Lifting unloading method, device and equipment and unmanned mine car

Abstract

The invention provides a lifting unloading method, device and equipment and an unmanned mine car, and relates to the technical field of mining trucks, the method is applied to a positioning system in the unmanned mine car, the unmanned mine car comprises the positioning system, a lifting system and a vehicle controller, the positioning system comprises an inertial measurement unit and real-time dynamic measurement equipment, and the real-time dynamic measurement equipment comprises an inertial measurement unit and a real-time dynamic measurement unit. The method comprises the following steps: determining the current position of the unmanned mine car by using an inertial measurement unit and real-time dynamic measurement equipment when a lifting system performs rightward lifting unloading operation; determining whether the unmanned mine car has a rollover risk based on the current position; when it is determined that the unmanned mine car has the rollover risk, a risk prompt is sent to a vehicle controller; the risk prompt is used for enabling the vehicle controller to determine a corresponding risk control measure, and the risk control measure is an instruction which is issued by the vehicle controller to the lifting system and is used for immediately stopping the rightward lifting unloading operation. The accuracy of mine car positioning in the lifting and unloading process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mining trucks, and in particular to a lifting and unloading method, device, equipment and an unmanned mining truck. Background Art

[0002] In recent years, my country has issued a number of policies, including the "Guiding Opinions on Accelerating the Development of Intelligent Coal Mines" and the "Opinions on Further Strengthening Mine Safety Production Work", which clearly put forward requirements such as "mechanized replacement of personnel, automated reduction of personnel" and "realization of intelligent continuous operation and unmanned transportation in open-pit coal mines by 2025". Unmanned driving technology in mines is becoming the focus of promoting the construction of intelligent mines.

[0003] According to statistics, major safety accidents in open-pit mines mostly occur in the transportation link, especially in unloading operations. Because unmanned driving technology involves multiple fields such as positioning, perception, wire-controlled chassis (steering, braking), vehicle networking, and intelligent scheduling, when unmanned mining vehicles are facing problems such as network fluctuations and sudden interruptions during driving, the vehicle's positioning information will be inaccurate.

[0004] Therefore, how to improve the accuracy of mine car positioning during the lifting and unloading process is a technical problem that urgently needs to be solved in the industry. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a lifting and unloading method, device, equipment and unmanned mine car, which improve the accuracy of mine car positioning during the lifting and unloading process.

[0006] In a first aspect, the present invention provides a lifting and unloading method, which is applied to a positioning system in an unmanned mine vehicle, wherein the unmanned mine vehicle comprises the positioning system, a lifting system and a vehicle controller, wherein the positioning system comprises an inertial measurement unit and a real-time dynamic measurement device, and the method comprises the following steps: When it is determined that the lifting system performs a right-hand lifting and unloading operation, the current position of the unmanned mine car is determined by using the inertial measurement unit and the real-time dynamic measurement device, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; Based on the current position of the unmanned mining vehicle, determining whether the unmanned mining vehicle has a rollover risk; When it is determined that the unmanned mining vehicle has a risk of rollover, a risk warning is sent to the vehicle controller; the risk warning is used for the vehicle controller to determine corresponding risk control measures, and the risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right lifting and unloading operation.

[0007] According to a lifting and unloading method provided by the present invention, the current position of the unmanned mining vehicle is determined by using the inertial measurement unit and the real-time dynamic measurement device, including: Using the built-in accelerometer of the inertial measurement unit, the acceleration of the unmanned mining vehicle is measured; The angular velocity of the unmanned mining vehicle is measured by using the built-in gyroscope of the inertial measurement; Using a magnetometer built into the inertial measurement unit, the magnetic field around the driverless mining vehicle is measured to determine the absolute direction of the driverless mining vehicle; Determining first position information of the unmanned mine car according to the acceleration of the unmanned mine car, the angular velocity of the unmanned mine car and the absolute direction of the unmanned mine car; Determine differential positioning data using the real-time dynamic measurement device; the real-time dynamic measurement device includes a base station and a mobile station, the base station is a fixed position, and the mobile station is determined based on the current position of the real-time dynamic measurement device; The current position of the unmanned mining vehicle is determined according to the first position information of the unmanned mining vehicle and the differential positioning data.

[0008] According to a lifting and unloading method provided by the present invention, the real-time dynamic measurement RTK device includes a main SIM card and a backup SIM card; before using the inertial measurement unit and the real-time dynamic measurement device to determine the current position of the unmanned mining vehicle, it also includes: When it is determined that the base station differential positioning service is successfully logged in, an original CPGGA message is sent to the base station; Determine whether the RTCM data returned by the base station is received; When it is determined that the RTCM data returned by the base station is not received, performing a network reconnection operation; When it is determined that the current number of retries of the network reconnection operation is greater than or equal to a preset number and the RTCM data transmitted back by the base station has not yet been received, switching the primary SIM card to the backup SIM card, and performing a network reconnection operation based on the backup SIM card; When it is determined that the RTCM data returned by the base station is received, the network connection between the mobile station and the base station and the differential positioning data are restored.

[0009] According to a lifting and unloading method provided by the present invention, the network reconnection operation comprises: Resending the original CPGGA message to the base station; The current number of retries is determined according to the number of times the original CPGGA message is resent to the base station.

[0010] In a second aspect, the present invention further provides an unmanned mining vehicle, the unmanned mining vehicle comprising a positioning system, a lifting system and a vehicle controller, the positioning system comprising an inertial measurement unit and a real-time dynamic measurement device, wherein:

[0011] The lifting system is used to perform a right-direction lifting and unloading operation when it is determined that the unmanned mining vehicle has traveled to a preset unloading position according to a planned right-direction lifting and unloading path; The positioning system is used to determine the current position of the unmanned mine car by using the inertial measurement unit and the real-time dynamic measurement device when it is determined that the lifting system performs a right-hand lifting and unloading operation, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; based on the current position of the unmanned mine car, determine whether the unmanned mine car has a rollover risk; and send a risk prompt to the vehicle controller when it is determined that the unmanned mine car has a rollover risk; The vehicle controller is used to determine corresponding risk control measures according to the risk prompt, and the risk control measures are to send an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation.

[0012] According to an unmanned mining vehicle provided by the present invention, the lifting system includes a hydraulic oil tank, a lifting oil pump, a lifting valve, a lifting cylinder and a lifting handle; the right-hand lifting and unloading operation includes: The hydraulic oil is provided through the hydraulic oil tank, and the hydraulic oil in the hydraulic oil tank is the power source of the lifting system; Utilizing the lifting oil pump to extract the hydraulic oil from the hydraulic oil tank and provide pressure oil; Using the lifting handle, sending a command to the lifting valve to lift the bucket; Using the lifting valve, according to the instruction to lift the bucket, the hydraulic oil is controlled to flow to the lifting cylinder; The lifting cylinder receives the hydraulic oil and lifts the truck bucket by extending and retracting the piston.

[0013] In a third aspect, the present invention further provides a lifting and unloading device, which is applied to a positioning system in an unmanned mining vehicle, wherein the unmanned mining vehicle comprises the positioning system, a lifting system and a vehicle controller, wherein the positioning system comprises an inertial measurement unit and a real-time dynamic measurement device, and the device comprises the following modules: A positioning module, for determining the current position of the unmanned mine car by using the inertial measurement unit and the real-time dynamic measurement device when it is determined that the lifting system performs a right lifting and unloading operation, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; A determination module is used to determine whether the unmanned mine car has a rollover risk based on the current position of the unmanned mine car; when it is determined that the unmanned mine car has a rollover risk, a risk prompt is sent to the vehicle controller; the risk prompt is used for the vehicle controller to determine the corresponding risk control measures, and the risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation.

[0014] In a fourth aspect, the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the lifting and unloading method as described above is implemented.

[0015] In a fifth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described lifting and unloading methods.

[0016] In a sixth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described lifting and unloading methods.

[0017] The present invention provides a lifting and unloading method, device, equipment and unmanned mine car. The method is applied to a positioning system in an unmanned mine car. The unmanned mine car includes a positioning system, a lifting system and a vehicle controller. The positioning system includes an inertial measurement unit and a real-time dynamic measurement device. When it is determined that the lifting system performs a right-hand lifting and unloading operation, the inertial measurement unit and the real-time dynamic measurement device are used to determine the current position of the unmanned mine car. The current position of the unmanned mine car includes the pitch angle information of the unmanned mine car. Then, based on the current position of the unmanned mine car, it is determined whether the unmanned mine car has a rollover risk. Furthermore, when it is determined that the unmanned mine car has a rollover risk, a risk prompt is sent to the vehicle controller, wherein the risk prompt is used for the vehicle controller to determine a corresponding risk control measure. The risk control measure is that the vehicle controller sends an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation.

[0018] The positioning system in the present invention includes an inertial measurement unit and a real-time dynamic measurement device. During the right-hand lifting operation of the unmanned mine car, the inertial measurement unit and the real-time dynamic measurement device are used to determine the current position of the unmanned mine car. Then, based on the current position of the unmanned mine car, it is determined whether the unmanned mine car has a risk of rollover. When it is determined that the unmanned mine car has a risk of rollover, a risk warning is sent to the vehicle controller. The current position of the unmanned mine car is determined by using an inertial measurement unit and a real-time dynamic measurement device together in the present invention, which can effectively ensure that when the network fluctuates or the network is disconnected for a short time, the real-time dynamic measurement device can ensure that the network is restored and the differential data is restored immediately, thereby improving the accuracy of the mine car positioning during the lifting and unloading process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is one of the flow diagrams of the lifting and unloading method provided by the present invention.

[0021] Figure 2 This is one of the structural schematic diagrams of the unmanned mining vehicle provided by the present invention.

[0022] Figure 3 It is a schematic diagram of the backward lifting and unloading operation method in the prior art.

[0023] Figure 4 A schematic diagram of the unloading operation mode of the unmanned mining vehicle with right-side lifting and unloading provided by the present invention.

[0024] Figure 5 It is a schematic diagram of the principle of the combined navigation provided by the present invention.

[0025] Figure 6 This is the second schematic flow diagram of the lifting and unloading method provided by the present invention.

[0026] Figure 7 It is a structural schematic diagram of the unmanned mining car provided by the present invention.

[0027] Figure 8 It is a schematic diagram of the lifting cylinder provided by the present invention being installed on the left side and flipped to the right side.

[0028] Fig. 9 It is a hydraulic principle diagram of the lateral lifting of double lifting cylinders provided by the present invention.

[0029] Fig.10 It is a structural schematic diagram of the lifting and unloading device provided by the present invention.

[0030] Fig.11 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally a class, and the number of objects is not limited. For example, the first node can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally represents that the front and back associated objects are in an "or" relationship.

[0033] Combine the following Figure 1-Figure 11 The invention describes a lifting and unloading method, a device, a equipment and an unmanned mining vehicle.

[0034] Figure 1 It is one of the flow diagrams of the lifting and unloading method provided by the present invention, which is applied to the positioning system in the unmanned mine car. The unmanned mine car includes a positioning system, a lifting system and a vehicle controller. The positioning system includes an inertial measurement unit and a real-time dynamic measurement device, such as Figure 1 As shown, the method includes the following: Step 101: When it is determined that the lifting system performs a right-hand lifting and unloading operation, the current position of the unmanned mine car is determined by using an inertial measurement unit and a real-time dynamic measurement device, and the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car. Specifically, it should be noted that the execution subject of this embodiment is the positioning system in the unmanned mining vehicle. Figure 2 It is one of the structural schematic diagrams of the unmanned mining car provided by the present invention, such as Figure 2As shown in the figure, the unmanned mining car includes a positioning system, a lifting system and a vehicle controller. The positioning system includes an inertial measurement unit (IMU) and a real-time kinematic (RTK) device. The unmanned mining car also includes a perception system, a decision control system, a high-precision map module, V2X (Vehicle to Everything), etc. V2X, that is, vehicle-to-external information exchange technology, is a key technology for future intelligent transportation systems. It allows vehicles to exchange information with vehicles (V2V, Vehicle to Vehicle), infrastructure (V2I, Vehicle to Infrastructure), pedestrians (V2P, Vehicle to Pedestrian g), networks (V2N, Vehicle to Network), etc., thereby improving driving safety, reducing congestion, and improving traffic efficiency. In view of the harsh environment in the mining area, such as bumpy roads and vehicle vibrations, which can easily cause abnormal conventional inertial navigation positioning signals, a single differential GPS / IMU positioning cannot meet the requirements of unmanned mining vehicle positioning. Affected by the satellite search effect and wireless network signals in the mining area, real-time dynamic differential RTK cannot effectively guarantee the real-time and high-precision provision of vehicle position and heading angle information. For this scenario, an IMU+RTK combined navigation and positioning system was developed. On the one hand, combined navigation is used to improve the satellite search quality and optimize the tight coupling algorithm. On the other hand, an RTK program is developed to effectively ensure that when the network fluctuates or is disconnected for a short time, the RTK program can ensure that the network is restored immediately after the network is restored, ensuring that the differential positioning data is restored at the same time as the network is restored, and ensuring the high reliability of the positioning function.

[0035] The unmanned mining car in the present invention is an unmanned mining car that lifts and unloads on the right side. Figure 3 It is a schematic diagram of the backward lifting and unloading operation method in the prior art, such as Figure 3 As shown in the figure, in the rearward lifting and unloading mode, parking is mostly done in a "U" or "human" shape to reverse the direction, and the parking track is long, resulting in ① a large area requirement for the dumping site, especially in the initial stage of building a new dumping flat plate and starting the ramp, the dumping site is too deep, and the parking distance is insufficient; ② the parking time is long and the transportation efficiency is low. ③ The long parking route leads to increased fuel consumption and high transportation costs. In addition, when the vehicle is operating in the rearward lifting and unloading mode, in order to ensure that the earth is unloaded to the slope outside the retaining wall, the rear wheels of the vehicle need to be as close as possible to the retaining wall without colliding with it, which requires high parking accuracy. Whether it is manual driving or unmanned reverse driving, it is easy to have deviations, resulting in ① the vehicle is too far away from the retaining wall, the earth is unloaded on the inside of the retaining wall, and the workload of the loader or bulldozer is increased; ② the reverse collision with the retaining wall, or even the vehicle rushes out of the retaining wall and slides down the slope, causing personal and property losses.

[0036] Figure 4 The schematic diagram of the unloading operation mode of the unmanned mine car with right-side lifting and unloading provided by the present invention. The unmanned mine car with right-side lifting and unloading and the unloading method of the present invention solve the problem of high parking accuracy and difficulty in dump unloading, effectively avoid the problem of backing up and hitting the retaining wall, shorten the parking track, and improve the parking efficiency.

[0037] The positioning system in this embodiment includes an inertial measurement unit and a real-time dynamic measurement device. When it is determined that the lifting system is performing a right-hand lifting and unloading operation, the inertial measurement unit and the real-time dynamic measurement device are used to determine the current position of the unmanned mine car. The current position of the unmanned mine car includes the unmanned mine car's own pitch angle information.

[0038] Step 102: based on the current position of the unmanned mining car, determine whether the unmanned mining car has a rollover risk; Specifically, after obtaining the real-time positioning information of the vehicle, since the current position of the unmanned mine car includes the unmanned mine car's own pitch angle information, it is possible to further determine whether the unmanned mine car has a rollover risk based on the current position of the unmanned mine car. For example, when the unmanned mine car's own pitch angle information exceeds a preset pitch angle threshold, it is judged that the unmanned mine car has a rollover risk.

[0039] Step 103: When it is determined that the unmanned mining vehicle has a rollover risk, a risk warning is sent to the vehicle controller; the risk warning is used for the vehicle controller to determine the corresponding risk control measures, and the risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right lifting and unloading operation.

[0040] Specifically, when it is determined that the unmanned mining car has a rollover risk, the positioning system sends a risk warning to the vehicle controller. The vehicle controller usually refers to the vehicle control unit (VCU), which is the core control component of the car. The main functions of the vehicle controller include: 1. Driver intention analysis: VCU understands the driver's operating intention by collecting signals such as the accelerator pedal, brake pedal, gear position, etc., and controls the power output of the vehicle accordingly. 2. Vehicle mode management: VCU manages different working modes of the vehicle, such as starting, driving, charging, fault diagnosis, etc., and ensures that the vehicle switches safely and reasonably between various modes. 3. Drive control: VCU controls the output of the motor according to the driver's needs and vehicle status to achieve optimal driving performance and energy efficiency. 4. Braking control: VCU manages the braking system, including coordinating regenerative braking and mechanical braking to improve braking efficiency and recover energy. 5. Fault diagnosis: VCU has the function of real-time monitoring of vehicle status, can perform fault diagnosis, and provide corresponding warnings or take safety measures when problems are detected. 6. Information interaction: As the "brain" of the vehicle, VCU exchanges data and coordinates commands with other controllers (such as battery management system BMS, motor controller MCU, etc.) through communication methods such as CAN bus.

[0041] Specifically, the positioning system sends the positioning information to the vehicle controller, wherein the risk warning sent is used for the vehicle controller to determine the corresponding risk control measures. The risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation. For example, when there is a risk of rollover, the lifting is stopped immediately. Such strategies can ensure both effective unloading and safe unloading.

[0042] The method provided in this embodiment is applied to the positioning system in an unmanned mine car. The unmanned mine car includes a positioning system, a lifting system and a vehicle controller. The positioning system includes an inertial measurement unit and a real-time dynamic measurement device. When it is determined that the lifting system performs a right-hand lifting and unloading operation, the inertial measurement unit and the real-time dynamic measurement device are used to determine the current position of the unmanned mine car. The current position of the unmanned mine car includes the pitch angle information of the unmanned mine car. Then, based on the current position of the unmanned mine car, it is determined whether the unmanned mine car has a rollover risk. Furthermore, when it is determined that the unmanned mine car has a rollover risk, a risk prompt is sent to the vehicle controller, wherein the risk prompt is used for the vehicle controller to determine the corresponding risk control measures. The risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation.

[0043] The positioning system in the present invention includes an inertial measurement unit and a real-time dynamic measurement device. During the right-hand lifting operation of the unmanned mine car, the inertial measurement unit and the real-time dynamic measurement device are used to determine the current position of the unmanned mine car. Then, based on the current position of the unmanned mine car, it is determined whether the unmanned mine car has a risk of rollover. When it is determined that the unmanned mine car has a risk of rollover, a risk warning is sent to the vehicle controller. The inertial measurement unit and the real-time dynamic measurement device are used to jointly determine the current position of the unmanned mine car in the present invention, which can effectively ensure that when the network fluctuates or the network is disconnected for a short time, the real-time dynamic measurement device can ensure that the network is restored immediately after the reconnection and re-login operation, and ensure that the differential data is restored while the network is restored, thereby improving the accuracy of the mine car positioning during the lifting and unloading process.

[0044] According to a lifting and unloading method provided by the present invention, an inertial measurement unit and a real-time dynamic measurement device are used to determine the current position of an unmanned mining vehicle, including: The acceleration of the unmanned mining vehicle is measured using the built-in accelerometer of the inertial measurement unit; The angular velocity of the unmanned mining vehicle is measured by using the built-in gyroscope of the inertial measurement; Using a magnetometer built into the inertial measurement unit, the magnetic field around the driverless mining vehicle is measured to determine the absolute direction of the driverless mining vehicle; Determining first position information of the unmanned mine car according to the acceleration of the unmanned mine car, the angular velocity of the unmanned mine car and the absolute direction of the unmanned mine car; Using real-time dynamic measurement equipment, differential positioning data is determined; the real-time dynamic measurement equipment includes a base station and a mobile station, the base station is a fixed position, and the mobile station is determined based on the current position of the real-time dynamic measurement equipment; The current position of the unmanned mining vehicle is determined according to the first position information of the unmanned mining vehicle and the differential positioning data.

[0045] Specifically, in some embodiments, the specific implementation process of determining the current position of the unmanned mining vehicle using an inertial measurement unit and a real-time dynamic measurement device in step 101 includes the following steps: It should be noted that IMU is a device used to measure and report the specific force, angular velocity, and in some cases, the direction of an object around the magnetic field. It consists of a variety of sensors that can provide accurate motion and position information about the object. In other words, IMU is a key sensor that provides comprehensive information about the motion state of an object by integrating multiple sensors, which is essential for systems that require precise motion control and navigation. The core components of IMU usually include: 1. Gyroscope: used to measure the angular velocity of an object around each axis to determine the rotational motion of the object. 2. Accelerometer: used to measure the acceleration of an object on each axis, so that the speed and displacement of the object can be calculated. 3. Magnetometer: used to measure the surrounding magnetic field to help determine the absolute direction of the object.

[0046] In this embodiment, the acceleration of the unmanned mine car is first measured using the built-in accelerometer of the inertial measurement unit IMU. Then, the angular velocity of the unmanned mine car is measured using the built-in gyroscope of the inertial measurement; further, the first position information of the unmanned mine car is determined based on the acceleration of the unmanned mine car and the angular velocity of the unmanned mine car. In view of the harsh environment in the mining area, such as bumpy roads and vehicle vibrations, which can easily cause abnormalities in conventional inertial navigation positioning signals, a single differential GPS / IMU positioning cannot meet the requirements of unmanned mine car positioning. Affected by the satellite search effect and wireless network signals in the mining area, the real-time dynamic differential RTK cannot effectively guarantee the real-time and high-precision provision of vehicle position and heading angle information. The positioning system in the present invention includes a combined navigation of an inertial measurement unit IMU+RTK.

[0047] Furthermore, a real-time dynamic measurement RTK device is used to determine differential positioning data, and the real-time dynamic measurement RTK device determines the current position of the unmanned mining vehicle according to the first position information of the unmanned mining vehicle and the differential positioning data. Among them, the real-time dynamic measurement device includes a base station and a mobile station, the base station is a fixed position, and the mobile station is determined based on the current position of the real-time dynamic measurement device. Among them, RTK adopts a high-precision positioning technology based on a global satellite navigation system (such as GPS, GLONASS, Beidou, etc.). It eliminates various error factors (such as atmospheric error, clock error, multipath effect, etc.) through differential calculation between a fixed reference station at a known position and a mobile station at an unknown position, thereby achieving high-precision positioning. RTK technology can provide centimeter-level or even millimeter-level positioning accuracy. The working principle of the RTK system is that the base station receiver is set up at a reference point with known coordinates, continuously receives satellite signals, and sends observation data to the mobile station in real time. The mobile station receives data from the base station (base station) and combines the satellite signals observed by itself for real-time processing to obtain high-precision positioning results. This process can be done when the rover is stationary or in motion, making RTK technology very suitable for dynamic measurement. In other words, in an RTK system, a base station (also called a reference station or fixed station) is set at a fixed position with known coordinates. It continuously receives satellite signals and calculates positioning errors. The base station then sends these differential data to the rover via radio, cellular network or other communication methods. The rover is a receiver installed on a mobile device (such as an unmanned mining vehicle, surveying equipment, etc.), which receives satellite signals and combines the differential data from the base station to calculate high-precision position information in real time.

[0048] In the method provided in this embodiment, the first position information of the unmanned mine car is determined by using an inertial measurement unit, and then the differential positioning data is determined by using a real-time dynamic measurement device, and then the current position of the unmanned mine car is determined according to the first position information of the unmanned mine car and the differential positioning data. In the present invention, the current position of the unmanned mine car is determined by using an inertial measurement unit and a real-time dynamic measurement device together, which can improve the accuracy of the mine car positioning during the lifting and unloading process.

[0049] According to a lifting and unloading method provided by the present invention, the real-time dynamic measurement RTK device includes a main SIM card and a backup SIM card; before determining the current position of the unmanned mining vehicle using the inertial measurement unit and the real-time dynamic measurement device, the method further includes: When it is determined that the base station differential positioning service is successfully logged in, the original CPGGA message is sent to the base station; Determine whether the RTCM data sent back by the base station is received; When it is determined that no RTCM data transmitted by the base station is received, the network reconnection operation is performed; If it is determined that the current number of retries of the network reconnection operation is greater than or equal to the preset number and the RTCM data transmitted back by the base station has not yet been received, the primary SIM card is switched to the backup SIM card, and the network reconnection operation is performed based on the backup SIM card; When it is confirmed that the RTCM data transmitted by the base station has been received, the network connection between the mobile station and the base station and the differential positioning data are restored.

[0050] Specifically, in some embodiments, two SIM cards, a primary and a backup, are set in the real-time dynamic measurement RTK device. The specific steps for setting the SIM card may vary depending on the device and the network service provider, but generally involve the following steps: 1. Insert the SIM card into the RTK mobile station or data communication device. 2. Specify the APN and other connection parameters of the cellular network in the device settings. 3. Ensure that the device supports the required RTCM version and data format. 4. Configure the mobile station to receive RTCM correction data from the cellular network. The SIM card settings in the RTK system are generally used for the network RTK (NRTK) mode, in which the mobile station receives RTCM correction data from the service provider via a cellular network (such as 4G LTE). In this mode, the mobile station does not need to communicate directly with a fixed reference station, but receives differential data through a network service. The SIM card settings include configuring the APN (Access Point Name), user name and password, etc. to ensure the connection of the data service.

[0051] Correspondingly, before determining the current position of the unmanned mining vehicle using the inertial measurement unit and the real-time dynamic measurement device, the method further includes: reconnecting to the network and re-logging into the base station. The implementation process of the process is as follows: For example, Figure 5 It is a schematic diagram of the principle of the combined navigation provided by the present invention, such as Figure 5 As shown in the figure, after the combined navigation differential data terminal, it is expected to maintain a stable solution state within 30 seconds to 60 seconds, that is, the differential data will not exceed 30 seconds and the differential loss failure will usually not occur. When the network is interrupted and the RTCM data cannot be received, it will trigger n packet retransmission attempts, and the differential data can be recovered within the expected time. In addition, when the network quality of the current SIM card is poor, the router will automatically switch the card, and the card switching process will cause a network interruption of about 10 seconds.

[0052] For example, Figure 6 This is the second flow diagram of the lifting and unloading method provided by the present invention, such as Figure 6 As shown, the method includes: Optionally, determine whether GPGGA data from the inertial measurement unit is received, whether a TCP connection is successfully established, whether the mount point list is queried, and the account number, password, and mount point are sent. When it is determined that the above judgments are successful, further determine whether the base station differential positioning service is successfully logged in, that is, in the real-time kinematic measurement (RTK) system, the mobile station successfully establishes a data connection with the base station and has synchronized the differential data of the base station.

[0053] When the base station differential positioning service is successfully logged in, the original CPGGA message is sent to the base station. GPGGA is one of the NMEA 0183 standard formats for global positioning system (GPS) positioning data, which provides detailed information about GPS positioning, including time, location, positioning quality, number of satellites used, etc. GPGGA data is usually automatically generated by GPS devices at certain time intervals and can be transmitted to other devices such as computers or navigation systems through serial ports.

[0054] Then, it is determined whether the RTCM data transmitted back by the base station is received. Among them, RTCM (Radio Technical Commission for Maritime Services) correction data is real-time data from a fixed reference station, which can also be provided through a network RTK service. In an RTK (Real-Time Kinematic) system, RTCM data is usually generated by a fixed base station located at a known coordinate. The receiver of the rover combines these correction data with its own satellite measurements to calculate a more accurate position.

[0055] When it is determined that the RTCM data transmitted by the base station has not been received, a network reconnection operation is performed. If the RTCM data transmitted by the base station is not received after the original GPGGA is sent, it can be considered that the network connection is disconnected. In the present invention, a network reconnection operation can be performed to ensure that n reconnection operations are performed after a network abnormality (short interruption, fluctuation) occurs.

[0056] When it is determined that the current number of retries for the network reconnection operation is greater than or equal to the preset number, and the RTCM data sent back by the base station has not been received, the main SIM card is switched to the backup SIM card, and the network reconnection operation is performed based on the backup SIM card. In other words, if the network and differential positioning data cannot be restored after retries, the SIM card can be switched autonomously, and the RTK will disconnect the network and reconnect again for n reconnection operations. This strategy can eliminate invalid reconnection time and ensure that differential data is restored while the network is restored.

[0057] When it is confirmed that the RTCM data transmitted by the base station has been received, the network connection between the mobile station and the base station and the differential positioning data are restored, ensuring that the differential data is restored at the same time as the network is restored.

[0058] In the method provided in this embodiment, when the positioning system determines that the differential positioning service of the base station has been successfully logged in, the positioning system sends the original CPGGA message to the base station to determine whether the RTCM data transmitted by the base station is received. Then, when it is determined that the RTCM data transmitted by the base station is not received, the network reconnection operation is performed; further, when it is determined that the current number of retries of the network reconnection operation is greater than or equal to the preset number, and the RTCM data transmitted by the base station is still not received, the main SIM card is switched to the backup SIM card, and the network reconnection operation is performed based on the backup SIM card; when it is determined that the RTCM data transmitted by the base station is received, the network connection and differential positioning data between the mobile station and the base station are restored. In the present invention, the inertial measurement unit and the real-time dynamic measurement device are used to jointly determine the current position of the unmanned mine car, which can effectively ensure that when the network fluctuates or the network is disconnected for a short time, the real-time dynamic measurement device can ensure that the network is restored immediately after the network is restored. The differential data is restored while the network is restored, which improves the accuracy of the mine car positioning during the lifting and unloading process.

[0059] According to a lifting and unloading method provided by the present invention, a network reconnection operation is performed, comprising: Resend the original CPGGA message to the base station; The current number of retries is determined according to the number of times the original CPGGA message is resent to the base station.

[0060] Specifically, in some embodiments, the specific implementation process of performing the network reconnection operation may include the following steps: Resend the original CPGGA message to the base station, determine the current retry number according to the number of times the original CPGGA message is resent to the base station, and then compare the current retry number with a preset retry number threshold to determine whether the primary and standby SIM cards need to be switched.

[0061] The parameter selection principle of the preset retry count threshold n is as follows: 1. If the number of times n is set to a small number, when packet loss occurs, the program will be triggered to frequently re-login to the base station, and there is a risk that frequent re-login will cause base station abnormalities.

[0062] 2. When the number of n is set to a large number, the account will be forced to go offline after the network disconnection exceeds the CPS (base station positioning, using mobile network positioning) threshold, resulting in invalid resending of packages.

[0063] 3. Based on the above principles and methods, select the appropriate number of reconnection times n. When a short network outage occurs, the RTK program can ensure that the reconnection and re-login operation is performed immediately after the network is restored, avoiding invalid reconnection. At the same time, when occasional packet loss occurs under normal network conditions, differential data acquisition and transmission can also be quickly restored by resending packets.

[0064] In the method provided in this embodiment, the RTK device can ensure that the reconnection and re-login operation is performed immediately after the network is restored, thereby avoiding invalid reconnection; at the same time, when occasional packet loss occurs under normal network conditions, differential data acquisition and transmission can also be quickly restored through packet retransmission operations, thereby ensuring the accuracy of the positioning of the unmanned mining vehicle.

[0065] The present invention utilizes an inertial measurement unit and a real-time dynamic measurement device to jointly determine the current position of the unmanned mine car, which can effectively ensure that when the network fluctuates or the network is disconnected for a short time, the real-time dynamic measurement device can ensure that the network is restored and the differential data is restored immediately, thereby improving the accuracy of the mine car positioning during the lifting and unloading process.

[0066] Figure 7 This is the second structural schematic diagram of the unmanned mining vehicle provided by the present invention. Figure 7 As shown, the unmanned mining vehicle includes a positioning system, a lifting system and a vehicle controller, wherein the positioning system includes an inertial measurement unit and a real-time dynamic measurement device, wherein:

[0067] The lifting system is used to perform a right-direction lifting and unloading operation when it is determined that the unmanned mining vehicle has traveled to a preset unloading position according to a planned right-direction lifting and unloading path; The positioning system is used to determine the current position of the unmanned mine car by using the inertial measurement unit and the real-time dynamic measurement device when it is determined that the lifting system performs a right-hand lifting and unloading operation, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; based on the current position of the unmanned mine car, determine whether the unmanned mine car has a rollover risk; and send a risk prompt to the vehicle controller when it is determined that the unmanned mine car has a rollover risk; The vehicle controller is used to determine corresponding risk control measures according to the risk prompt, and the risk control measures are to send an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation.

[0068] Specifically, the lifting system is used to perform right-hand lifting and unloading operations when it is determined that the unmanned mine car has traveled to the preset unloading position according to the planned path for right-hand lifting and unloading. Exemplarily, the lifting system provides power for lifting the bucket to dump materials, and the unmanned driving wire control of lifting is realized by adding a solenoid valve group. The lifting hydraulic system includes a hydraulic oil tank, a lifting oil pump, a lifting valve, a lifting cylinder, a lifting position and lifting angle sensor, etc., and has steering, braking, lifting and lifting angle monitoring functions. The lifting system solenoid valve and hydraulic valve can be controlled by the domain controller of the unmanned driving system to realize lifting and bucket drop control. Figure 8 It is a schematic diagram of the lifting cylinder provided by the present invention being installed on the left side and flipped to the right side.

[0069] The positioning system includes the inertial measurement unit and the real-time dynamic measurement device, and is used to determine the current position of the unmanned mine car by using the inertial measurement unit and the real-time dynamic measurement device when it is determined that the lifting system performs a right-hand lifting and unloading operation, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; further, based on the current position of the unmanned mine car, determine whether the unmanned mine car has a rollover risk. When it is determined that the unmanned mine car has a rollover risk, a risk prompt is sent to the vehicle controller.

[0070] The vehicle controller determines a corresponding risk control measure according to the risk prompt, and the risk control measure is to send an instruction to the lifting system to immediately stop the right lifting and unloading operation.

[0071] The unmanned mine car provided in this embodiment includes a positioning system, a lifting system and a vehicle controller. The positioning system includes an inertial measurement unit and a real-time dynamic measurement device. The positioning system in the present invention includes an inertial measurement unit and a real-time dynamic measurement device. During the right-hand lifting operation of the unmanned mine car, the inertial measurement unit and the real-time dynamic measurement device are used to determine the current position of the unmanned mine car. Then, based on the current position of the unmanned mine car, it is determined whether the unmanned mine car has a risk of rollover. When it is determined that the unmanned mine car has a risk of rollover, a risk prompt is sent to the vehicle controller. In the present invention, the inertial measurement unit and the real-time dynamic measurement device are used to jointly determine the current position of the unmanned mine car, which can effectively ensure that when the network fluctuates or the network is disconnected for a short time, the real-time dynamic measurement device can ensure that the network is restored immediately after the reconnection and re-login operation, and ensure that the differential data is restored while the network is restored, thereby improving the accuracy of the mine car positioning during the lifting and unloading process.

[0072] According to an unmanned mining vehicle provided by the present invention, the lifting system includes a hydraulic oil tank, a lifting oil pump, a lifting valve, a lifting cylinder and a lifting handle; the right-hand lifting and unloading operation includes: The hydraulic oil is provided through the hydraulic oil tank, and the hydraulic oil in the hydraulic oil tank is the power source of the lifting system; Utilizing the lifting oil pump to extract the hydraulic oil from the hydraulic oil tank and provide pressure oil; Using the lifting handle, sending a command to the lifting valve to lift the bucket; Using the lifting valve, according to the instruction to lift the bucket, the hydraulic oil is controlled to flow to the lifting cylinder; The lifting cylinder receives the hydraulic oil and lifts the truck bucket by extending and retracting the piston.

[0073] Specifically, in some embodiments, the lifting system includes a hydraulic oil tank, a lifting oil pump, a lifting valve, a lifting cylinder and a lifting handle, and the hydraulic oil in the hydraulic oil tank is the power source of the lifting system. The implementation process of the right-hand lifting and unloading operation includes the following steps: Fig. 9 The double lifting cylinder lateral lifting hydraulic principle diagram provided by the present invention is as follows: Fig. 9 As shown, hydraulic oil is provided through the hydraulic oil tank, and the lifting oil pump is used to extract the hydraulic oil from the hydraulic oil tank and provide pressure oil; the lifting handle is used to send an instruction to lift the vehicle bucket to the lifting valve; the lifting valve is used to control the hydraulic oil to flow to the lifting cylinder according to the instruction to lift the vehicle bucket; the lifting cylinder is used to receive the hydraulic oil and lift the vehicle bucket by extending and retracting the piston.

[0074] The lifting system in the system provided in this embodiment adopts a right-side lifting and unloading method, which solves the problem of high precision and difficulty in parking for unloading in the spoil dump, effectively avoids the problem of backing up and hitting the retaining wall, shortens the parking trajectory, and improves parking efficiency.

[0075] The lifting and unloading device provided by the present invention is described below. The lifting and unloading device described below and the lifting and unloading method described above can be referred to each other.

[0076] Fig.10 1 is a structural schematic diagram of the lifting and unloading device provided by the present invention, which is applied to the positioning system in the unmanned mining vehicle. The unmanned mining vehicle includes the positioning system, the lifting system and the vehicle controller. The positioning system includes an inertial measurement unit and a real-time dynamic measurement device. The lifting and unloading device 1000 includes the following modules: The positioning module 1010 is used to determine the current position of the unmanned mine car by using the inertial measurement unit and the real-time dynamic measurement device when it is determined that the lifting system performs a right lifting and unloading operation, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; The determination module 1020 is used to determine whether the unmanned mine car has a rollover risk based on the current position of the unmanned mine car; when it is determined that the unmanned mine car has a rollover risk, a risk prompt is sent to the vehicle controller; the risk prompt is used for the vehicle controller to determine the corresponding risk control measures, and the risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation.

[0077] The device provided in this embodiment is applied to the positioning system in an unmanned mine car. The unmanned mine car includes a positioning system, a lifting system and a vehicle controller. The positioning system includes an inertial measurement unit and a real-time dynamic measurement device. The device includes a positioning module 1010 and a determination module 1020. When the positioning module 1010 determines that the lifting system performs a right-hand lifting and unloading operation, the inertial measurement unit and the real-time dynamic measurement device are used to determine the current position of the unmanned mine car. The current position of the unmanned mine car includes the pitch angle information of the unmanned mine car. Then, the determination module 1020 determines whether the unmanned mine car has a rollover risk based on the current position of the unmanned mine car. Furthermore, when it is determined that the unmanned mine car has a rollover risk, a risk prompt is sent to the vehicle controller, wherein the risk prompt is used for the vehicle controller to determine the corresponding risk control measures. The risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation.

[0078] The positioning system in the present invention includes an inertial measurement unit and a real-time dynamic measurement device. During the right-hand lifting operation of the unmanned mine car, the inertial measurement unit and the real-time dynamic measurement device are used to determine the current position of the unmanned mine car. Then, based on the current position of the unmanned mine car, it is determined whether the unmanned mine car has a risk of rollover. When it is determined that the unmanned mine car has a risk of rollover, a risk warning is sent to the vehicle controller. The inertial measurement unit and the real-time dynamic measurement device are used to jointly determine the current position of the unmanned mine car in the present invention, which can effectively ensure that when the network fluctuates or the network is disconnected for a short time, the real-time dynamic measurement device can ensure that the network is restored immediately after the reconnection and re-login operation, and ensure that the differential data is restored while the network is restored, thereby improving the accuracy of the mine car positioning during the lifting and unloading process.

[0079] According to a lifting and unloading device 1000 provided by the present invention, the positioning module 1010 is specifically used for: Using the built-in accelerometer of the inertial measurement unit, the acceleration of the unmanned mining vehicle is measured; The angular velocity of the unmanned mining vehicle is measured by using the built-in gyroscope of the inertial measurement; Using a magnetometer built into the inertial measurement unit, the magnetic field around the driverless mining vehicle is measured to determine the absolute direction of the driverless mining vehicle; Determining first position information of the unmanned mine car according to the acceleration of the unmanned mine car, the angular velocity of the unmanned mine car and the absolute direction of the unmanned mine car; Determine differential positioning data using the real-time dynamic measurement device; the real-time dynamic measurement device includes a base station and a mobile station, the base station is a fixed position, and the mobile station is determined based on the current position of the real-time dynamic measurement device; The current position of the unmanned mining vehicle is determined according to the first position information of the unmanned mining vehicle and the differential positioning data.

[0080] According to a lifting and unloading device 1000 provided by the present invention, the real-time dynamic measurement RTK device includes a main SIM card and a backup SIM card; The positioning module 1010 is further used for: When it is determined that the base station differential positioning service is successfully logged in, an original CPGGA message is sent to the base station; Determine whether the RTCM data returned by the base station is received; When it is determined that the RTCM data returned by the base station is not received, performing a network reconnection operation; When it is determined that the current number of retries of the network reconnection operation is greater than or equal to a preset number and the RTCM data transmitted back by the base station has not yet been received, switching the primary SIM card to the backup SIM card, and performing a network reconnection operation based on the backup SIM card; When it is determined that the RTCM data returned by the base station is received, the network connection between the mobile station and the base station and the differential positioning data are restored.

[0081] According to a lifting and unloading device 1000 provided by the present invention, the positioning module 1010 is also used for: Resending the original CPGGA message to the base station; The current number of retries is determined according to the number of times the original CPGGA message is resent to the base station.

[0082] Fig.11 An example of a physical structure diagram of an electronic device is shown in FIG. Fig.11As shown, the electronic device may include: a processor 1110, a communication interface 1120, a memory 1130 and a communication bus 1140, wherein the processor 1110, the communication interface 1120 and the memory 1130 communicate with each other through the communication bus 1140. The processor 1110 may call the logic instructions in the memory 1130 to execute the lifting and unloading method, which is applied to the positioning system in the unmanned mine car, the unmanned mine car includes the positioning system, the lifting system and the vehicle controller, the positioning system includes an inertial measurement unit and a real-time dynamic measurement device, and the method includes: When it is determined that the lifting system performs a right-hand lifting and unloading operation, the current position of the unmanned mine car is determined by using the inertial measurement unit and the real-time dynamic measurement device, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; Based on the current position of the unmanned mining vehicle, determining whether the unmanned mining vehicle has a rollover risk; When it is determined that the unmanned mining vehicle has a risk of rollover, a risk warning is sent to the vehicle controller; the risk warning is used for the vehicle controller to determine corresponding risk control measures, and the risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right lifting and unloading operation.

[0083] In addition, the logic instructions in the above-mentioned memory 1130 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0084] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the lifting and unloading method provided by the above methods, applied to a positioning system in an unmanned mine car, the unmanned mine car includes the positioning system, the lifting system and the vehicle controller, the positioning system includes an inertial measurement unit and a real-time dynamic measurement device, the method includes: When it is determined that the lifting system performs a right-hand lifting and unloading operation, the current position of the unmanned mine car is determined by using the inertial measurement unit and the real-time dynamic measurement device, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; Based on the current position of the unmanned mining vehicle, determining whether the unmanned mining vehicle has a rollover risk; When it is determined that the unmanned mining vehicle has a risk of rollover, a risk warning is sent to the vehicle controller; the risk warning is used for the vehicle controller to determine corresponding risk control measures, and the risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right lifting and unloading operation.

[0085] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the lifting and unloading methods provided by the above methods, and is applied to a positioning system in an unmanned mine car, the unmanned mine car comprising the positioning system, a lifting system and a vehicle controller, the positioning system comprising an inertial measurement unit and a real-time dynamic measurement device, the method comprising: When it is determined that the lifting system performs a right-hand lifting and unloading operation, the current position of the unmanned mine car is determined by using the inertial measurement unit and the real-time dynamic measurement device, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; Based on the current position of the unmanned mining vehicle, determining whether the unmanned mining vehicle has a rollover risk; When it is determined that the unmanned mining vehicle has a risk of rollover, a risk warning is sent to the vehicle controller; the risk warning is used for the vehicle controller to determine corresponding risk control measures, and the risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right lifting and unloading operation.

[0086] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0087] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lifting and unloading method, characterized in that: A positioning system applied to an unmanned mining vehicle, the unmanned mining vehicle comprising the positioning system, a lifting system and a vehicle controller, the positioning system comprising an inertial measurement unit and a real-time dynamic measurement device, the method comprising: When it is determined that the lifting system performs a right-hand lifting and unloading operation, the current position of the unmanned mine car is determined by using the inertial measurement unit and the real-time dynamic measurement device, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; Based on the current position of the unmanned mining vehicle, determining whether the unmanned mining vehicle has a rollover risk; When it is determined that the unmanned mining vehicle has a risk of rollover, a risk warning is sent to the vehicle controller; the risk warning is used for the vehicle controller to determine corresponding risk control measures, and the risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation.

2. The lifting and unloading method according to claim 1, characterized in that: The method of determining the current position of the unmanned mining vehicle by using the inertial measurement unit and the real-time dynamic measurement device comprises: Using the built-in accelerometer of the inertial measurement unit, the acceleration of the unmanned mining vehicle is measured; The angular velocity of the unmanned mining vehicle is measured by using the built-in gyroscope of the inertial measurement; Using a magnetometer built into the inertial measurement unit, the magnetic field around the driverless mining vehicle is measured to determine the absolute direction of the driverless mining vehicle; Determining first position information of the unmanned mine car according to the acceleration of the unmanned mine car, the angular velocity of the unmanned mine car and the absolute direction of the unmanned mine car; Determine differential positioning data using the real-time dynamic measurement device; the real-time dynamic measurement device includes a base station and a mobile station, the base station is a fixed position, and the mobile station is determined based on the current position of the real-time dynamic measurement device; The current position of the unmanned mining vehicle is determined according to the first position information of the unmanned mining vehicle and the differential positioning data.

3. The lifting and unloading method according to claim 2, characterized in that: The real-time dynamic measurement RTK device includes a main SIM card and a backup SIM card; before using the inertial measurement unit and the real-time dynamic measurement device to determine the current position of the unmanned mining vehicle, it also includes: When it is determined that the base station differential positioning service is successfully logged in, an original CPGGA message is sent to the base station; Determine whether the RTCM data returned by the base station is received; When it is determined that the RTCM data returned by the base station is not received, performing a network reconnection operation; When it is determined that the current number of retries of the network reconnection operation is greater than or equal to a preset number and the RTCM data transmitted back by the base station has not yet been received, the primary SIM card is switched to the backup SIM card, and a network reconnection operation is performed based on the backup SIM card; When it is determined that the RTCM data returned by the base station is received, the network connection between the mobile station and the base station and the differential positioning data are restored.

4. The lifting and unloading method according to claim 3, characterized in that: The network reconnection operation includes: Resending the original CPGGA message to the base station; The current number of retries is determined according to the number of times the original CPGGA message is resent to the base station.

5. An unmanned mining vehicle, characterized in that: The unmanned mining vehicle comprises a positioning system, a lifting system and a vehicle controller, wherein the positioning system comprises an inertial measurement unit and a real-time dynamic measurement device, wherein: The lifting system is used to perform a right-direction lifting and unloading operation when it is determined that the unmanned mining vehicle has traveled to a preset unloading position according to a planned right-direction lifting and unloading path; The positioning system is used to determine the current position of the unmanned mine car by using the inertial measurement unit and the real-time dynamic measurement device when it is determined that the lifting system performs a right-hand lifting and unloading operation, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; based on the current position of the unmanned mine car, determine whether the unmanned mine car has a rollover risk; and send a risk prompt to the vehicle controller when it is determined that the unmanned mine car has a rollover risk; The vehicle controller is used to determine corresponding risk control measures according to the risk prompt, and the risk control measures are to send an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation.

6. The unmanned mining vehicle according to claim 5, characterized in that: The lifting system includes a hydraulic oil tank, a lifting oil pump, a lifting valve, a lifting cylinder and a lifting handle; the right-hand lifting and unloading operation includes: The hydraulic oil is provided through the hydraulic oil tank, and the hydraulic oil in the hydraulic oil tank is the power source of the lifting system; Utilizing the lifting oil pump to extract the hydraulic oil from the hydraulic oil tank and provide pressure oil; Using the lifting handle, sending a command to the lifting valve to lift the bucket; Using the lifting valve, according to the instruction to lift the bucket, the hydraulic oil is controlled to flow to the lifting cylinder; The lifting cylinder receives the hydraulic oil and lifts the truck bucket by extending and retracting the piston.

7. A lifting and unloading device, characterized in that: A positioning system applied to an unmanned mining vehicle, the unmanned mining vehicle comprising the positioning system, a lifting system and a vehicle controller, the positioning system comprising an inertial measurement unit and a real-time dynamic measurement device, the device comprising: A positioning module, for determining the current position of the unmanned mine car by using the inertial measurement unit and the real-time dynamic measurement device when it is determined that the lifting system performs a right lifting and unloading operation, wherein the current position of the unmanned mine car includes the pitch angle information of the unmanned mine car; A determination module is used to determine whether the unmanned mine car has a rollover risk based on the current position of the unmanned mine car; when it is determined that the unmanned mine car has a rollover risk, a risk prompt is sent to the vehicle controller; the risk prompt is used for the vehicle controller to determine the corresponding risk control measures, and the risk control measures are that the vehicle controller sends an instruction to the lifting system to immediately stop the right-hand lifting and unloading operation.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the lifting and unloading method as described in any one of claims 1 to 4 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the lifting and unloading method as described in any one of claims 1 to 4 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the lifting and unloading method as described in any one of claims 1 to 4 is implemented.

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