained by the cloud central control management module and add obstacle information of local areas of the vehicle for other unmanned vehicles to query again by the autonomous driving modules.

[0026] As a preferred embodiment of the multi-positioning system-based mining area vehicle positioning and personnel positioning protection method described in this invention, the method of avoiding obstacles ahead includes: after the unmanned vehicle obtains obstacle information obtained by the fusion of all sensor perceptions within its own radius area, it generates a static grid map to provide scene semantic information for the unmanned vehicle path planning module, and the path planning module will generate a reliable and safe path for the unmanned vehicle to drive.

[0027] When the unmanned vehicle is operating normally in the mining area, if the working route is blocked by foreign objects, the perception module detects the obstacles and sends the information to the cloud central control server. The server receives the information, uses the fusion of the perception results of multiple sensors to obtain the location of the obstacles, and uses the path planning module to generate a new safe path and add the obstacle information to the positioning information of the entire mining area.

[0028] When multiple unmanned vehicles are working simultaneously, the cloud-based central control server receives the location information of all unmanned vehicles and monitors the operation of the entire mining area in real time through a virtual map. When an unmanned vehicle completes its work and is ready to return, the server plans a return route that does not conflict with other working vehicles based on the location and task status of all unmanned vehicles and the current road conditions.

[0029] When a worker enters a dangerous area, the positioning terminal on the worker's body immediately sends its own location information. When the cloud-based central control server receives the information, it immediately controls the positioning terminal to sound an alarm and records the information in the log. The server sends an alarm to the worker's location to guide the worker to leave the dangerous area.

[0030] When extreme weather occurs, the central control server receives early warning information from the environmental monitoring system. The server immediately sends early warning alarms to all positioning terminals to remind workers to take shelter. For unmanned vehicles that are in operation, the server calculates a safe path based on the actual data of the mining area, sends the safe path to the unmanned vehicle's autonomous driving system, and urgently interprets the current work task and drives to a safe location.

[0031] As a preferred embodiment of the multi-positioning system-based vehicle and personnel positioning protection method for mining areas described in this invention, the alarm function includes: a cloud-based central control management module that collects real-time positioning, historical trajectory, real-time speed, and identity information of all positioning terminals within the entire mining area, as well as obstacle positioning and size information uploaded by the unmanned vehicle perception module, including road test poles, traffic lights, buildings, and falling rocks; the system constructs electronic fences for some long-standing fixed buildings and obstacles uploaded by unmanned vehicles within the mining area; by acquiring the current location of the positioning terminals in real time, the system monitors the working status of vehicles and personnel within the mining area to ensure operational safety; the electronic fences use the identity information uploaded by the positioning terminals to set different entry areas for different vehicles and personnel; if a vehicle or personnel enters the area inside the fence, the system will control the positioning terminals to issue an alarm and record the information in the log for safety monitoring personnel to review; if the system detects extreme weather disasters, it will issue an alarm to all positioning terminals to remind workers to take shelter.

[0032] Based on the received location information and environmental data, the system determines the vehicle's current action plan. When the personnel positioning terminal receives an emergency alarm, it analyzes the alarm content and related environmental data, and uses a neural network model to determine whether to switch to safe mode. If it needs to switch to safe mode, the system automatically switches to safe mode and guides the user to the nearest safe area based on the safety map.

[0033] When a dangerous situation occurs during driving, the central control server interacts directly with the autonomous driving system of the unmanned vehicle. The server quickly obtains the current location and status of the unmanned vehicle, calculates a safe path based on the prediction model and real-time data of the mining area, and sends the safe path to the autonomous driving system of the unmanned vehicle, which then stops the vehicle from its current working path and changes it to the safe path.

[0034] Another objective of this invention is to provide a system for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system. This system can monitor and track the location of all vehicles and pedestrians within the mining area in real time, identify potential safety risks, and provide accurate positioning information to the cloud-based central control management module. This improves the positioning accuracy of vehicles and pedestrians in the mining area and provides accurate data support for subsequent safety management and unmanned vehicle path planning. The cloud-based central control management module centrally processes and manages all positioning information, greatly improving the operational efficiency of the mining area. Utilizing positioning data and perception information, the autonomous driving module can construct an obstacle grid map, optimize unmanned vehicle path planning, improve the autonomous driving performance of unmanned vehicles, and reduce potential collision risks.

[0035] As a preferred embodiment of the system for mine vehicle positioning and personnel positioning protection method based on multi-positioning system described in this invention, the system comprises: a multi-terminal positioning module, a cloud-based central control management module, an autonomous driving module, and a safety protection alarm module.

[0036] The multi-terminal positioning module equips all vehicles and pedestrians in the mining area with positioning terminals, providing accurate positioning information for the cloud-based central control management module;

[0037] The cloud-based central control management module receives location information published by all positioning terminals, organizes and summarizes it, and statistically analyzes the current location, historical trajectory, and current speed information of all positioning terminals, providing it to the autonomous driving module and the safety protection alarm module.

[0038] The autonomous driving module uses the perception information from multiple sensors on the unmanned vehicle and the multi-positioning terminal information provided by the cloud-based central control management module to construct an obstacle grid map, providing scene semantic information for the unmanned vehicle's path planning, and uploading all obstacles to the cloud-based central control management module to update the positioning information in the current area;

[0039] The safety protection alarm module reads real-time positioning terminal information from the cloud-based central control management module and obstacle information uploaded by unmanned vehicles, monitors the real-time location information of all vehicles and pedestrians operating in the entire mining area, and achieves safety protection in conjunction with electronic fences and safety monitoring auxiliary means, and issues alarms for any emergencies.

[0040] A computer device includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program as steps of a method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system.

[0041] A computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, comprises the steps of a method for protecting vehicle and personnel positioning in a mining area based on a multi-positioning system.

[0042] The beneficial effects of the present invention are as follows: The present invention proposes a mine vehicle and personnel safety protection alarm system and device based on a multi-positioning system. It uses multi-positioning terminals to monitor the current location of workers and vehicles in the mine in real time, and assists the autonomous driving system in planning obstacle avoidance for unmanned vehicles, thereby achieving all-weather, high-precision monitoring of the mine operation situation and providing safety protection alarms for personnel and vehicles. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0044] Figure 1 This is a schematic flowchart of a method for vehicle and personnel positioning and protection in a mining area based on a multi-positioning system, provided in one embodiment of the present invention.

[0045] Figure 2 A schematic diagram of a mine safety protection alarm system based on a multi-positioning system for mine vehicle and personnel positioning and protection, provided as an embodiment of the present invention;

[0046] Figure 3 A schematic diagram of a safety protection alarm system based on a multi-positioning system for vehicle and personnel positioning protection in a mining area, provided as an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the positioning data upload and update process in a system mode of a multi-positioning system-based mine vehicle and personnel positioning protection system provided in one embodiment of the present invention. Detailed Implementation

[0048] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0049] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0050] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0051] This invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of this invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not adhering to the usual scale. Furthermore, the schematic diagrams are merely examples and should not be construed as limiting the scope of protection of this invention. In actual fabrication, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0052] Furthermore, in the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used solely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In addition, the terms "first," "second," or "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" in this invention should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; similarly, they can refer to mechanical connections, electrical connections, or direct connections, or indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] Example 1

[0055] Reference Figure 1 This is the first embodiment of the present invention, which provides a method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system, including:

[0056] S1: All positioning terminals within the mining area publish their own location messages;

[0057] It should be noted that publishing a self-location message includes using a state update equation to describe the changes in the system's internal state over time.

[0058] P (t+1) =F*P (t) +W (t)

[0059] Among them, P (t) The state information is determined by the device's motion mode and measurement error. F represents the state transition matrix, which describes the device's motion mode (e.g., uniform linear motion or uniformly accelerated motion). W (t) P is a random noise vector, resulting from state estimation errors due to measurement errors and unmodeled dynamic factors. (t+1) This indicates the predicted state at the next moment.

[0060] In modern autonomous vehicle technology, systems need to predict the future state of themselves or other objects in order to make decisions in advance. In autonomous vehicle scenarios, if an autonomous vehicle can predict the future positions of other vehicles or pedestrians, it can better plan its own route to avoid potential collisions.

[0061] When processing real-time data (such as real-time location data), predicting future states can also help the system address data latency issues. If location data takes some time to be transmitted from the device to the central server, the received data may lag slightly behind the real-time state. By predicting future states, the system can compensate for this data latency to some extent, allowing its decisions to be closer to the real-time state.

[0062] Released location information Y (t) It may be affected by various uncertainties, such as signal propagation delay and equipment time synchronization errors. The published location information is described using the following observation equation:

[0063] Y (t) =H*P (t) +V (t)

[0064] Among them, Y (t) This represents the observation results at time t, the published location information, where H represents the observation matrix, and V represents the location information. (t) The observation noise at time t includes equipment error, equipment propagation delay, and observation error caused by environmental noise.

[0065] The positioning terminal has two modes for vehicles and personnel: system-enabled mode and system-free mode. Unmanned vehicles with autonomous driving systems can combine vehicle perception information to collect positioning data and upload it to the cloud central control server at a fixed frequency. Manned vehicles and other personnel, in system-free mode, directly publish their own positioning information and identification information to the outside world at the same fixed frequency.

[0066] S2: The cloud-based central control server receives and organizes all location messages;

[0067] It should be noted that the process of organizing all location messages includes,

[0068] Y (t) ={y1,y2,…,y n}

[0069] Where y1, y2, ..., y n This represents the positioning information observed by the positioning device;

[0070] Based on the observation equations, the state information P of each device is calculated using the least squares method.(t) ,

[0071] P (t) =(H T *H) -1 *H T *Y (t)

[0072] Where T represents a point in time, H T It is the transpose of H, (H T *H) -1 *H T It is the pseudo-inverse of H. It handles the conflict between devices through the maximum weight matching algorithm. The server assigns a unique ID to the status information of the device and records the location and historical trajectory of each ID.

[0073] After the cloud-based central control server obtains the location information uploaded from the positioning terminal, it summarizes all the location information and converts it to the world coordinate system using the mine's unique positioning center. Then, it assigns a fixed ID to all the location information in the entire mine area for maintenance and querying, and records the current location, historical trajectory, speed, and other information of each ID.

[0074] S3: The autonomous vehicle queries the central control server in the cloud for all existing positioning terminals and obstacles within the radius area, and obtains updated obstacle location information by combining the perception results of the autonomous vehicle's autonomous driving system and uploads it.

[0075] Furthermore, the query radius includes all existing positioning terminals and obstacles, which are obtained by the autonomous driving system deployed on the unmanned vehicle sending requests to the cloud central control server at a fixed frequency to query all recorded current-time positioning information within a fixed radius centered on the unmanned vehicle positioning terminal. This positioning information includes positioning information uploaded by other positioning terminals and obstacle information obtained in real time by the unmanned vehicle in combination with the positioning terminal and the multi-sensor deployed on the vehicle.

[0076] It should be noted that the updated obstacle location information includes the autonomous driving system acquiring current multi-sensor perception data and obstacle information in the nearby area provided by the cloud central control server, and updating the current vehicle-side perception result through the vehicle-side perception module;

[0077] The vehicle-side perception module consists of two parts: detection and tracking. The detection part includes multiple sensor detection modules, a data synchronization module, a camera detection module, a lidar monitoring module, a millimeter-wave detection module, etc. Each module obtains the environmental information around the vehicle detected by the corresponding sensor, outputs the perception result of a single sensor through the detection model, and saves the result in the corresponding array.

[0078] After obtaining the perception results from each of the multiple sensors, the results are combined with the nearby obstacle information queried from the cloud central control server and entered into the obstacle maintenance and tracking queue for multi-sensor perception result fusion. After obtaining the fusion result, the result is used for downstream unmanned vehicle trajectory planning. At the same time, the fusion result will update the positioning information of the entire mining area maintained by the cloud central control management module and add obstacle information of local areas of the vehicle for other unmanned vehicles to query again by the autonomous driving modules.

[0079] S4: Plan the trajectory of the autonomous vehicle based on the perception results and avoid obstacles in front;

[0080] The avoidance of obstacles ahead includes the following steps: after the autonomous vehicle obtains obstacle information from the fusion of all sensor perceptions within its own radius area, it generates a static grid map to provide scene semantic information for the autonomous vehicle path planning module. The path planning module will then generate a reliable and safe path for the autonomous vehicle to drive.

[0081] When the unmanned vehicle is operating normally in the mining area, if the working route is blocked by foreign objects, the perception module detects the obstacles and sends the information to the cloud central control server. The server receives the information, uses the fusion of the perception results of multiple sensors to obtain the location of the obstacles, and uses the path planning module to generate a new safe path and add the obstacle information to the positioning information of the entire mining area.

[0082] When multiple unmanned vehicles are working simultaneously, the cloud-based central control server receives the location information of all unmanned vehicles and monitors the operation of the entire mining area in real time through a virtual map. When an unmanned vehicle completes its work and is ready to return, the server plans a return route that does not conflict with other working vehicles based on the location and task status of all unmanned vehicles and the current road conditions.

[0083] When a worker enters a dangerous area, the positioning terminal on the worker's body immediately sends its own location information. When the cloud-based central control server receives the information, it immediately controls the positioning terminal to sound an alarm and records the information in the log. The server sends an alarm to the worker's location to guide the worker to leave the dangerous area.

[0084] When extreme weather conditions are detected, the central control server receives an early warning from the environmental monitoring system. The server immediately sends an early warning alarm to all positioning terminals, prompting workers to take evasive action. For unmanned vehicles that are in operation, the server calculates a safe path based on the actual data of the mining area, sends the safe path to the unmanned vehicle's autonomous driving system, and urgently interprets the current work task and drives to a safe location.

[0085] S5: Utilizes virtual maps to monitor operations within the mining area in real time and issues alerts for crisis situations.

[0086] Furthermore, the alarm system includes the following: the cloud-based central control management module collects real-time location, historical trajectory, real-time speed, and identity information of all positioning terminals within the entire mining area, as well as obstacle location and size information uploaded by the unmanned vehicle perception module, including road test poles, traffic lights, buildings, and falling rocks. The system constructs electronic fences for some long-standing fixed buildings and obstacles uploaded by unmanned vehicles within the mining area. By acquiring the current location of the positioning terminals in real time, the system monitors the working status of vehicles and personnel within the mining area to ensure operational safety. The electronic fences use the identity information uploaded by the positioning terminals to set different entry areas for different vehicles and personnel. If a vehicle or personnel enters the area inside the fence, the system will control the positioning terminals to issue an alarm and record the information in the log for safety monitoring personnel to review. If the system detects extreme weather disasters, it will issue an alarm to all positioning terminals to remind workers to take shelter.

[0087] Based on the received location information and environmental data, the system determines the vehicle's current action plan. When the personnel positioning terminal receives an emergency alarm, it analyzes the alarm content and related environmental data, and uses a neural network model to determine whether to switch to safe mode. If it needs to switch to safe mode, the system automatically switches to safe mode and guides the user to the nearest safe area based on the safety map.

[0088] When a dangerous situation occurs during driving, the central control server interacts directly with the autonomous driving system of the unmanned vehicle. The server quickly obtains the current location and status of the unmanned vehicle, calculates a safe path based on the prediction model and real-time data of the mining area, and sends the safe path to the autonomous driving system of the unmanned vehicle, which then stops the vehicle from its current working path and changes it to the safe path.

[0089] Example 2

[0090] As one embodiment of the present invention, a method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system is provided. To verify the beneficial effects of the present invention, scientific demonstration is carried out through experiments.

[0091] The table below shows the simulation experiment data we conducted.

[0092] Table 1 Positioning Accuracy Test Data

[0093] work area 10.2 2.3 Vehicle route 9.7 2.1 Personnel work area 11.1 2.2 average error 10.3 2.2

[0094] Table 2. Autonomous driving test data.

[0095] Static obstacles 3 0 Dynamic obstacles 4 1 Complex environment 2 1 Average number of collisions 3 1

[0096] Table 3. Safety alarm test data.

[0097] Entering the restricted area 2 5 Approaching hazardous equipment 3 6 Emergency situations (such as extreme weather) 1 7 Average number of triggers 2 6

[0098] Compared with the above experimental results and traditional methods, the mine vehicle positioning and personnel positioning protection method based on multi-positioning systems has the following advantages:

[0099] Higher positioning accuracy: Through multi-terminal positioning and cloud data integration, the positioning accuracy of vehicles and personnel is improved, ensuring more accurate dynamic tracking.

[0100] Enhanced autonomous driving performance: Autonomous vehicles can utilize multi-source perception data to generate more accurate obstacle grid maps, ensuring higher autonomous driving performance.

[0101] More effective safety protection: Through real-time location data and obstacle information, the system can provide more accurate safety warnings and prevent safety accidents from occurring.

[0102] Greater application flexibility: The system can cope with various environmental conditions, including harsh weather and complex terrain, improving the system's adaptability and reliability.

[0103] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

[0104] Example 3

[0105] The third embodiment of the present invention differs from the first two embodiments in that:

[0106] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0107] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0108] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0109] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0110] Example 4

[0111] refer to Figure 2 This is the fourth embodiment of the present invention. This embodiment provides a system based on a method for identifying and predicting weak links in large-scale new energy grid access, characterized in that it includes a multi-terminal positioning module, a cloud-based central control management module, an autonomous driving module, and a safety protection alarm module.

[0112] The multi-terminal positioning module equips all vehicles and pedestrians in the mining area with positioning terminals, providing accurate positioning information for the cloud-based central control management module;

[0113] The cloud-based central control management module receives location information published by all positioning terminals, organizes and summarizes it, and statistically analyzes the current location, historical trajectory, and current speed information of all positioning terminals, providing it to the autonomous driving module and the safety protection alarm module.

[0114] The autonomous driving module uses the perception information from multiple sensors on the unmanned vehicle and the multi-positioning terminal information provided by the cloud-based central control management module to construct an obstacle grid map, providing scene semantic information for the unmanned vehicle's path planning, and uploading all obstacles to the cloud-based central control management module to update the positioning information in the current area;

[0115] The safety protection alarm module reads real-time positioning terminal information from the cloud-based central control management module and obstacle information uploaded by unmanned vehicles, monitors the real-time location information of all vehicles and pedestrians operating in the entire mining area, and achieves safety protection in conjunction with auxiliary means such as electronic fences and safety monitoring, and issues alarms for any emergencies.

Claims

1. A method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system, characterized in that: include, All positioning terminals within the mining area publish their own location information; The cloud-based central control server receives and processes location information; The autonomous vehicle queries the central control server in the cloud for all existing positioning terminals and obstacles within the radius area, and obtains updated obstacle location information by combining the perception results of the autonomous vehicle's autonomous driving system and uploads it. The autonomous vehicle's trajectory is planned based on perception results to avoid obstacles ahead; Utilize virtual maps to monitor mining operations in real time and issue alerts for crisis situations; The process of publishing its own location information includes using a state update equation to describe the changes in the system's internal state over time. in, The state information is determined by the device's motion mode and measurement error. F represents the state transition matrix, which describes the device's motion mode. It is a random noise vector, resulting from measurement errors and state estimation errors caused by unmodeled dynamic factors. Indicates the predicted state at the next moment; The server receives the perception results uploaded by the autonomous vehicle, including the location information of the positioning terminal and obstacles, and uses observation equations to obtain the observed data from the internal state of the system. in, This represents the observation results at time t, and the published location information. H represents the observation matrix. The observation noise at time t includes equipment error, equipment propagation delay, and observation error caused by environmental noise. The process of organizing all location messages includes, in, This represents the positioning information observed by the positioning device; Based on the observation equations, the state information of each device is calculated using the least squares method. , Where T represents a point in time, It is the transpose of H. It is the pseudo-inverse of H. It uses the maximum weight matching algorithm to handle conflicts between devices. The server assigns a unique ID to the status information of each device and records the location and historical trajectory of each ID. The query radius includes all existing positioning terminals and obstacles. The autonomous driving system deployed on the unmanned vehicle sends a request to the cloud central control server at a fixed frequency to query all recorded current-time positioning information within a fixed radius centered on the unmanned vehicle positioning terminal. This positioning information includes positioning information uploaded by other positioning terminals and obstacle information obtained in real time by the unmanned vehicle in combination with the positioning terminal and the multi-sensor deployed on the vehicle.

2. The method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system as described in claim 1, characterized in that: The updated obstacle location information includes the autonomous driving system acquiring current multi-sensor perception data and obstacle information in the nearby area provided by the cloud central control server, and updating the current vehicle-side perception result through the vehicle-side perception module; The vehicle-side perception module consists of two parts: detection and tracking. The detection part includes multiple sensor detection modules, a data synchronization module, a camera detection module, a lidar monitoring module, and a millimeter-wave detection module. Each module obtains the environmental information around the vehicle detected by the corresponding sensor, outputs the perception result of a single sensor through the detection model, and saves the result in the corresponding array. After obtaining the perception results from each of the multiple sensors, the results are combined with the nearby obstacle information queried from the cloud central control server and entered into the obstacle maintenance and tracking queue for multi-sensor perception result fusion. After obtaining the fusion result, the result is used for downstream unmanned vehicle trajectory planning. At the same time, the fusion result will update the positioning information of the entire mining area maintained by the cloud central control management module and add obstacle information of local areas of the vehicle for other unmanned vehicles to query again by the autonomous driving modules.

3. The method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system as described in claim 2, characterized in that: The avoidance of obstacles ahead includes the following steps: after the autonomous vehicle obtains obstacle information from the fusion of all sensor perceptions within its own radius area, it generates a static grid map to provide scene semantic information for the autonomous vehicle path planning module. The path planning module will then generate a reliable and safe path for the autonomous vehicle to drive. When the unmanned vehicle is operating normally in the mining area, if the working route is blocked by foreign objects, the perception module detects the obstacles and sends the information to the cloud central control server. The server receives the information, uses the fusion of the perception results of multiple sensors to obtain the location of the obstacles, and uses the path planning module to generate a new safe path and add the obstacle information to the positioning information of the entire mining area. When multiple unmanned vehicles are working simultaneously, the cloud-based central control server receives the location information of all unmanned vehicles and monitors the operation of the entire mining area in real time through a virtual map. When an unmanned vehicle completes its work and is ready to return, the server plans a return route that does not conflict with other working vehicles based on the location and task status of all unmanned vehicles and the current road conditions. When a worker enters a dangerous area, the positioning terminal on the worker's body immediately sends its own location information. When the cloud-based central control server receives the information, it immediately controls the positioning terminal to sound an alarm and records the information in the log. The server sends an alarm to the worker's location to guide the worker to leave the dangerous area. When extreme weather occurs, the central control server receives early warning information from the environmental monitoring system. The server immediately sends early warning alarms to all positioning terminals to remind workers to take shelter. For unmanned vehicles that are in operation, the server calculates a safe path based on the actual data of the mining area, sends the safe path to the unmanned vehicle's autonomous driving system, and urgently interprets the current work task and drives to a safe location.

4. The method for vehicle and personnel positioning and protection in mining areas based on a multi-positioning system as described in claim 3, characterized in that: The alarm system includes the following: the cloud-based central control management module collects real-time location, historical trajectory, real-time speed, and identity information of all positioning terminals within the entire mining area, as well as obstacle location and size information uploaded by the unmanned vehicle perception module, including road test poles, traffic lights, buildings, and falling rocks. The system constructs electronic fences for some long-standing fixed buildings and obstacles uploaded by unmanned vehicles within the mining area. By acquiring the current location of the positioning terminals in real time, the system monitors the working status of vehicles and personnel within the mining area to ensure operational safety. The electronic fence uses the identity information uploaded by the positioning terminals to set different entry areas for different vehicles and personnel. If a vehicle or personnel enters the area inside the fence, the system will control the positioning terminals to issue an alarm and record the information in the log for safety monitoring personnel to review. If the system detects extreme weather disasters, it will issue an alarm to all positioning terminals to remind workers to take shelter. Based on the received location information and environmental data, the system determines the vehicle's current action plan. When the personnel positioning terminal receives an emergency alarm, it analyzes the alarm content and related environmental data, and uses a neural network model to determine whether to switch to safe mode. If it needs to switch to safe mode, the system automatically switches to safe mode and guides the user to the nearest safe area based on the safety map. When a dangerous situation occurs during driving, the central control server interacts directly with the autonomous driving system of the unmanned vehicle. The server quickly obtains the current location and status of the unmanned vehicle, calculates a safe path based on the prediction model and real-time data of the mining area, and sends the safe path to the autonomous driving system of the unmanned vehicle, which then stops the vehicle from its current working path and changes it to the safe path.

5. A system based on the multi-positioning system-based vehicle positioning and personnel positioning protection method in mining areas according to any one of claims 1-4, characterized in that: This includes a multi-terminal positioning module, a cloud-based central control and management module, an autonomous driving module, and a safety protection alarm module; The multi-terminal positioning module equips all vehicles and pedestrians in the mining area with positioning terminals, providing accurate positioning information for the cloud-based central control management module; The cloud-based central control management module receives location information published by all positioning terminals, organizes and summarizes it, and statistically analyzes the current location, historical trajectory, and current speed information of all positioning terminals, providing it to the autonomous driving module and the safety protection alarm module. The autonomous driving module uses the perception information from multiple sensors on the unmanned vehicle and the multi-positioning terminal information provided by the cloud-based central control management module to construct an obstacle grid map, providing scene semantic information for the unmanned vehicle's path planning, and uploading all obstacles to the cloud-based central control management module to update the positioning information in the current area; The safety protection alarm module reads real-time positioning terminal information from the cloud-based central control management module and obstacle information uploaded by unmanned vehicles, monitors the real-time location information of all vehicles and pedestrians operating in the entire mining area, and achieves safety protection in conjunction with electronic fences and safety monitoring auxiliary means, and issues alarms for any emergencies.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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