Automatic control and obstacle avoidance method for mountainous region large-gradient unmanned rail transport vehicle

Abstract

The invention discloses an automatic control and obstacle avoidance method for a mountain large-gradient unmanned rail transport vehicle, and the method comprises the steps: S1, transmitting a control instruction for starting the vehicle to the unmanned rail transport vehicle through a remote control terminal, and S2, enabling the transport vehicle to be automatically started according to the received control instruction and to automatically run along a preset rail, s3, in the running process of the transport vehicle, an infrared sensor and a radar detector which are installed on the vehicle body are used for detecting obstacles on a front rail in real time, and S4, when the sensor or the detector detects the obstacles, braking operation is automatically executed, the transport vehicle is stopped, and collision accidents are avoided; according to the automatic control and obstacle avoidance method for the mountainous region steep-slope unmanned rail transport vehicle, it is ensured that the transport vehicle can respond to obstacles quickly when running at a high speed, insufficient obstacle avoidance response caused by too high speed is avoided, and the safety performance of the transport vehicle at different running speeds is improved through the dynamic adjustment function.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation and automatic control technology, and in particular to an automatic control and obstacle avoidance method for an unmanned rail transport vehicle with a large slope in a mountainous area. Background Art

[0002] With the continuous advancement of modern engineering construction and tourism development, many projects are located in mountainous areas and complex terrains with large slopes. In these scenarios, the transportation of construction materials often faces huge challenges. Traditional manual handling is not only costly and inefficient, but also poses great safety hazards. At the same time, due to the particularity of mountainous terrain, conventional vehicle transportation methods are difficult to adapt to complex slopes and rugged road conditions. Therefore, how to transport materials efficiently and safely has become an urgent problem to be solved.

[0003] As a means of transportation commonly used in agriculture, forestry and engineering, rail transport vehicles have been gradually applied to mountain transportation in recent years. Early mountain rail transport systems mostly used fuel engines as power sources and relied on manual driving to complete transportation tasks. Although this traditional mode of transportation can solve transportation problems to a certain extent, it also has many shortcomings. First, the use cost of fuel engines is high and the safety is poor in harsh environments; second, the manual driving method is inefficient and requires specialized personnel to operate. It is impossible to achieve unmanned or less-manned management, which greatly increases the construction cost of the project. In addition, most of the existing rail transport systems cannot adapt to the mountainous environment with large slopes, lack effective intelligent functions such as automatic obstacle avoidance, fixed-point parking and multi-vehicle coordinated operation, and are prone to collision or overturning accidents. In recent years, with the rapid development of autonomous driving technology and Internet of Things technology, the introduction of intelligent control systems into the field of rail transportation has become a new research direction. Through the application of sensors, controllers and automation algorithms, the functions of automatic driving, obstacle avoidance, fixed-point parking and other functions of transport vehicles can be realized, which can improve transportation efficiency and safety and reduce dependence on human resources. However, the application of existing technologies in complex mountainous terrain still faces many challenges, including how to operate stably in a large slope environment, how to avoid obstacles on the track, and how to achieve multi-car formation and track change operations. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic control and obstacle avoidance method for an unmanned rail transport vehicle with a large slope in a mountainous area, so as to solve the problems existing in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solution: an automatic control and obstacle avoidance method for an unmanned rail transport vehicle with a large slope in a mountainous area, the method comprising:

[0006] S1, sending a control command to start the vehicle to the unmanned rail transport vehicle through the remote control terminal;

[0007] S2, the transport vehicle automatically starts according to the received control command and automatically travels along the preset track;

[0008] S3. During the driving process of the transport vehicle, infrared sensors and radar detectors installed on the vehicle body are used to detect obstacles on the track ahead in real time;

[0009] S4: When the sensor or detector detects an obstacle, the vehicle will be automatically braked to stop to avoid a collision.

[0010] S5. Monitor the load of the transport vehicle in real time. When overload is detected, the transport vehicle is prohibited from starting and an alarm is issued;

[0011] S6. When the transport vehicle approaches the destination, the travel distance is detected by the photoelectric encoder to ensure that the transport vehicle can stop at the designated location.

[0012] Preferably, the transport vehicle transmits the status information of the transport vehicle to the remote control terminal for monitoring in real time through the wireless communication network. The transport vehicle has an automatic grouping function, which specifically monitors the relative positions of the transport vehicles by installing laser rangefinders and limit switches in front and behind each transport vehicle.

[0013] Preferably, the transport vehicle has a rollover monitoring function, which monitors the inclination of the vehicle body in real time through inclination sensors installed on both sides of the trailer. When the inclination exceeds a preset safety range, a rollover warning is issued and the transport vehicle is stopped.

[0014] Preferably, the transport vehicle automatically controls track switching at the track bifurcation through an installed track changing device, thereby realizing the conversion of the vehicle between different branch tracks.

[0015] Preferably, an adjustable pan-tilt camera is installed at the front and rear of the transport vehicle to transmit video data during driving to a remote control terminal in real time.

[0016] Preferably, the wireless communication network adopts MESH networking mode, and multiple wireless base stations are arranged along the track to ensure low-latency data transmission of the transport vehicle throughout the track and realize seamless communication between the transport vehicle and the remote control center.

[0017] Preferably, the track changing device includes a track changing slider and a track reinforcement device. When the transport vehicle needs to change tracks, the track changing slider will slide to the required track gap, and the reinforcement device will ensure that the track changing point can bear the weight of the transport vehicle.

[0018] Preferably, the tilt sensor can monitor the left and right tilt angles of the trailer in real time. When the tilt angle exceeds a set safety threshold, the transport vehicle is automatically stopped and a warning signal is sent to the remote control terminal.

[0019] Preferably, when multiple vehicles are linked, a laser rangefinder and a limit switch are used to monitor the relative position of each vehicle, the laser rangefinder is used to detect the distance, and the limit switch triggers parking in an emergency.

[0020] Preferably, the transport vehicle ensures detection accuracy through infrared sensors and radar detectors. The detection range of the radar detector can be dynamically adjusted according to the driving speed of the transport vehicle. The faster the transport vehicle travels, the larger the detection range of the radar, so as to ensure the obstacle avoidance reaction time of the transport vehicle when traveling at high speed.

[0021] It can be seen from the above technical solution that the present invention has the following beneficial effects:

[0022] The automatic control and obstacle avoidance method of the mountain steep slope unmanned rail transport vehicle is that the transport vehicle is equipped with infrared sensors and radar detectors during driving, which can monitor obstacles on the track ahead in real time, and automatically brake and stop when obstacles are detected to avoid collision accidents. By setting an automatic track-changing device, the transport vehicle can automatically switch tracks at the track bifurcation to adapt to different transportation route requirements. The track-changing device is designed with sliders and reinforcement devices to ensure the safety and stability of track switching in a steep slope environment and avoid accidents during the track-changing process of the transport vehicle. The real-time status information of the transport vehicle is transmitted back to the remote control terminal through the wireless communication network, which is convenient for the operator to monitor and adjust the operation of the transport vehicle in real time. Driving status, this design significantly improves the management efficiency of the system, and ensures that remote intervention can be made in emergency situations to ensure the smooth progress of the transportation process. The load monitoring function prevents overloading, automatically stops overloaded vehicles and issues alarms. In addition, the tilt sensor can monitor the tilt angle of the transport vehicle to prevent the transport vehicle from overturning in the case of large slopes or uneven loads, further ensuring driving safety. The detection range of the transport vehicle's radar detector is automatically adjusted according to the vehicle's driving speed, ensuring that the transport vehicle can quickly respond to the appearance of obstacles when driving at high speeds, avoiding insufficient obstacle avoidance response due to excessive speed. This dynamic adjustment function improves the safety performance of the transport vehicle at different driving speeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The figure is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0025] like Figure 1 As shown, a method for automatic control and obstacle avoidance of a mountainous large-slope unmanned rail transport vehicle, the method comprising:

[0026] S1, sending a control command to start the vehicle to the unmanned rail transport vehicle through the remote control terminal;

[0027] S2, the transport vehicle automatically starts according to the received control command and automatically travels along the preset track;

[0028] S3. During the driving process of the transport vehicle, infrared sensors and radar detectors installed on the vehicle body are used to detect obstacles on the track ahead in real time;

[0029] S4: When the sensor or detector detects an obstacle, the vehicle will be automatically braked to stop to avoid a collision.

[0030] S5. Monitor the load of the transport vehicle in real time. When overload is detected, the transport vehicle is prohibited from starting and an alarm is issued;

[0031] S6. When the transport vehicle approaches the destination, the travel distance is detected by the photoelectric encoder to ensure that the transport vehicle can stop at the designated location.

[0032] The working principle of this method is based on the combination of remote control, sensor detection, load monitoring and precise parking technology. Through the instructions issued by the remote control terminal, the transport vehicle can automatically start and travel along the track. Infrared sensors and radar detectors are responsible for real-time detection of obstacles on the front track to ensure driving safety. When an obstacle is detected, the transport vehicle will brake and stop immediately to avoid collision. At the same time, the load sensor can monitor the load of the vehicle body. If overload is found, the vehicle will be prohibited from starting and an alarm will be issued. The photoelectric encoder is used to detect the distance between the transport vehicle and the destination to ensure that the vehicle can stop accurately. This implementation method can effectively improve the safety and automation level of unmanned rail transport vehicles in mountainous and steep slope environments. Automatic start-up is achieved through remote control, which reduces the complexity of manual operation; the sensor detects obstacles on the track in real time to avoid collision accidents; the overload detection and alarm functions ensure the safety of vehicle operation; the use of photoelectric encoders ensures that the vehicle can stop accurately at the designated location, improving the reliability of the system.

[0033] In this embodiment, the infrared sensor can be replaced by other types of detection devices, such as laser sensors or ultrasonic sensors, to meet different detection needs. The detection range of the radar detector can be adjusted according to the actual application scenario, for example, by adjusting its detection angle or sensitivity to adapt to different driving speeds. The photoelectric encoder can also be replaced by a GPS positioning system to achieve higher precision positioning and parking control. The arrangement and type of sensors can also be adjusted according to different environmental conditions.

[0034] In a possible implementation, the transport vehicle transmits the status information of the transport vehicle to the remote control terminal for monitoring in real time via a wireless communication network. The transport vehicle has an automatic marshaling function, specifically by monitoring the relative positions of the transport vehicles through laser rangefinders and limit switches installed in front and behind each transport vehicle.

[0035] This method transmits the operating status of the transport vehicle to the remote control terminal in real time through a wireless communication network, which is convenient for remote monitoring and management. The automatic marshaling function relies on the laser rangefinder and limit switch installed in front and behind each transport vehicle. The laser rangefinder is used to accurately measure the distance between the transport vehicles, and the limit switch triggers the control system to adjust when the vehicles are too close or too far, ensuring that the relative positions between the vehicles maintain a reasonable distance. This implementation method improves the flexibility and automation level of the unmanned rail transportation system through real-time monitoring and automatic marshaling functions. The application of wireless communication networks ensures the timely transmission of transport vehicle status information, which is convenient for remote monitoring and fault handling; the automatic marshaling function reduces human intervention and optimizes the coordination of multi-vehicle linkage through the combination of laser rangefinders and limit switches.

[0036] In this embodiment, the wireless communication network can adopt different communication modes, such as 5G, LoRa or other low-power wide area network technologies that are suitable for mountainous and steep slope environments to meet the data transmission requirements in different environments. The laser rangefinder can be replaced with other distance measuring devices, such as an ultrasonic rangefinder or a radar rangefinder. The triggering conditions of the limit switch can be adjusted according to the actual application scenario, for example, different reaction times can be set at different transport vehicle distances.

[0037] In a possible implementation, the transport vehicle has a rollover monitoring function, which monitors the inclination of the vehicle body in real time through inclination sensors installed on both sides of the trailer. When the inclination exceeds a preset safety range, a rollover warning is issued and the transport vehicle is stopped.

[0038] The core of this implementation is to monitor the tilt of the transport vehicle in real time through the inclination sensor. When the vehicle body is subjected to external force or is in an unstable terrain, the inclination sensors on both sides of the trailer will detect the left and right inclination angles of the vehicle body and compare them with the preset safety threshold. If the inclination angle exceeds the safety threshold, the sensor will send a warning signal, and the system will automatically trigger emergency braking to stop the operation of the transport vehicle to avoid vehicle overturning accidents. Through the application of inclination sensors, this implementation can effectively prevent the risk of overturning of the transport vehicle under large slopes or complex terrain conditions, thereby improving the safety of the overall transportation system. The real-time monitoring function ensures an immediate response when the inclination exceeds the safe range, and accidents are avoided by stopping the vehicle. At the same time, the overturning warning function provides operators with timely risk warnings, which is conducive to further investigation and handling of possible hidden dangers.

[0039] In this embodiment, the tilt sensor can be selected in different models and sensitivities according to different monitoring requirements. In addition to the tilt sensor, the overturning monitoring can also be realized by an acceleration sensor or a gyroscope to enhance the multi-directional detection capability of the system. The response threshold of the system can also be adjusted according to the different road conditions and load weights of the transport vehicle to meet different safety requirements.

[0040] In a possible implementation, the transport vehicle automatically controls track switching at the track bifurcation through an installed track changing device, thereby achieving the conversion of the vehicle between different branch tracks.

[0041] The method realizes automatic track switching of the transport vehicle at the track bifurcation through a track changing device. The track changing device is composed of a track changing slider and a track reinforcement device. When the transport vehicle approaches the bifurcation, the control system controls the track changing slider to move to the target track position according to the preset driving route, and ensures that the switching point can bear the weight of the transport vehicle through the track reinforcement device, so that the vehicle can smoothly transition to the new track. Through the automatically controlled track changing device, the transport vehicle can flexibly respond to the driving needs at the track bifurcation, reduce the intervention of manual operation, and ensure the stability and safety when switching tracks. The combination of the track changing slider and the reinforcement device ensures the reliability of the system, especially when the transport vehicle is fully loaded, it can also bear the weight of the vehicle, thereby improving the carrying capacity of the system.

[0042] In different application scenarios, the structure and working mode of the track change device can be adjusted according to actual needs. The track change slider can be driven electrically or hydraulically, and the appropriate drive mode is selected according to the size of the transport vehicle and the track specifications. The material and design of the track reinforcement device can also be optimized according to the required load, such as using high-strength alloys or composite materials to enhance the stability and durability of the track.

[0043] In a possible implementation, an adjustable pan-tilt camera is installed at the front and rear of the transport vehicle to transmit video data during driving to a remote control terminal in real time.

[0044] This implementation method realizes all-round video monitoring during driving by installing two adjustable pan-tilt cameras at the front and rear of the transport vehicle. The camera can adjust the shooting angle according to real-time needs to ensure that the front and rear track conditions can be fully monitored. The video data captured by the camera is transmitted to the remote control terminal in real time via the wireless communication network, which is convenient for operators to remotely monitor and make decisions on the driving status of the transport vehicle. The application of front and rear pan-tilt cameras greatly improves the driving safety of the transport vehicle. Operators can understand the track conditions through real-time video data and respond in time. In addition, the design of the adjustable pan-tilt allows the camera to flexibly adjust the shooting angle as needed to ensure that there are no blind spots for monitoring, thereby further improving the monitoring coverage and accuracy of the system.

[0045] In this implementation, the PTZ camera can select devices with different resolutions or camera angles according to actual needs. For applications in special environments, an infrared camera with night vision function or a camera device with waterproof and dustproof design can be used to ensure stable operation in harsh environments. The wireless transmission part can also select a transmission technology with higher bandwidth or low latency to improve the transmission efficiency of video data.

[0046] In a possible implementation, the wireless communication network adopts a MESH networking mode, and multiple wireless base stations are arranged along the track to ensure low-latency data transmission of the transport vehicle throughout the track and realize seamless communication between the transport vehicle and the remote control center.

[0047] The working principle of this implementation method is based on the MESH network structure. By deploying multiple wireless base stations along the track, a stable, low-latency communication network is constructed. The MESH network has self-healing and expansion capabilities. When a node fails, it can automatically find an alternative communication path to ensure uninterrupted communication between the transport vehicle and the remote control center. During the driving process, the transport vehicle transmits status information, video data and control instructions in real time through the wireless base station to ensure the stability and low latency of the communication process. The use of the MESH network greatly improves the communication reliability of the transport vehicle in complex environments. Because the MESH network has self-healing capabilities, even if a wireless base station fails, the system can automatically continue to transmit data through other base stations to avoid communication interruptions. At the same time, the low latency characteristics of the network ensure that information between the transport vehicle and the remote control terminal can be transmitted in real time, improving the response speed and safety of the entire unmanned driving system.

[0048] In this embodiment, the wireless communication network can adopt different networking technologies according to environmental requirements, such as 5G network, Wi-Fi 6 or low-power wide area network (LPWAN) technology. The layout density of wireless base stations can be adjusted according to the length of the track, the running speed of the transport vehicle and the communication requirements. In order to enhance the stability of communication, backup communication equipment can also be added at key locations to ensure the redundancy and reliability of the network.

[0049] In a possible implementation, the track changing device includes a track changing slider and a track reinforcement device. When the transport vehicle needs to change tracks, the track changing slider will slide to the required track gap, and the reinforcement device will ensure that the track changing point can bear the weight of the transport vehicle.

[0050] The design of the track-changing device consists of a track-changing slider and a track reinforcement device. When the transport vehicle travels to the track bifurcation, the control system controls the track-changing slider to move to the target track gap according to the preset route, and the sliding process of the track-changing slider accurately locates the switching position of the target track. The track reinforcement device is activated during the track change to ensure that the load-bearing capacity of the track switching point is enhanced to bear the weight of the transport vehicle and avoid deviation or instability of the transport vehicle during track switching. This embodiment can ensure that the transport vehicle can smoothly and accurately perform track change operations at the track bifurcation. Through the cooperation of the track reinforcement device, the operation of the track-changing slider is more stable, especially in the case of large slopes or load-bearing transportation, effectively preventing track damage or transport vehicle derailment caused by track change operations. In addition, this design enhances the overall load-bearing capacity of the system and improves the safety and reliability of the transportation system.

[0051] The drive mode of the track change slider can be hydraulically driven, pneumatically driven or electrically driven according to the needs. The design of the track reinforcement device can adopt a modular structure to facilitate maintenance and replacement. In the case of high load or high-speed operation, you can choose to use higher strength materials to reinforce the track, or use multi-point reinforcement to enhance the structural stability of the track change.

[0052] In a possible implementation, the tilt sensor can monitor the left and right tilt angles of the trailer in real time. When the tilt angle exceeds a set safety threshold, the transport vehicle is automatically stopped and a warning signal is sent to the remote control terminal.

[0053] This embodiment uses a tilt sensor to monitor the left and right tilt angles of the trailer in real time. The tilt sensor can detect the inclination of the transport vehicle caused by the center of gravity shift or terrain changes during driving. When it is detected that the tilt angle exceeds the preset safety range, the system immediately triggers emergency braking, stops the operation of the transport vehicle, and sends a warning signal to the remote control terminal so that the remote operator can handle it in time. This embodiment enhances the safety of the transport vehicle in mountainous environments with large slopes. By monitoring the inclination in real time and automatically stopping the operation of the transport vehicle when it exceeds the safety threshold, accidents caused by overturning are effectively prevented. At the same time, the warning signal can promptly notify the remote control center, making it convenient for operators to take emergency measures or remotely troubleshoot faults. This design is particularly suitable for rail transportation in mountainous or uneven terrain, and effectively improves the stability of the transport vehicle.

[0054] The sensitivity and monitoring range of the inclination sensor can be adjusted according to the size of the transport vehicle, the load, and the inclination of the track. In addition, the safety threshold of the inclination angle can be set as an adjustable parameter to adapt to different application scenarios. In environments that require a higher level of safety, multiple inclination sensors can be added to cover different parts of the transport vehicle to achieve multi-point monitoring and further improve the safety of the system.

[0055] In a possible implementation, when multiple vehicles are linked, a laser rangefinder and a limit switch are used to monitor the relative position of each vehicle. The laser rangefinder is used to detect the distance, and the limit switch triggers parking in an emergency.

[0056] This embodiment uses a laser rangefinder to monitor the relative distance between multiple transport vehicles to ensure that they maintain an appropriate distance during linkage operation. The laser rangefinder has a high-precision distance detection function and can monitor the distance changes between the transport vehicles in real time. When the distance between the transport vehicles is less than the set safety range, the limit switch is triggered, and the system automatically controls the parking to avoid collision accidents between vehicles. Through the combination of laser rangefinder and limit switch, this embodiment can ensure the safety and stability of multiple vehicles during linkage. The laser rangefinder provides high-precision distance detection, reducing the risk of vehicle distance loss during linkage, while the limit switch provides an emergency parking mechanism that can quickly stop the vehicle in an emergency and prevent collision accidents.

[0057] Laser rangefinders can be replaced according to different accuracy requirements, such as ultrasonic rangefinders or radar rangefinders. The triggering conditions of limit switches can be adjusted, such as adding a multi-level alarm mechanism, which first issues a warning signal when the distance approaches the threshold, and then performs an emergency stop operation when the distance is too close. It can also be combined with an autonomous driving algorithm to achieve automatic vehicle deceleration and distance adjustment through software.

[0058] In one possible implementation, the transport vehicle ensures detection accuracy through infrared sensors and radar detectors. The detection range of the radar detector can be dynamically adjusted according to the driving speed of the transport vehicle. The faster the transport vehicle travels, the larger the detection range of the radar is, so as to ensure the obstacle avoidance reaction time of the transport vehicle when driving at high speed.

[0059] In this embodiment, the infrared sensor and the radar detector are used in combination to ensure that the transport vehicle can accurately detect obstacles ahead during driving. The infrared sensor is responsible for detecting obstacles at close range, while the radar detector is used for medium and long-range detection. In order to ensure the obstacle avoidance effect of the transport vehicle at different speeds, the detection range of the radar detector can be dynamically adjusted according to the driving speed of the transport vehicle. Specifically, when the transport vehicle is slow, the detection range of the radar is small to save energy; when the transport vehicle is fast, the detection range of the radar increases, thereby providing more reaction time for the obstacle avoidance system to avoid collision accidents. By dynamically adjusting the detection range of the radar detector, this embodiment can effectively improve the obstacle avoidance ability of the transport vehicle at different speeds. The combined use of infrared sensors and radar detectors ensures the accuracy of obstacle detection. The radar detection range is adjusted according to the speed change, so that the transport vehicle can still obtain sufficient reaction time when driving at high speed, avoiding safety hazards caused by insufficient detection range. At the same time, the dynamic adjustment design optimizes energy consumption management and ensures the efficiency and safety of the system under different speed conditions.

[0060] In this embodiment, the infrared sensor can be replaced with other short-range detection devices, such as laser sensors, to improve the accuracy of short-range detection. The detection range of the radar detector can also be optimized through software algorithms so that it can be adjusted not only according to speed, but also according to environmental complexity or obstacle density. In addition, the dynamic adjustment function can also be combined with other sensor data (such as light sensors or terrain sensors) to achieve a more intelligent obstacle avoidance response.

[0061] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for automatic control and obstacle avoidance of an unmanned rail transport vehicle with a large slope in a mountainous area, characterized in that: The method comprises: S1, sending a control command to start the vehicle to the unmanned rail transport vehicle through the remote control terminal; S2, the transport vehicle automatically starts according to the received control command and automatically travels along the preset track; S3. During the driving process of the transport vehicle, infrared sensors and radar detectors installed on the vehicle body are used to detect obstacles on the track ahead in real time; S4: When the sensor or detector detects an obstacle, the vehicle will be automatically braked to stop to avoid a collision. S5. Monitor the load of the transport vehicle in real time. When overload is detected, the transport vehicle is prohibited from starting and an alarm is issued; S6. When the transport vehicle approaches the destination, the travel distance is detected by the photoelectric encoder to ensure that the transport vehicle can stop at the designated location.

2. The automatic control and obstacle avoidance method for a mountainous high-slope unmanned rail transport vehicle according to claim 1 is characterized by: The transport vehicle transmits the status information of the transport vehicle to the remote control terminal for monitoring in real time through the wireless communication network. The transport vehicle has an automatic grouping function, which specifically monitors the relative positions between the transport vehicles through laser rangefinders and limit switches installed in front and behind each transport vehicle.

3. The automatic control and obstacle avoidance method for a mountainous high-slope unmanned rail transport vehicle according to claim 1 is characterized by: The transport vehicle has a rollover monitoring function, which monitors the inclination of the vehicle body in real time through the inclination sensors installed on both sides of the trailer. When the inclination exceeds a preset safety range, a rollover warning is issued and the transport vehicle is stopped.

4. The automatic control and obstacle avoidance method for a mountainous high-slope unmanned rail transport vehicle according to claim 1 is characterized by: The transport vehicle automatically controls track switching at the track bifurcation through the installed track changing device, so as to realize the conversion of the vehicle between different branch tracks.

5. The automatic control and obstacle avoidance method for a mountainous high-slope unmanned rail transport vehicle according to claim 1 is characterized by: The transport vehicle is provided with an adjustable pan-tilt camera at the front and rear to transmit the video data of the driving process to the remote control terminal in real time.

6. The automatic control and obstacle avoidance method for a mountainous high-slope unmanned rail transport vehicle according to claim 2 is characterized by: The wireless communication network adopts a MESH networking mode, and multiple wireless base stations are arranged along the track to ensure low-latency data transmission of the transport vehicle throughout the track, and realize seamless communication between the transport vehicle and the remote control center.

7. The automatic control and obstacle avoidance method for a mountainous high-slope unmanned rail transport vehicle according to claim 4 is characterized by: The track changing device includes a track changing slider and a track reinforcement device. When the transport vehicle needs to change tracks, the track changing slider will slide to the required track gap, and the reinforcement device will ensure that the track changing position can bear the weight of the transport vehicle.

8. The automatic control and obstacle avoidance method for a mountainous high-slope unmanned rail transport vehicle according to claim 3 is characterized by: The tilt sensor can monitor the left and right tilt angles of the trailer in real time. When the tilt angle exceeds a set safety threshold, the transport vehicle is automatically stopped and a warning signal is sent to the remote control terminal.

9. The automatic control and obstacle avoidance method for a mountainous high-slope unmanned rail transport vehicle according to claim 2, characterized in that: When multiple vehicles are linked, the relative position of each vehicle is monitored by a laser rangefinder and a limit switch. The laser rangefinder is used to detect the distance, and the limit switch triggers parking in an emergency.

10. The automatic control and obstacle avoidance method for a mountainous high-slope unmanned rail transport vehicle according to claim 1, characterized in that: The transport vehicle ensures detection accuracy through infrared sensors and radar detectors. The detection range of the radar detector can be dynamically adjusted according to the driving speed of the transport vehicle. The faster the transport vehicle travels, the larger the detection range of the radar is, so as to ensure the obstacle avoidance reaction time of the transport vehicle when driving at high speed.

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