An unmanned open-pit mine material management system based on high-precision positioning and local area network

Abstract

This invention belongs to the field of material management technology and discloses an unmanned open-pit mine material management system based on high-precision positioning and local area network. The system includes: deploying dual-frequency real-time dynamic differential global navigation satellite system receivers at key locations of the electric shovel to calculate the absolute coordinates of the shovel teeth in real time; pre-setting high-resolution geological exploration layers and establishing a mapping relationship table between geofences and material types; collaboratively verifying loading events between the electric shovel and the mining truck; connecting other modules and performing concurrent transmission of multi-source data; this invention effectively realizes closed-loop management of the entire material chain through high-precision material positioning, intelligent identification, collaborative verification, and high-speed communication.

Description

Technical Field

[0001] This invention belongs to the field of material management technology, and in particular relates to an unmanned open-pit mineral material management system based on high-precision positioning and local area network. Background Technology

[0002] Currently, existing electric shovel positioning technologies, such as single-point GNSS or base station differential, can only obtain the body position with meter-level accuracy. They cannot calculate the absolute geographic coordinates of the bucket tip in real time. Furthermore, the position of the bucket estimated by geometric models has an error of up to decimeters to meters, making it difficult to associate with specific geological blocks. This results in material traceability remaining at the mine level and failing to achieve refined statistics at the bucket level. In addition, existing solutions rely on installing weight sensors, laser spectrometers or cameras in the bucket to directly detect material properties, which has problems such as high cost, easy wear and tear, and sensitivity to environmental interference. On the other hand, manual visual judgment is inefficient and highly subjective. Neither of them can meet the requirements of automated and highly reliable material classification. Finally, traditional systems rely solely on the single-end signal of the electric shovel to determine "effective digging-loading" events, which cannot verify whether the material has actually been loaded into the target mining truck. The lack of a collaborative confirmation mechanism at the mining truck end leads to invalid actions such as empty buckets, spillage, and accidental unloading being incorrectly included in the production output, resulting in serious distortion of statistical data. Summary of the Invention

[0003] To address some or all of the technical problems existing in the prior art, this invention provides an unmanned open-pit mineral material management system based on high-precision positioning and local area network.

[0004] The unmanned open-pit mine material management system based on high-precision positioning and local area network provided by this invention includes: The high-precision positioning and attitude sensing module is used to deploy dual-frequency real-time dynamic differential global navigation satellite system receivers at key locations of the electric shovel to calculate the absolute coordinates of the bucket teeth in real time. The geological model database module is used to pre-set high-resolution geological exploration layers and establish a mapping table between geographic fences and material types. The electric shovel and mining truck collaborative logic interaction module is used for collaborative verification of loading events between the electric shovel and the mining truck. The local communication network module is used to connect other modules and perform concurrent transmission of multi-source data.

[0005] Furthermore, in the aforementioned unmanned open-pit mine material management system based on high-precision positioning and local area network, the high-precision positioning and attitude perception module includes: The electric shovel key point calibration unit is used to calibrate the origin of the carrier coordinate system in the electric shovel and to calibrate the rotation center of the electric shovel as the key point of the electric shovel. The electric shovel mobile station unit is used to deploy the electric shovel mobile station at the shovel's rotation center. It uses a dual-frequency real-time dynamic differential global navigation satellite system receiver to acquire the raw observation data of the electric shovel. The electric shovel fixed station unit is used to be deployed at a known point in the carrier coordinate system and to generate satellite differential signals in real time based on satellite signals. The sensor deployment unit is used to deploy tilt sensors and rotary encoders on the boom or stick of the electric shovel to acquire the structural attitude of the electric shovel in real time. The data fusion and calculation unit is used to receive raw observation data and satellite differential signals, calculate the three-dimensional offset of the electric shovel bucket tip according to the kinematic model, and output the absolute coordinates of the electric shovel during digging by combining real-time dynamic differential positioning.

[0006] Furthermore, in the aforementioned unmanned open-pit mine material management system based on high-precision positioning and local area network, the data fusion and calculation unit includes: The data input block is used to automatically input the absolute coordinates of the shovel's rotation center, key structural dimensions of the shovel, height of the shovel platform, height of the push shaft, horizontal distance from the center of the push shaft to the rotation center, stick length, bucket geometric length, and fixed angle between the bucket and stick. Key variable data blocks are used to acquire real-time data on rotation angle, pushing distance, and lifting cable length from sensors. The coordinate calculation block is used to calculate the coordinate data of the center point of the push shaft; calculate the relative coordinate data between the bucket tooth tip and the center of the push shaft within the push platform; project the relative coordinate data to the geodetic coordinate system to obtain the projection offset data; and combine the relative coordinate data of the center of the push shaft with the projection offset data to obtain the absolute coordinate data of the bucket tooth tip.

[0007] Furthermore, in the aforementioned unmanned open-pit mineral material management system based on high-precision positioning and local area network, the geological model database module includes: a pre-set high-resolution geological exploration layer with an accuracy of no more than 0.5 meters, and each geofence is associated with at least one open-pit mineral material data.

[0008] Furthermore, in the aforementioned unmanned open-pit mining management system based on high-precision positioning and local area network, the truck-shovel collaborative logic interaction module includes: The electric shovel logic unit is used to convert the bucket coordinates based on the attitude information of the mining truck body, and to make logical judgments on the bucket height, bucket lifting status and upper vehicle rotation. When the logical judgment is successful, the electric shovel coordinates are locked and the electric shovel number data, unloading time data and electric shovel coordinate data are transmitted to the mining truck. The mining card logic unit is used to make logical judgments based on the load and the coordinates of the bucket and the mining card within a preset time period. When the load increases within the preset time period and the coordinates of the bucket and the mining card coincide, the data transmitted by the electric shovel is determined to be valid, and the electric shovel number data, mining card number data, loading time data, and digging coordinate data are transmitted to the electric shovel.

[0009] Furthermore, in the aforementioned unmanned open-pit mining management system based on high-precision positioning and local area network, the vehicle-shovel collaborative logic interaction module also includes: realizing signal interaction between the electric shovel and the mining truck based on the local communication network and performing two-way confirmation of open-pit mining loading.

[0010] Furthermore, in the aforementioned unmanned open-pit mine material management system based on high-precision positioning and local area network, the local communication network module includes: The data transmission unit is used for concurrent transmission of data from multiple sources; Attitude data transmission unit, used to continuously transmit attitude data according to a preset transmission frequency; The material statistics message unit is used to initiate a material statistics message by the electric shovel after the loading task is completed and transmit it to the mine card for confirmation, thereby managing the open-pit mine.

[0011] Furthermore, the aforementioned unmanned open-pit mine material management system based on high-precision positioning and local area network also includes uploading material data to the unmanned open-pit mine material management platform for statistical processing.

[0012] The main advantages of the technical solution of this invention are as follows: The unmanned open-pit mining material management system based on high-precision positioning and local area network provided by this invention deploys dual-frequency real-time dynamic differential global navigation satellite system receivers at key locations of the electric shovel to calculate the absolute coordinates of the bucket teeth in real time; it pre-sets high-resolution geological exploration layers and establishes a mapping table between geofences and material types; it performs collaborative verification of loading events between the electric shovel and the mining truck; and it connects to other modules and performs concurrent transmission of multi-source data. Through high-precision material positioning, intelligent identification, collaborative verification, and high-speed communication, this invention effectively realizes closed-loop management of the entire material chain. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for further understanding of the embodiments of the present invention and constitute a part of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1A schematic diagram of the unmanned open-pit mineral material management system based on high-precision positioning and local area network provided in an embodiment of the present invention; Figure 2 A schematic diagram of the electric shovel carrier in an unmanned open-pit mineral material management system based on high-precision positioning and local area network is provided for embodiments of the present invention. Figure 3 A schematic diagram illustrating the hardware configuration and working principle of the electric shovel mobile station in an unmanned open-pit mineral material management system based on high-precision positioning and local area network is provided for embodiments of the present invention. Figure 4 This is a schematic diagram illustrating the hardware composition and working principle of the electric shovel fixed station in the unmanned open-pit mineral material management system based on high-precision positioning and local area network provided in an embodiment of the present invention. Figure 5 A schematic diagram of the electric shovel structure in an unmanned open-pit mineral material management system based on high-precision positioning and local area network provided in an embodiment of the present invention; Figure 6 This is a diagram of the longitudinal plane coordinate system of an electric shovel in an unmanned open-pit mineral material management system based on high-precision positioning and local area network provided in an embodiment of the present invention. Figure 7 A logical diagram illustrating the collaborative logic interaction module between the excavator and shovel in an unmanned open-pit mining management system based on high-precision positioning and local area network provided in an embodiment of the present invention. Figure 8 This diagram illustrates the core process for achieving unmanned open-pit mine material management with high-precision positioning and local area network connectivity. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0015] refer to Figure 1 The unmanned open-pit mine material management system based on high-precision positioning and local area network provided in this embodiment of the invention includes the following structure: The high-precision positioning and attitude sensing module is used to deploy dual-frequency real-time dynamic differential global navigation satellite system receivers at key locations of the electric shovel to calculate the absolute coordinates of the bucket teeth in real time. The geological model database module is used to pre-set high-resolution geological exploration layers and establish a mapping table between geographic fences and material types. The electric shovel and mining truck collaborative logic interaction module is used for collaborative verification of loading events between the electric shovel and the mining truck. The local communication network module is used to connect other modules and perform concurrent transmission of multi-source data.

[0016] In this embodiment of the invention, the key position of the electric shovel refers to the position on the electric shovel that achieves high-precision positioning, such as the shovel's rotation center.

[0017] In this embodiment of the invention, the slewing center of the electric shovel refers to the intersection of the lower traveling chassis and the upper slewing platform of the electric shovel.

[0018] In this embodiment of the invention, the dual-frequency real-time dynamic differential global navigation satellite system receiver refers to a machine used to receive satellite signals and satellite differential signals to achieve high-precision positioning.

[0019] In this embodiment of the invention, a high-resolution geological exploration layer refers to a digitized electronic map with geographic coordinate reference, wherein high resolution is used to achieve high-precision positioning.

[0020] In this embodiment of the invention, a geofence refers to a coordinate fence determined based on the geographical location of the open-pit mine, used to represent the geographical location data of the open-pit mine.

[0021] In this embodiment of the invention, the mapping table between geofences and material types refers to a mapping table established based on the correspondence between geofences and open-pit mineral material types, wherein each geofence maps to at least one type of open-pit mineral material.

[0022] In this embodiment of the invention, the accuracy of the preset high-resolution geological exploration layer is no higher than 0.5 meters, and each geofence is associated with at least one open-pit mineral data.

[0023] In this embodiment of the invention, high-precision positioning refers to positioning with a positioning error of no more than 0.5 meters.

[0024] In this embodiment of the invention, the absolute coordinates of the bucket tooth tip refer to the coordinate data used to represent the bucket tooth tip relative to the ground during a digging event, which allows for comparison and statistics of digging times of different equipment and at different times under a unified spatial coordinate system.

[0025] In this embodiment of the invention, a loading event refers to the event in which a mining truck loads open-pit mineral materials.

[0026] In this embodiment of the invention, a local communication network module is used to connect other modules, such as a high-precision positioning and attitude perception module, a geological model database module, and a vehicle-shovel collaborative logic interaction module. The local communication network ensures the security of data communication.

[0027] In this embodiment of the invention, a local communication network, i.e., a local area network (LAN), is used.

[0028] In this embodiment of the invention, multi-source data refers to data generated by multiple sources in each module, such as data generated by various data sources in the high-precision positioning and attitude perception module.

[0029] In this embodiment of the invention, concurrent transmission of multi-source data is performed to ensure the data transmission efficiency of the local communication network.

[0030] In this embodiment of the invention, the high-precision positioning and attitude perception module includes: The electric shovel key point calibration unit is used to calibrate the origin of the carrier coordinate system in the electric shovel and to calibrate the rotation center of the electric shovel as the key point of the electric shovel. The electric shovel mobile station unit is used to deploy the electric shovel mobile station at the shovel's rotation center. It uses a dual-frequency real-time dynamic differential global navigation satellite system receiver to acquire the raw observation data of the electric shovel. The electric shovel fixed station unit is used to be deployed at a known point in the carrier coordinate system and to generate satellite differential signals in real time based on satellite signals. The sensor deployment unit is used to deploy tilt sensors and rotary encoders on the boom or stick of the electric shovel to acquire the structural attitude of the electric shovel in real time. The data fusion and calculation unit is used to receive raw observation data and satellite differential signals, calculate the three-dimensional offset of the electric shovel bucket tip according to the kinematic model, and output the absolute coordinates of the electric shovel during digging by combining real-time dynamic differential positioning.

[0031] In embodiments of the present invention, such as Figure 2 As shown, the electric shovel mainly includes a positioning antenna, a directional antenna, and a receiver, and the origin of the carrier coordinate system is set on the electric shovel.

[0032] In this embodiment of the invention, the origin of the carrier coordinate system is marked in the electric shovel and the rotation center of the electric shovel is marked as the key point of the electric shovel. For example, the origin of the carrier coordinate system is marked on the rotation center of the electric shovel.

[0033] In this embodiment of the invention, a mobile electric shovel station is deployed at the shovel's rotation center to acquire the shovel's raw observation data; one or more fixed electric shovel stations are deployed at known points in the carrier coordinate system to generate satellite differential signals in real time based on satellite signals.

[0034] In embodiments of the present invention, such as Figure 3 As shown, the hardware structure and working principle of the electric shovel mobile station are as follows: by receiving GPS signals and GPS differential signals, it generates the original pose data of the electric shovel and transmits it to the electric shovel industrial control computer, and exchanges data with the main server to achieve high-precision positioning.

[0035] In this embodiment of the invention, the original pose data of the electric shovel refers to the electric shovel position data and electric shovel attitude data obtained by the dual-frequency real-time dynamic differential global navigation satellite system receiver.

[0036] In embodiments of the present invention, such as Figure 4 As shown, the hardware composition and working principle of the electric shovel fixed station are as follows: the electric shovel fixed station base station receives satellite signals, such as GPS signals received through the Huace P2E base station, and transmits them to the differential signal transmitting base station radio via a dual male serial port adapter cable and RS232 communication protocol. The satellite differential signal is then output in real time, such as GPS differential signals transmitted to the DL8 base station radio.

[0037] In this embodiment of the invention, a tilt sensor and a rotary encoder are deployed, wherein the tilt sensor has an accuracy of ±0.1 degrees fluctuation.

[0038] In this embodiment of the invention, the tilt sensor is used to monitor the tilt angle of the electric shovel boom or the electric shovel stick.

[0039] In this embodiment of the invention, the rotary encoder is used to monitor the offset angle of the electric shovel bucket when it sets its initial position with the rotation center as the origin.

[0040] In this embodiment of the invention, the raw observation data refers to the electric shovel position data and electric shovel attitude data obtained from the dual-frequency real-time dynamic differential global navigation satellite system receiver, and the data has not been processed.

[0041] In this embodiment of the invention, the electric shovel's structural posture, i.e., the electric shovel's posture data.

[0042] In this embodiment of the invention, the kinematic model refers to a mathematical model built on the electric shovel structure, used to calculate absolute coordinates in real time.

[0043] In this embodiment of the invention, the three-dimensional offset of the tip of the electric shovel bucket refers to the coordinate offset generated by the tip of the electric shovel bucket during coordinate transformation.

[0044] In this embodiment of the invention, the absolute coordinates during electric shovel digging refer to the coordinate data of the bucket tip relative to the ground during electric shovel digging.

[0045] In this embodiment of the invention, the data fusion and resolution unit includes: The data input block is used to automatically input the absolute coordinates of the shovel's rotation center, key structural dimensions of the shovel, height of the shovel platform, height of the push shaft, horizontal distance from the center of the push shaft to the rotation center, stick length, bucket geometric length, and fixed angle between the bucket and stick. Key variable data blocks are used to acquire real-time data on rotation angle, pushing distance, and lifting cable length from sensors. The coordinate calculation block is used to calculate the coordinate data of the center point of the push shaft; calculate the relative coordinate data between the bucket tooth tip and the center of the push shaft within the push platform; project the relative coordinate data to the geodetic coordinate system to obtain the projection offset data; and combine the relative coordinate data of the center of the push shaft with the projection offset data to obtain the absolute coordinate data of the bucket tooth tip.

[0046] In this embodiment of the invention, the absolute coordinate data of the shovel's rotation center is (X0, Y0, Z0).

[0047] In this embodiment of the invention, the key structural dimensions of the electric shovel and the fixed angle between the bucket and the stick are fixed data, that is, the data values ​​are fixed.

[0048] In this embodiment of the invention, the slewing platform height data refers to the distance data from the ground to the electric shovel platform surface; the push shaft height data refers to the vertical distance data from the platform surface to the center of the push shaft; and the bucket geometric length data refers to the distance data from the hinge point on the back of the bucket to the tip of the bucket teeth.

[0049] In an embodiment of the present invention, reference is made to Figure 5 It acquires data input and obtains key variable data based on sensors.

[0050] In this embodiment of the invention, the rotation angle data is set to 0 degrees in the due north direction and increases in the clockwise direction.

[0051] In this embodiment of the invention, the pushing distance data refers to the length of the pushing transmission rack extending out.

[0052] In this embodiment of the invention, the length data of the lifting steel rope refers to the length data of the steel rope released from the lifting drum.

[0053] In this embodiment of the invention, the coordinate data (X_pivot, Y_pivot, Z_pivot) of the center point of the push shaft are calculated. X_pivot = X0 + horizontal distance from the center of the thrust shaft to the center of rotation. Rotation angle data +180°); Y_pivot = Y0 + horizontal distance from the center of the thrust shaft to the center of rotation Rotation angle data +180°); Z_pivot = Z0 + rotary platform height data + push shaft height data.

[0054] In this embodiment of the invention, the pushing shaft is fixed on the electric shovel arm, and there is a fixed offset between the pushing shaft and the rotation center of the electric shovel.

[0055] In embodiments of the present invention, such as Figure 6As shown, a two-dimensional coordinate system is established on the longitudinal plane of the electric shovel, with the center of the pushing axis as the origin of the two-dimensional coordinate system, the horizontal forward direction as the positive X-axis direction, and the vertical upward direction as the positive Y-axis direction.

[0056] In this embodiment of the invention, an inclinometer is installed on the stick saddle to obtain the angle data between the stick and the horizontal plane.

[0057] In this embodiment of the invention, the relative coordinate data between the bucket tooth tip and the center of the pushing axis are calculated within the pushing platform based on the angle data between the stick and the horizontal plane and the fixed angle data between the bucket and the stick: Among them, the horizontal component of the relative coordinate data between the bucket tooth tip and the center of the push shaft is equal to the stick length data. (Angle data between the boom and the horizontal plane) + Bucket geometric length data (Angle data between the boom and the horizontal plane + fixed angle data between the bucket and the boom); Vertical component data = pole length data (Angle data between the boom and the horizontal plane) + Bucket geometric length data (Angle data between the boom and the horizontal plane + fixed angle data between the bucket and the boom).

[0058] In this embodiment of the invention, the fixed angle data between the bucket and the stick is used to simplify calculations. In actual operation, the angle data between the bucket and the stick varies within a certain angle range.

[0059] In this embodiment of the invention, when relative coordinate data is projected onto a geodetic coordinate system, the directions of the horizontal and vertical component data are determined by the shovel rotation angle data.

[0060] In this embodiment of the invention, the projection offset data is obtained as follows: X-axis projection offset data = horizontal component data. Electric shovel rotation angle data); Y-axis projection offset data = horizontal component data Electric shovel rotation angle data); Z-axis projection offset data = vertical component data.

[0061] In this embodiment of the invention, the relative coordinate data of the center of the pushing axis and the projection offset data are combined to obtain the absolute coordinate data of the bucket tooth tip: X-axis absolute coordinate data = X_pivot + X-axis projection offset data; Y-axis absolute coordinate data = Y_pivot + Y-axis projection offset data; Z-axis absolute coordinate data = Z_pivot + Z-axis projection offset data.

[0062] In this embodiment of the invention, if the Z-axis projection offset data is negative, it indicates that the tooth tip is below the center of the push axis.

[0063] In an embodiment of the present invention, reference is made to Figure 7 The collaborative logic interaction module between the excavator and the shovel includes: The electric shovel logic unit is used to convert the bucket coordinates based on the attitude information of the mining truck body, and to make logical judgments on the bucket height, bucket lifting status and upper vehicle rotation. When the logical judgment is successful, the electric shovel coordinates are locked and the electric shovel number data, unloading time data and electric shovel coordinate data are transmitted to the mining truck. The mining card logic unit is used to make logical judgments based on the load and the coordinates of the bucket and the mining card within a preset time period. When the load increases within the preset time period and the coordinates of the bucket and the mining card coincide, the data transmitted by the electric shovel is determined to be valid, and the electric shovel number data, mining card number data, loading time data, and digging coordinate data are transmitted to the electric shovel.

[0064] In this embodiment of the invention, the bucket coordinates are converted based on the attitude information of the mining truck body, and logical judgments are made on the bucket height, bucket lifting status, and upper vehicle slewing. For example, when the bucket height is less than 1 meter, it is determined whether the bucket is lifted; when the bucket is lifted, it is determined whether the bucket height is not less than 8 meters; when the bucket height is not less than 8 meters, it is determined whether the upper vehicle is slewing; when the upper vehicle is slewing, the logical judgment passes.

[0065] In this embodiment of the invention, the load increases within a preset time period, for example, the load increases within 1 minute.

[0066] In this embodiment of the invention, the truck-shovel collaborative logic interaction module further includes: realizing signal interaction between the electric shovel and the mining truck based on a local communication network and performing bidirectional confirmation of open-pit mining material loading.

[0067] In this embodiment of the invention, the local communication network module includes: The data transmission unit is used for concurrent transmission of data from multiple sources; Attitude data transmission unit, used to continuously transmit attitude data according to a preset transmission frequency; The material statistics message unit is used to initiate a material statistics message by the electric shovel after the loading task is completed and transmit it to the mine card for confirmation, thereby managing the open-pit mine.

[0068] In this embodiment of the invention, the material statistics message refers to the message generated by statistically analyzing the loading and unloading of materials, which is used for material management.

[0069] In embodiments of the present invention, such as Figure 8 As shown, the material data is uploaded to the unmanned open-pit mine material management platform for statistical processing. The unmanned open-pit mine material management platform refers to the geological map platform, which is constructed from high-resolution geological exploration layers and is used to manage open-pit mine materials.

[0070] In this embodiment of the invention, the preset transmission frequency refers to a transmission frequency of 1-10Hz.

[0071] In this embodiment of the invention, attitude data refers to electric shovel attitude data.

[0072] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, the terms "front," "back," "left," "right," "upper," and "lower" in this document refer to the placement shown in the accompanying drawings.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned open-pit mine material management system based on high-precision positioning and local area network, characterized in that, include: The high-precision positioning and attitude sensing module is used to deploy dual-frequency real-time dynamic differential global navigation satellite system receivers at key locations of the electric shovel to calculate the absolute coordinates of the bucket teeth in real time. The geological model database module is used to pre-set high-resolution geological exploration layers and establish a mapping table between geographic fences and material types. The electric shovel and mining truck collaborative logic interaction module is used for collaborative verification of loading events between the electric shovel and the mining truck. The local communication network module is used to connect other modules and perform concurrent transmission of multi-source data.

2. The unmanned open-pit mine material management system based on high-precision positioning and local area network as described in claim 1, characterized in that, The high-precision positioning and attitude perception module includes: The electric shovel key point calibration unit is used to calibrate the origin of the carrier coordinate system in the electric shovel and to calibrate the rotation center of the electric shovel as the key point of the electric shovel. The electric shovel mobile station unit is used to deploy the electric shovel mobile station at the shovel's rotation center. It uses a dual-frequency real-time dynamic differential global navigation satellite system receiver to acquire the raw observation data of the electric shovel. The electric shovel fixed station unit is used to be deployed at a known point in the carrier coordinate system and to generate satellite differential signals in real time based on satellite signals. The sensor deployment unit is used to deploy tilt sensors and rotary encoders on the boom or stick of the electric shovel to acquire the structural attitude of the electric shovel in real time. The data fusion and calculation unit is used to receive raw observation data and satellite differential signals, calculate the three-dimensional offset of the electric shovel bucket tip according to the kinematic model, and output the absolute coordinates of the electric shovel during digging by combining real-time dynamic differential positioning.

3. The unmanned open-pit mine material management system based on high-precision positioning and local area network according to claim 2, characterized in that, The data fusion and processing unit includes: The data input block is used to automatically input the absolute coordinates of the shovel's rotation center, key structural dimensions of the shovel, height of the shovel platform, height of the push shaft, horizontal distance from the center of the push shaft to the rotation center, stick length, bucket geometric length, and fixed angle between the bucket and stick. Key variable data blocks are used to acquire real-time data on rotation angle, pushing distance, and lifting cable length from sensors. The coordinate calculation block is used to calculate the coordinate data of the center point of the push shaft; calculate the relative coordinate data between the bucket tooth tip and the center of the push shaft within the push platform; project the relative coordinate data to the geodetic coordinate system to obtain the projection offset data; and combine the relative coordinate data of the center of the push shaft with the projection offset data to obtain the absolute coordinate data of the bucket tooth tip.

4. The unmanned open-pit mine material management system based on high-precision positioning and local area network according to claim 1, characterized in that, The geological model database module includes: pre-set high-resolution geological exploration layers with an accuracy of no more than 0.5 meters, and each geofence is associated with at least one open-pit mineral data.

5. The unmanned open-pit mine material management system based on high-precision positioning and local area network according to claim 1, characterized in that, The collaborative logic interaction module between the excavator and the shovel includes: The electric shovel logic unit is used to convert the bucket coordinates based on the attitude information of the mining truck body, and to make logical judgments on the bucket height, bucket lifting status and upper vehicle rotation. When the logical judgment is successful, the electric shovel coordinates are locked and the electric shovel number data, unloading time data and electric shovel coordinate data are transmitted to the mining truck. The mining card logic unit is used to make logical judgments based on the load and the coordinates of the bucket and the mining card within a preset time period. When the load increases within the preset time period and the coordinates of the bucket and the mining card coincide, the data transmitted by the electric shovel is determined to be valid, and the electric shovel number data, mining card number data, loading time data, and digging coordinate data are transmitted to the electric shovel.

6. The unmanned open-pit mine material management system based on high-precision positioning and local area network according to claim 1, characterized in that, The truck-shovel collaborative logic interaction module also includes: realizing signal interaction between the electric shovel and the mining truck based on a local communication network and performing two-way confirmation of open-pit mining material loading.

7. The unmanned open-pit mine material management system based on high-precision positioning and local area network according to claim 1, characterized in that, The local communication network module includes: The data transmission unit is used for concurrent transmission of data from multiple sources; Attitude data transmission unit, used to continuously transmit attitude data according to a preset transmission frequency; The material statistics message unit is used to initiate a material statistics message by the electric shovel after the loading task is completed and transmit it to the mine card for confirmation, thereby managing the open-pit mine.

8. The unmanned open-pit mine material management system based on high-precision positioning and local area network according to claim 1, characterized in that, It also includes uploading material data to an unmanned open-pit mining management platform for statistical processing.

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