Road sign-based unmanned vehicle repositioning device and system in underground mine environment

Abstract

The application relates to the underground mine unmanned vehicle positioning technical field, in particular to an underground mine environment-based unmanned vehicle repositioning device and system based on road sign recognition, which comprises a bottom plate, the upper surface of the bottom plate is symmetrically provided with transport tracks, the upper surfaces of the two transport tracks are provided with sign position acquisition assemblies in a rolling mode, the sign position acquisition assembly comprises a plurality of roller wheels rolling installed on the upper surfaces of the transport tracks and L-shaped mounting plates fixedly sleeved on the outer surfaces of the roller wheels, the upper ends of the plurality of L-shaped mounting plates are fixedly connected with a machine seat, the upper surface of the machine seat is provided with an image processing module, and the surface of one end of the image processing module is provided with a controller, which is beneficial to the underground mine environment-based unmanned vehicle repositioning based on road sign recognition, can efficiently and accurately identify various traffic signs on the road, including text type traffic signs and other graphic signs, and can identify the approximate position of the vehicle in the mine.

Description

Technical Field

[0001] This invention relates to the field of positioning technology for unmanned vehicles in underground mines, specifically to a repositioning device and system for unmanned vehicles in underground mining environments based on road signs. Background Technology

[0002] Unmanned vehicles are not only an important component of coal mine auxiliary transportation vehicle systems, but also an important means to assist mining equipment in normal production, reduce maintenance time and man-hours, and improve production efficiency. In the underground mining environment, the point cloud positioning of unmanned vehicles can become unstable in the longitudinal position due to environmental degradation. Under such circumstances, positioning loss is very likely to occur. How to automatically reposition after positioning failure is an important condition for realizing autonomous driving and unmanned operation.

[0003] Currently, existing technologies primarily address the tunnel-like environments in underground mines, where the underground environment is highly similar. Positioning in underground environments often employs a combination of odometer readings and point cloud matching. However, since the positioning system is installed on autonomous vehicles, issues such as tire slippage, inaccurate vehicle speed, and radar mismatches can lead to positioning failures. To address the repositioning problem under these failure conditions, common methods include:

[0004] (1) When the vehicle positioning fails, the vehicle position is read from the underground UWB and sent to the vehicle for repositioning.

[0005] (2) The driverless vehicle stops and waits for maintenance personnel to get on the vehicle for inspection. Then, the vehicle location is manually entered to realize the repositioning function.

[0006] However, this method has the following shortcomings: UWB is often affected by environmental occlusion, making it unstable and prone to drifting, resulting in unstable repositioning and repositioning failure; personnel repositioning leads to a decrease in automation, maintenance difficulties, and a significant increase in the takeover rate of unmanned vehicles. Therefore, there is an urgent need for a road sign-based repositioning device and system for unmanned vehicles in underground mining environments to solve the above-mentioned problems. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a repositioning device and system for unmanned vehicles in underground mining environments based on road sign recognition, solving the following problems:

[0008] The existing point cloud positioning of unmanned vehicles in the underground mining environment can become unstable in the longitudinal position when the environment degrades. Under such circumstances, positioning loss is very likely to occur. The problem of how to automatically reposition after positioning failure is also a concern. Vehicle tire slippage, inaccurate vehicle speed, and radar mismatch can all lead to positioning failure, resulting in the problem of unmanned vehicles being out of control underground.

[0009] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0010] The technical solution adopted by this invention to solve its technical problem is: a repositioning device and system for unmanned vehicles in underground mining environments based on road signs, including a base plate. Transport tracks are symmetrically mounted on the upper surface of the base plate. Sign position acquisition components are rotatably mounted on the upper surfaces of the two transport tracks. Each sign position acquisition component includes multiple rollers rotatably mounted on the upper surface of the transport tracks and L-shaped mounting plates fixedly fitted onto the outer surfaces of the rollers. A base is fixedly connected to the upper ends of the multiple L-shaped mounting plates. An image processing module is mounted on the upper surface of the base. A controller is mounted on one end of the image processing module. A sign position acquisition component and a signal transmission component are respectively mounted on the upper end of the image processing module. Parking housings are fixedly connected to both ends of the base. An image pre-acquisition component is mounted inside the parking housing. An electrical connection mechanism is mounted on the upper end of the parking housing. A linkage mechanism is mounted inside the parking housing. A reset mechanism is interposed inside the parking housing. An auxiliary mechanism is fixedly connected to one end of the parking housing.

[0011] Preferably, the image pre-acquisition component includes a linkage plate that is obliquely rotatably installed inside the parking housing, and symmetrically opened limiting grooves on the inner wall of the parking housing, with an inertial roller rotatably arranged between the two limiting grooves.

[0012] Preferably, the electric linkage mechanism includes an electric push rod fixedly inserted and installed on the upper wall of the parking vehicle housing, and a limiting plate fixedly connected to the protruding end of the electric push rod. The limiting plate corresponds to and matches the inertial roller, and a pressure plate is obliquely provided at one end of the limiting plate.

[0013] Preferably, the linkage mechanism includes two fixed rods fixedly installed on the bottom wall of the parking housing, and a first sliding sleeve and a second sliding sleeve respectively slidably fitted on the outer surface of the fixed rods. A first return spring that cooperates with the second sliding sleeve is movably fitted on the outer surface of the fixed rods. A first push plate is rotatably connected to the outer surface of the first sliding sleeve. The first push plate is rotatably connected to the linkage plate. A deceleration positioning component is connected to the outer surfaces of the two second sliding sleeves.

[0014] Preferably, the deceleration positioning assembly includes a stop bar fixedly connected to the outer surface of the second sliding sleeve, and a V-shaped plate fixedly connected to one end of the stop bar. A brake caliper is fixedly connected to one end of the V-shaped plate, and a friction plate is provided on the inner side of the brake caliper.

[0015] Preferably, the reset mechanism includes multiple telescopic rods that are inserted through the bottom wall of the parking housing, and a second reset spring that is movably fitted on the outer surface of the telescopic rods located inside the parking housing. The upper ends of the multiple telescopic rods are rotatably connected to the linkage plate.

[0016] Preferably, a brake disc is fixedly mounted on the outer surface of the roller, and the brake caliper corresponds to the brake disc.

[0017] Preferably, the auxiliary mechanism includes an auxiliary groove fixedly connected to one end of the parking housing, and two levers symmetrically arranged inside the auxiliary groove. The outer surfaces of the levers are symmetrically fitted with third sliding sleeves, and the outer surfaces of the two third sliding sleeves are rotatably connected with first short rods. A second sleeve is movably inserted into one end of the auxiliary groove. The second sleeve is rotatably connected to the first short rod. One end of the second sleeve passes through the parking housing and extends to the inner side where the first sleeve is rotatably installed. One end of the first sleeve is fixedly connected to a movable plate. The outer surfaces of the other two third sliding sleeves are rotatably connected with second short rods.

[0018] Preferably, one end of the auxiliary groove is provided with a sliding groove, and two moving blocks are slidably arranged inside the sliding groove. The second short rod is rotatably connected to the moving blocks respectively. One end of the two moving blocks is fixedly connected to a first connecting rod and a second connecting rod respectively. The bottom ends of the first connecting rod and the second connecting rod are both fixedly connected to an L-shaped reducer. The L-shaped reducer is used in conjunction with the transport track.

[0019] The beneficial effects of this invention are:

[0020] (1) The unmanned vehicle repositioning device and system based on road sign recognition in the underground mining environment described in this invention, when the unmanned vehicle experiences main control board failure, network interruption, or other situations during use, causing the unmanned vehicle to become uncontrollable underground, the rollers begin to roll rapidly on the transport track and start to travel at excessive speed. On horizontal or uphill tracks, the inertial rollers move in the opposite direction of inertia, causing them to roll within the limiting groove. During the rolling process, the inertial rollers generate a downward force after rolling onto the linkage plate, thereby driving the linkage plate to rotate and descend. When the linkage plate rotates and descends, it drives the first push plate to move, and the second push plate... After the first sliding plate moves, it pushes the first sliding sleeve to slide on the fixed rod. When the first sliding sleeve slides, it pushes the second sliding sleeve to move towards one end of the roller on the fixed rod. When the second sliding sleeve slides, it compresses the first return spring. When the second sliding sleeve slides, it drives the stop lever to move. After the stop lever moves, it drives the V-shaped plate to move. After the V-shaped plate moves, it drives the brake caliper to move closer to the roller until the friction pad inside the brake caliper is completely in contact with the brake disc, thereby reducing the speed of the roller. This is beneficial for slowing down when there is a signal obstruction. The system can efficiently and accurately identify various traffic signs on the road, including text traffic signs and other graphic signs. Then, it determines the precise position of the vehicle through point cloud matching.

[0021] (2) The unmanned vehicle repositioning device and system based on road signs in the mining environment described in this invention, wherein the inertial roller rolls on the linkage plate while pushing the movable plate to move, the movable plate moves when it moves, and the second set of rods moves after the second set of rods moves, and the first short rod moves after the first short rod moves, and the two third sliding sleeves slide on the clamp rod after the first short rod moves, and the two third sliding sleeves slide when they slide, pushing the other two third sliding sleeves to slide, so that the second short rod moves and drives the L-shaped reducer to move in the same direction in the slide groove. When the L-shaped reducer slides, it drives the first connecting rod and the second connecting rod to move in the same direction. After the first connecting rod and the second connecting rod move in the same direction, the L-shaped reducer moves. After the L-shaped reducer moves, it comes into contact with the surface of the transport track, increasing the auxiliary friction force, so that the unmanned vehicle can re-find the positioning mark while moving, avoiding the difficulty of finding the positioning mark when it fails. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the external structure of the driverless vehicle of the present invention;

[0025] Figure 3 This is a schematic diagram of the multi-mechanism structure of the present invention;

[0026] Figure 4 This is a schematic diagram of the multi-mechanism structure of the present invention from another perspective;

[0027] Figure 5 This is a schematic cross-sectional view of the parking housing structure of the present invention;

[0028] Figure 6 This is a schematic diagram of the auxiliary mechanism structure of the present invention;

[0029] Figure 7 For the present invention Figure 5 Enlarged structural diagram at point A in the middle.

[0030] In the diagram: 1. Transport track; 2. Roller; 3. Base plate; 4. L-shaped reducer; 5. First connecting rod; 551. Sign position acquisition component; 552. Image pre-acquisition component; 553. Electrical connection mechanism; 554. Linkage mechanism; 555. Deceleration and positioning component; 556. Reset mechanism; 557. Auxiliary mechanism; 6. Auxiliary groove; 7. Parking housing; 8. Electric push rod; 9. Controller; 10. Image processing module; 11. Base; 12. Second connecting rod; 13. Brake disc; 14. Brake caliper; 15. V-shaped plate; 16. L-shaped mounting plate; 17. 18. First return spring; 19. First push plate; 20. Fixed rod; 21. Stop bar; 22. Friction plate; 23. Limiting pad; 24. Inertia roller; 25. Limiting groove; 26. Movable plate; 27. Linkage plate; 28. Second return spring; 29. ​​Telescopic rod; 30. First sliding sleeve; 31. Second sliding sleeve; 32. First sleeve rod; 33. Second sleeve rod; 34. First short rod; 35. Locking rod; 36. Third sliding sleeve; 37. Second short rod; 38. Slide groove; 39. Moving block; 40. Pressure plate; 41. Sign position acquisition component; 42. Signal transmission component. Detailed Implementation

[0031] This invention provides a road sign-based repositioning device and system for unmanned vehicles in underground mining environments, which solves the following problems: existing point cloud positioning for unmanned vehicles in underground mining environments can lead to instability in longitudinal position under environmental degradation, which can easily result in positioning loss. The invention also addresses the problem of how to automatically reposition after positioning failure, as vehicle tire slippage, inaccurate vehicle speed, and radar mismatch can all lead to positioning failure, resulting in unmanned vehicles becoming uncontrollable underground.

[0032] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0033] like Figures 1-7As shown, the present invention discloses a repositioning device and system for unmanned vehicles in a mining environment based on road signs. The system includes a base plate 3, on which transport tracks 1 are symmetrically mounted. Sign position acquisition components 551 are rotatably mounted on the upper surfaces of the two transport tracks 1. Each sign position acquisition component 551 includes multiple rollers 2 rotatably mounted on the upper surfaces of the transport tracks 1, and L-shaped mounting plates 16 fixedly mounted on the outer surfaces of the rollers 2. The upper ends of the multiple L-shaped mounting plates 16 are jointly fixedly connected to a base 11. An image processing module 10 is mounted on the upper surface of the base 11. Parking housings 7 are fixedly connected to both ends of the base 11. An image pre-acquisition component 552 is mounted inside the parking housing 7. The image pre-acquisition component 552 includes a linkage plate 26 obliquely rotatably mounted inside the parking housing 7. A limiting groove 24 is symmetrically opened on the inner wall of the parking housing 7. An inertial roller 23 is rotatably arranged between the two limiting grooves 24. A controller 9 is set on one end surface of the image processing module 10. When the unmanned vehicle experiences a main control board failure or network interruption during use, causing the unmanned vehicle to become uncontrollable underground, the roller 2 rolls rapidly on the transport track 1 and begins to travel at excessive speed. On horizontal or uphill tracks, the inertial roller 23 moves in the opposite direction of inertia, causing the inertial roller 23 to roll within the limiting groove 24. This helps to decelerate when there is a signal obstruction, enabling the system to efficiently and accurately identify various traffic signs on the road, including text traffic signs and other graphic signs, and then determine the precise position of the vehicle through point cloud matching.

[0034] Specifically, an electric linkage mechanism 553 is installed on the upper end of the parking housing 7. The electric linkage mechanism 553 includes an electric push rod 8 fixedly inserted and installed on the upper wall of the parking housing 7, and a limiting plate 22 fixedly connected to the protruding end of the electric push rod 8. The limiting plate 22 corresponds to and matches the inertia roller 23. A pressure plate 39 is obliquely provided at one end of the limiting plate 22. When going downhill, the speed sensor transmits a signal to the controller 9. The controller 9 automatically turns on the switch of the electric push rod 8. After the electric push rod 8 rotates, it drives the limiting plate 22 to descend. After the limiting plate 22 descends, it drives the pressure plate 39 to move downward. A linkage mechanism 554 is provided on the inner side of the parking housing 7. The linkage mechanism 554 includes components fixedly installed on the parking housing 7. The bottom wall of the shell 7 has two fixed rods 19, and a first sliding sleeve 29 and a second sliding sleeve 30 respectively slidably fitted on the outer surface of the fixed rods 19. A first return spring 17 that cooperates with the second sliding sleeve 30 is movably fitted on the outer surface of the fixed rods 19. A first push plate 18 is rotatably connected to the outer surface of the first sliding sleeve 29. The first push plate 18 is rotatably connected to the linkage plate 26. The outer surfaces of the two second sliding sleeves 30 are connected to a deceleration positioning assembly 555. The deceleration positioning assembly 555 includes a stop rod 20 fixedly connected to the outer surface of the second sliding sleeve 30, and a V-shaped plate 15 fixedly connected to one end of the stop rod 20. A brake caliper 14 is fixedly connected to one end of the V-shaped plate 15. Friction pads 21 are provided on the inner side of the roller 2. A brake disc 13 is fixedly mounted on the outer surface of the roller 2. A brake caliper 14 corresponds to the brake disc 13. A reset mechanism 556 is inserted into the inner side of the parking housing 7. The reset mechanism 556 includes multiple telescopic rods 28 inserted into the bottom wall of the parking housing 7, and a second reset spring 27 movably mounted on the outer surface of the telescopic rods 28 located on the inner side of the parking housing 7. The upper ends of the multiple telescopic rods 28 are rotatably connected to the linkage plate 26. During the rolling process of the inertial roller 23, after rolling onto the linkage plate 26, a downward force is generated, thereby driving the linkage plate 26 to rotate and descend. When the linkage plate 26 rotates and descends, it drives the first push plate 18 to move. After the moving plate 18 moves, it pushes the first sliding sleeve 29 to slide on the fixed rod 19. When the first sliding sleeve 29 slides, it pushes the second sliding sleeve 30 to move towards one end of the roller 2 on the fixed rod 19. When the second sliding sleeve 30 slides, it compresses the first return spring 17. When the second sliding sleeve 30 slides, it drives the stop rod 20 to move. After the stop rod 20 moves, it drives the V-shaped plate 15 to move. After the V-shaped plate 15 moves, it drives the brake caliper 14 to move closer to the roller 2 until the friction plate 21 in the brake caliper 14 is completely in contact with the brake disc 13, thereby reducing the speed of the roller 2 and stopping the driverless vehicle. After stopping, the inertia roller 23 rolls back to its original position in the limit groove 24, which is conducive to timely deceleration and avoids inaccurate positioning due to excessive speed.

[0035] Specifically, an auxiliary mechanism 557 is fixedly connected to one end of the parking housing 7. The auxiliary mechanism 557 includes an auxiliary groove 6 fixedly connected to one end of the parking housing 7, and two locking rods 33 symmetrically arranged inside the auxiliary groove 6. The outer surfaces of the locking rods 33 are symmetrically fitted with third sliding sleeves 35. The outer surfaces of the two third sliding sleeves 35 are rotatably connected to first short rods 34. A second sleeve rod 32 is movably inserted into one end of the auxiliary groove 6. The second sleeve rod 32 is rotatably connected to the first short rod 34. One end of the second sleeve rod 32 passes through the parking housing 7 and extends to the inner side where a first sleeve rod 31 is rotatably installed. One end of the first sleeve rod 31 is fixedly connected to a movable plate 25. The outer surfaces of the other two third sliding sleeves 35 are rotatably connected to second short rods 36. A sliding groove 37 is opened at one end of the auxiliary groove 6. Two moving blocks 38 are slidably arranged inside the sliding groove 37. The second short rods 36 are rotatably connected to the moving blocks 38 respectively. One end of the two moving blocks 38 is fixedly connected to a first connecting rod 5 and a second connecting rod 1 respectively. 2. Both the bottom ends of the first link 5 and the second link 12 are fixedly connected to L-shaped reducers 4. The L-shaped reducers 4 are used in conjunction with the transport track 1. While the inertial roller 23 rolls on the linkage plate 26, it can also push the movable plate 25 to move. When the movable plate 25 moves, it drives the second sleeve rod 32 to move. After the second sleeve rod 32 moves, it pushes the first short rod 34 to move. After the first short rod 34 moves, it drives two of the third sliding sleeves 35 to slide on the locking rod 33. When two of the third sliding sleeves 35 slide, they push the other two third sliding sleeves 35 to slide, so that the second short rod 36 moves and drives the L-shaped reducer 4 to move in the same direction in the slide groove 37. When the L-shaped reducer 4 slides, it drives the first link 5 and the second link 12 to move in the same direction. After the first link 5 and the second link 12 move in the same direction, they drive the L-shaped reducer 4 to move. After the L-shaped reducer 4 moves, it comes into contact with the surface of the transport track 1, increasing the auxiliary friction force, so that the unmanned vehicle can find the positioning mark again during movement, avoiding the difficulty of finding the positioning mark if the positioning fails.

[0036] When using this invention, in the case of unmanned vehicles operating in mining environments where the point cloud positioning becomes unstable due to environmental degradation, positioning loss is highly likely. If the vehicle becomes lost and out of control, the roller 2 will rapidly roll on the transport track 1 and begin to travel at excessive speed. On horizontal or uphill tracks, the inertial roller 23 moves in the opposite direction of inertia, causing it to roll within the limiting groove 24. During this rolling process, the inertial roller 23 generates a downward force upon reaching the linkage plate 26, causing the linkage plate 26 to rotate and descend. As the linkage plate 26 rotates and descends, it drives the first push plate 18 to move, which in turn pushes the first sliding sleeve 29 onto the fixed rod 19. When the first sliding sleeve 29 slides, it pushes the second sliding sleeve 30 to move towards one end of the roller 2 on the fixed rod 19. When the second sliding sleeve 30 slides, it compresses the first return spring 17. When the second sliding sleeve 30 slides, it drives the stop rod 20 to move. After the stop rod 20 moves, it drives the V-shaped plate 15 to move. After the V-shaped plate 15 moves, it drives the brake caliper 14 to move closer to the roller 2 until the friction plate 21 in the brake caliper 14 completely contacts the brake disc 13, thereby reducing the speed of the roller 2. The sign position acquisition component 40 acquires the sign information and transmits it through the signal transmission component 41. After it stops completely, the inertial roller 23 rolls back to its original position in the limit groove 24. Then, while the inertial roller 23 rolls on the linkage plate 26, it can also push the movable plate 25 to move. During operation, the second set of rods 32 moves, which in turn pushes the first short rod 34. The movement of the first short rod 34 then causes two of the third sliding sleeves 35 to slide on the locking rod 33. As these two third sliding sleeves slide, they push the other two third sliding sleeves 35 to slide as well. This causes the second short rod 36 to move, which in turn moves the L-shaped reducer 4 in the same direction within the slide groove 37. As the L-shaped reducer 4 slides, it drives the first connecting rod 5 and the second connecting rod 12 to move in the same direction. After the first connecting rod 5 and the second connecting rod 12 move in the same direction, the L-shaped reducer 4 moves. The L-shaped reducer 4 then comes into contact with the surface of the transport track 1, increasing auxiliary friction. This allows the system to decelerate when a signal obstructs traffic, enabling it to efficiently and accurately identify various traffic obstacles on the road. Traffic signs, including text-based traffic signs and other graphic signs, are used to determine the vehicle's precise location through point cloud matching, which is then output to the autonomous driving system. However, on downhill sections, the speed sensor transmits a signal to controller 9. Controller 9 automatically activates the switch of electric push rod 8. After electric push rod 8 rotates, it lowers the limit plate 22, which in turn moves the pressure plate 39 downwards. The pressure plate 39 then presses down on the linkage plate 26, continuing the same operation to slow down or park the autonomous vehicle, improving signal acquisition quality and ensuring vehicle positioning. Additionally, as the pressure plate 39 descends, it moves on the linkage plate 26, causing the movable plate 25 to move away from the roller 2, continuing the same operation. Afterwards, controller 9 controls electric push rod 8 to automatically retract.After the linkage plate 26 is depressurized, the first return spring 17 and the second return spring 27 reset, moving in the opposite direction to reset the linkage plate 26. This causes the brake caliper 14 to separate from the brake disc 13, allowing the autonomous vehicle to re-locate the positioning marker while moving, thus avoiding difficulties in locating the marker if it fails.

[0037] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A repositioning device for unmanned vehicles in underground mining environments based on road sign recognition, characterized in that: Includes a base plate (3), on the upper surface of which transport rails (1) are symmetrically mounted. A sign position acquisition component (551) is rotatably mounted on the upper surface of the two transport rails (1). The sign position acquisition component (551) includes multiple rollers (2) rotatably mounted on the upper surface of the transport rails (1), and an L-shaped mounting plate (16) fixedly mounted on the outer surface of the rollers (2). The upper ends of the multiple L-shaped mounting plates (16) are jointly fixedly connected to a base (11). An image processing module (10) is mounted on the upper surface of the base (11), and one end of the image processing module (10) is... The system includes a controller (9), an image processing module (10) with a sign position acquisition component (40) and a signal transmission component (41) installed on its upper end, a parking housing (7) fixedly connected to both ends of the base (11), an image pre-acquisition component (552) provided on the inner side of the parking housing (7), an electric connection mechanism (553) installed on the upper end of the parking housing (7), a linkage mechanism (554) provided on the inner side of the parking housing (7), a reset mechanism (556) interlaced on the inner side of the parking housing (7), and an auxiliary mechanism (557) fixedly connected to one end of the parking housing (7). The image pre-acquisition component (552) includes a linkage plate (26) that is obliquely rotatably installed inside the parking housing (7) and a limiting groove (24) symmetrically opened on the inner wall of the parking housing (7). An inertial roller (23) is rotatably arranged between the two limiting grooves (24). The electric linkage mechanism (553) includes an electric push rod (8) fixedly inserted and installed on the upper wall of the parking housing (7), and a limiting plate (22) fixedly connected to the protruding end of the electric push rod (8). The limiting plate (22) corresponds to and matches the inertial roller (23). One end of the limiting plate (22) is provided with a pressure plate (39) at an angle. The linkage mechanism (554) includes two fixed rods (19) fixedly installed on the bottom wall of the parking housing (7), and a first sliding sleeve (29) and a second sliding sleeve (30) respectively slidably fitted on the outer surface of the fixed rods (19). A first return spring (17) that cooperates with the second sliding sleeve (30) is movably fitted on the outer surface of the fixed rods (19). A first push plate (18) is rotatably connected to the outer surface of the first sliding sleeve (29). The first push plate (18) is rotatably connected to the linkage plate (26). The outer surfaces of the two second sliding sleeves (30) are connected together to a deceleration positioning component (555). The deceleration positioning assembly (555) includes a stop bar (20) fixedly connected to the outer surface of the second sliding sleeve (30) and a V-shaped plate (15) fixedly connected to one end of the stop bar (20). A brake caliper (14) is fixedly connected to one end of the V-shaped plate (15), and a friction plate (21) is provided on the inner side of the brake caliper (14). The reset mechanism (556) includes multiple telescopic rods (28) that are inserted through the bottom wall of the parking housing (7) and a second reset spring (27) that is movably fitted on the outer surface of the telescopic rods (28) located inside the parking housing (7). The upper ends of the multiple telescopic rods (28) are rotatably connected to the linkage plate (26). The outer surface of the roller (2) is fixedly fitted with a brake disc (13), and the brake caliper (14) corresponds to the brake disc (13); The auxiliary mechanism (557) includes an auxiliary groove (6) fixedly connected to one end of the parking housing (7) and two locking rods (33) symmetrically arranged inside the auxiliary groove (6). The outer surfaces of the locking rods (33) are symmetrically fitted with third sliding sleeves (35). The outer surfaces of the two third sliding sleeves (35) are rotatably connected with first short rods (34). A second sleeve rod (32) is inserted and movably arranged at one end of the auxiliary groove (6). The second sleeve rod (32) is rotatably connected to the first short rod (34). One end of the second sleeve rod (32) passes through the parking housing (7) and extends to the inner side where a first sleeve rod (31) is rotatably installed. One end of the first sleeve rod (31) is fixedly connected with a movable plate (25). The outer surfaces of the other two third sliding sleeves (35) are rotatably connected with second short rods (36). One end of the auxiliary groove (6) is provided with a sliding groove (37). Two moving blocks (38) are slidably arranged on the inner side of the sliding groove (37). The second short rod (36) is rotatably connected to the moving blocks (38). One end of the two moving blocks (38) is fixedly connected to the first connecting rod (5) and the second connecting rod (12). The bottom ends of the first connecting rod (5) and the second connecting rod (12) are fixedly connected to the L-shaped reducer (4). The L-shaped reducer (4) is used in conjunction with the transport track (1).

2. The method of using a road sign-based repositioning device for unmanned vehicles in a mining environment as described in claim 1, characterized in that, The specific steps are as follows: In the case of environmental degradation, the unmanned point cloud positioning of the unmanned vehicle in the underground mining environment will be unstable in the longitudinal position. Under such circumstances, positioning loss is very likely to occur, vehicle signal loss and inaccurate positioning will occur. At this time, the roller (2) starts to move at high speed on the transport track (1). When on the horizontal track or the uphill track, the inertial roller (23) moves in the opposite direction of the inertial motion, so that the inertial roller (23) rolls in the limiting groove (24). During the rolling process, the inertial roller (23) generates a downward force after rolling onto the linkage plate (26), thereby driving the linkage plate (26) to rotate and descend. When the linkage plate (26) rotates and descends, it drives the first push plate (18) to move. After the first push plate (18) moves, The first sliding sleeve (29) is pushed to slide on the fixed rod (19). When the first sliding sleeve (29) slides, it pushes the second sliding sleeve (30) to move towards one end of the roller (2) on the fixed rod (19). When the second sliding sleeve (30) slides, it compresses the first return spring (17). When the second sliding sleeve (30) slides, it drives the stop rod (20) to move. After the stop rod (20) moves, it drives the V-shaped plate (15) to move. After the V-shaped plate (15) moves, it drives the brake caliper (14) to move closer to the roller (2) until the friction plate (21) in the brake caliper (14) completely contacts the brake disc (13), thereby reducing the speed of the roller (2) and stopping the driverless car. While the inertial roller (23) rolls on the linkage plate (26), it can also push the movable plate (25) to move further away. When the roller (2) moves, the second sleeve rod (32) moves when the movable plate (25) moves. After the second sleeve rod (32) moves, it pushes the first short rod (34) to move. After the first short rod (34) moves, it drives two of the third sliding sleeves (35) to slide on the clamp rod (33). When the two third sliding sleeves (35) slide, they push the other two third sliding sleeves (35) to slide, which drives the second short rod (36) to move. This, in turn, drives the first connecting rod (5) and the second connecting rod (12) to move in the same direction. After the first connecting rod (5) and the second connecting rod (12) move in the same direction, they drive the L-shaped reducer (4) to move. After the L-shaped reducer (4) moves, it comes into contact with the surface of the transport track (1), increasing the auxiliary friction. At this time, when the signal is blocked, it can decelerate. The system moves to efficiently and accurately identify various traffic signs on the road, and then determines the precise location of the vehicle through point cloud matching, outputting the information to the autonomous driving system. However, on downhill sections, the speed sensor transmits the signal to the controller (9), and the controller (9) automatically turns on the switch of the electric push rod (8). After the electric push rod (8) operates, it drives the limit plate (22) to descend. After the limit plate (22) descends, it drives the pressure plate (39) to move downward. After the pressure plate (39) descends, it presses down the linkage plate (26). Then, following the same operating principle, the autonomous vehicle is slowed down or parked, improving the signal acquisition quality and ensuring the vehicle's positioning. In addition, when the pressure plate (39) descends, it drives the movable plate (25) to move away from the roller (2). Then, following the same operating principle,Then, the controller (9) controls the electric push rod (8) to automatically retract. After the linkage plate (26) is no longer under pressure, the first return spring (17) and the second return spring (27) reset, and the linkage plate (26) resets in the opposite direction, causing the brake caliper (14) to separate from the brake disc (13).

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