Vehicle-mounted terminal, mine car and positioning system

Abstract

The utility model provides a vehicle-mounted terminal, a mine car and a positioning system, and relates to the technical field of vehicle positioning. The vehicle-mounted terminal comprises a plurality of positioning modules suitable for being arranged on a body of the mine car. Wherein the plurality of positioning modules comprise a positioning master module and at least one positioning slave module, a first communication circuit based on a target wireless short-distance communication technology is arranged in the positioning master module, and a second communication circuit based on the target wireless short-distance communication technology is arranged in the positioning slave module. The first communication circuit and the second communication circuit are respectively in wireless connection with a third communication circuit which is arranged in the positioning reference module and is based on a target wireless short-distance communication technology, and the positioning reference module is fixedly arranged in a mine tunnel where a mine car automatically travels. In this way, the information transmission efficiency can be effectively improved, and the mine car positioning efficiency can be further improved.

Description

Technical Field

[0001] This utility model relates to the field of vehicle positioning technology, and in particular to an on-board terminal, a mining truck and a positioning system. Background Technology

[0002] Currently, in positioning scenarios within underground mining areas, satellite signals are unavailable, and the narrow, bumpy mine tunnels prevent the use of satellite positioning technology for precise location tracking. To address this, a common solution involves establishing markers at different locations within the mine tunnels, storing corresponding geographic location information. When a mining truck reaches a marker, it retrieves the corresponding geographic location information to calibrate its position. These markers are typically QR codes containing geographic location information. When the mining truck enters the area indicated by the QR code, it needs to stop or slow down, and its onboard camera scans the QR code to obtain the coordinates, resulting in low efficiency. Utility Model Content

[0003] One objective of this utility model embodiment is to provide a vehicle-mounted terminal, a mining truck, and a positioning system. Its advantage lies in that, when the mining truck encounters a positioning reference module fixedly installed in the mine tunnel during its automatic movement, the main positioning module in the vehicle-mounted terminal can achieve fast and reliable information transmission through a wireless connection between a first communication circuit based on target wireless short-range communication technology and a third communication circuit based on the same technology in the positioning reference module. Similarly, each positioning slave module in the vehicle-mounted terminal can also achieve fast and reliable information transmission through a wireless connection between a second communication circuit based on the same technology and the third communication circuit. This allows information transmission with the fixed positioning reference module to be achieved without the mining truck stopping, effectively improving information transmission efficiency and further contributing to improved positioning efficiency for the mining truck.

[0004] Another objective of this utility model embodiment is to provide a vehicle-mounted terminal, a mining truck, and a positioning system. Its advantage lies in the fact that, through the wireless connection between the first communication circuit in the positioning master module and the second communication circuit in the positioning slave module, the positioning master module and the positioning slave module can achieve wire harness-free or wireless communication, thereby saving wire harnesses, reducing weight, reducing wire harness failure problems, and reducing the space occupied by wire harness wiring. At the same time, it can also improve the installation convenience of the positioning master module and the positioning slave module, reduce the layout difficulty, and improve the flexibility of functional expansion.

[0005] Another objective of this utility model embodiment is to provide a vehicle-mounted terminal, a mining truck, and a positioning system. Its advantage lies in that by using a CAN bus for communication connection between the positioning master module and the positioning slave module, the communication quality between the positioning master module and the positioning slave module can be enhanced, thereby ensuring the stability and reliability of data transmission between the positioning master module and the positioning slave module.

[0006] Another objective of this utility model embodiment is to provide an on-board terminal, a mining truck, and a positioning system. Its advantage lies in that, by installing radar sensors, inertial measurement units, memory, and domain controllers on the mining truck body in addition to the on-board terminal, and by using the domain controller based on the measurement data of the radar sensors, the measurement data of the inertial measurement units, the high-precision map data in the memory, and the relative position information between the mining truck and the positioning reference module provided by the positioning main module of the on-board terminal, the precise positioning of the mining truck in the mine tunnel can be achieved. Furthermore, the trajectory of the mining truck during its automatic driving process in the mine tunnel can be calibrated.

[0007] Another objective of this utility model embodiment is to provide a vehicle-mounted terminal, a mining truck, and a positioning system. Its advantage lies in that by setting the first, second, and third communication circuits as circuits based on Ultra-Wide Band (UWB) communication technology, it can meet the requirements of highly reliable, efficient, and interference-resistant information transmission.

[0008] Another objective of this utility model embodiment is to provide a vehicle-mounted terminal, a mining truck, and a positioning system. Its advantage lies in that by setting the first, second, and third communication circuits as circuits based on SparkLink wireless short-range communication technology, the requirements for low latency, high security, high reliability, and anti-interference information transmission can be met.

[0009] This utility model provides a vehicle-mounted terminal, including multiple positioning modules suitable for mounting on the body of a mining truck. The multiple positioning modules include a main positioning module and at least one secondary positioning module. The main positioning module is equipped with a first communication circuit based on target wireless short-range communication technology, and the secondary positioning module is equipped with a second communication circuit based on the same technology. The first and second communication circuits are wirelessly connected to a third communication circuit based on the same technology, which is mounted in a positioning reference module. The positioning reference module is fixedly mounted in the mine tunnel where the mining truck travels automatically.

[0010] Another implementation of this utility model provides a mining truck, including a body and an on-board terminal as mentioned in any of the above implementations, mounted on the body.

[0011] Another embodiment of this utility model provides a positioning system, including a mine car as mentioned in any of the above embodiments and at least one positioning reference module suitable for fixed installation in the mine roadway where the mine car travels automatically. The positioning reference module includes a third communication circuit based on target wireless short-range communication technology, which is wirelessly connected to a first communication circuit and a second communication circuit of an on-board terminal in the mine car, respectively. The first and second communication circuits are also based on target wireless short-range communication technology.

[0012] It should be understood that the description in this utility model description section is not intended to limit the key or essential features of the embodiments of this utility model, nor is it intended to restrict the scope of this utility model. Other features of this utility model will become readily apparent from the following description. Attached Figure Description

[0013] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0014] Figure 1 This is a structural block diagram of a vehicle-mounted terminal provided according to some implementations of this utility model;

[0015] Figure 2 This is a schematic diagram showing the connection relationship between the positioning master module and the positioning slave module according to some implementations of this utility model;

[0016] Figure 3 This is a structural block diagram of a mining car provided according to some implementations of this utility model;

[0017] Figure 4 This is a structural block diagram of a mining car provided according to some other implementations of this utility model;

[0018] Figure 5 This is a structural block diagram of a positioning system provided according to some implementations of this utility model. Detailed Implementation

[0019] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description. It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0020] Currently, in positioning scenarios within underground mining areas, satellite signals are unavailable, and the narrow, bumpy mine tunnels prevent the use of satellite positioning technology for precise location tracking. To address this issue, common positioning solutions involve establishing markers at different locations within the mine tunnels, storing corresponding geographic location information. When a mining truck reaches a marker, it retrieves the corresponding geographic location information to calibrate its position. These markers are typically QR codes containing geographic location information. When the mining truck enters the area indicated by the QR code, it needs to stop or slow down, and its onboard camera scans the QR code to obtain the coordinates, resulting in low efficiency. Therefore, a solution that can effectively improve positioning efficiency is needed.

[0021] Please refer to Figure 1 , Figure 1 This utility model provides a structural block diagram of a vehicle-mounted terminal 10, which can be specifically applied to a mining truck. The vehicle-mounted terminal 10 may include multiple positioning modules suitable for mounting on the body of the mining truck. Further, the multiple positioning modules include a main positioning module 101 and at least one secondary positioning module 102. The main positioning module 101 is equipped with a first communication circuit 1010 based on target wireless short-range communication technology, and the secondary positioning module 102 is equipped with a second communication circuit 1020 based on target wireless short-range communication technology. The first and second communication circuits 1010 and 1020 are wirelessly connected to a third communication circuit based on target wireless short-range communication technology, respectively, in a positioning reference module. The positioning reference module is fixedly mounted in the mine tunnel where the mining truck travels automatically.

[0022] According to the vehicle-mounted terminal 1010 provided in this embodiment of the present invention, by respectively setting a first communication circuit 1010 and a second communication circuit 1020 based on target wireless short-range communication technology in a positioning master module 101 and each positioning slave module 102 suitable for being installed on the body of a mining car, when the mining car encounters a positioning reference module fixedly installed in the mining tunnel during its automatic movement in the mine tunnel, the positioning master module 101 can achieve fast and reliable information transmission with the positioning reference module through the wireless connection between the first communication circuit 1010 and the third communication circuit based on target wireless short-range communication technology set in the positioning reference module. Similarly, each positioning slave module 102 can also achieve fast and reliable information transmission with the positioning reference module through the wireless connection between the second communication circuit 1020 and the third communication circuit, without the mining car needing to stop moving, thus effectively improving information transmission efficiency and further contributing to improving the positioning efficiency of the mining car.

[0023] Furthermore, the aforementioned mining trucks can be specifically defined as mining trucks that move automatically in mine tunnels in mining areas (such as underground mining areas) based on intelligent driving or unmanned driving technology.

[0024] Furthermore, the aforementioned positioning reference module may contain its location information (such as coordinate information) within the mine tunnel. This location information can be transmitted to the positioning master module 101 via a wireless connection between the first communication circuit 1010 and the third communication circuit, and can also be transmitted to each positioning slave module 102 via a wireless connection between the second communication circuit 1020 and the third communication circuit. Furthermore, the positioning master module 101 can determine its relative position information with the positioning reference module based on the location information of the positioning reference module; similarly, the positioning slave module 102 can determine its relative position information with the positioning reference module based on the location information of the positioning reference module.

[0025] In some optional implementations of the present invention, the positioning master module 101 and the positioning slave module 102 communicate with each other based on the wireless connection between the first communication circuit 1010 and the second communication circuit 1020.

[0026] In this embodiment, by correspondingly setting a first communication circuit 1010 and a second communication circuit 1020 based on target wireless short-range communication technology in the positioning master module 101 and the positioning slave module 102, the positioning master module 101 and the positioning slave module 102 can achieve wireless communication based on the wireless connection between the first communication circuit 1010 and the second communication circuit 1020, thereby saving wiring harnesses, reducing the weight of the vehicle terminal 10, reducing wiring harness failure problems and reducing the space occupied by wiring harness routing. At the same time, it can also improve the installation convenience of the positioning master module 101 and the positioning slave module 102, reduce the layout difficulty, and improve the flexibility of functional expansion.

[0027] Furthermore, in some optional implementations of this utility model, the positioning master module 101 and the positioning slave module 102 are connected via a Controller Area Network (CAN) bus. Furthermore, the positioning slave module 102 can transmit the relative position information between itself and the positioning reference module to the positioning master module 101 via the CAN bus.

[0028] In this embodiment, in order to ensure the stability and reliability of data transmission between the positioning master module 101 and the positioning slave module 102, the communication quality between the positioning master module 101 and the positioning slave module 102 can be enhanced by setting up a CAN bus.

[0029] Furthermore, the positioning slave module 102 can transmit its relative position information with the positioning reference module to the positioning master module 101 based on the aforementioned wireless connection or CAN bus; furthermore, the positioning master module 101 can analyze and process the aforementioned relative position information to determine the current relative position information between the mine car and the positioning reference module, so as to calibrate the position of the mine car.

[0030] It should be understood that, without departing from the teachings of this utility model, the number of the at least one positioning slave module 102 can be multiple. Furthermore, the number of these multiple positioning slave modules 102 can be set according to actual needs, and no specific limitation is made here. In one example of an embodiment of this utility model, two, three, or four positioning slave modules 102 can be provided in the above-mentioned vehicle terminal 1010; specifically, as shown... Figure 2 As shown, the number of the multiple positioning slave modules 102 is 4, and each positioning slave module 102 communicates with the positioning master module 101 via a CAN bus.

[0031] Furthermore, in some optional implementations of this utility model, the aforementioned positioning main module can be located at the head or side of the vehicle body to facilitate effective communication with the positioning reference module fixedly installed in the mine tunnel. It should be noted that the positioning main module can also be located at other positions on the vehicle body besides the head or side positions, depending on specific positioning requirements.

[0032] Furthermore, in some optional implementations of this utility model, the positioning slave module in the vehicle-mounted terminal is located on the side of the vehicle body to facilitate effective communication with the positioning reference module fixedly installed in the mine tunnel. It should be noted that the positioning slave module can also be located in other positions on the vehicle body besides the head or side positions, depending on specific positioning requirements.

[0033] In some optional implementations of this utility model, the first communication circuit 1010 to the third communication circuit based on the target wireless short-range communication technology can, in different implementations, employ different types of communication technologies according to specific needs. That is, the target wireless short-range communication technology can manifest as different types of communication technologies in different implementations to meet diverse positioning needs, thereby further improving positioning efficiency and reliability. Specifically:

[0034] In one implementation, the first communication circuit 1010, the second communication circuit 1020, and the third communication circuit based on the target wireless short-range communication technology can each be based on UWB communication technology. UWB communication technology possesses advantages such as high data transmission rate, low power consumption, high-precision positioning (e.g., centimeter-level positioning accuracy), and strong anti-interference capability, thus meeting the requirements for highly reliable, efficient, and interference-resistant information transmission.

[0035] In another implementation, the first communication circuit 1010, the second communication circuit 1020, and the third communication circuit based on the target wireless short-range communication technology can each be based on the star-flash wireless short-range communication technology. The star-flash wireless short-range communication technology possesses advantages such as low latency, high reliability, high concurrency, and precise synchronization, thereby meeting the requirements for low latency, high security, high reliability, and interference resistance in information transmission.

[0036] Furthermore, in this implementation, the first communication circuit 1010, the second communication circuit 1020, and the third communication circuit based on the target wireless short-range communication technology can each be a circuit based on Sparklink Low Energy (SLE) communication technology. The operating frequency band of wireless short-range communication based on SLE technology is typically 2.4 GHz, which can be used to carry service scenarios with low power consumption and small data volume communication, such as positioning.

[0037] Furthermore, in some optional implementations of this utility model, any of the above-mentioned communication circuits based on target wireless short-range communication technology may include an SLE chip, an SLE antenna, and corresponding peripheral circuit devices that are electrically connected to each other to ensure the stability of the communication circuit operation; wherein, the peripheral circuit devices include, but are not limited to, adapted capacitors, resistors, inductors, etc.

[0038] Please refer to Figure 3 , Figure 3 The present invention provides a structural block diagram of a mining truck 20, which includes a body 201 and an on-board terminal 10 as shown in any of the above embodiments; wherein the on-board terminal 10 is disposed on the body 201.

[0039] It should be noted that the specific composition of the vehicle-mounted terminal 10, the connection relationships between its components, its functions, and the corresponding effects are the same as those described in the corresponding embodiments of the vehicle-mounted terminal 10 above, and will not be repeated here. Thus, according to the mining truck 20 provided by this utility model, by installing the vehicle-mounted terminal 10 on its body 201, efficient positioning of the mining truck can be achieved during its automatic movement in the mine tunnel.

[0040] Furthermore, the aforementioned mining trucks can be specifically defined as mining trucks that move automatically in mine tunnels in mining areas (such as underground mining areas) based on intelligent driving or unmanned driving technology.

[0041] In some optional implementations of this utility model, the positioning main module 101 in the vehicle terminal 10 can be located at the head position of the vehicle body 201 (e.g., Figure 4 The positioning main module 101 (as shown) or the side of the vehicle body 201 is positioned to facilitate effective communication with the positioning reference module fixedly installed in the aforementioned mine tunnel. It should be noted that the connection relationship and corresponding effect description between the positioning main module 101 and the positioning reference module are the same as the corresponding parts in the embodiment regarding the vehicle-mounted terminal 10 described above, and will not be repeated here.

[0042] In some optional implementations of this utility model, the positioning module 102 in the vehicle terminal 10 is located on the side of the vehicle body 201 (e.g., Figure 4 (As shown), this is to facilitate effective communication with the positioning reference module fixedly installed in the aforementioned mine tunnel. It should be noted that the description of the connection relationship and corresponding effect between the positioning module 102 and the positioning reference module is the same as the corresponding part in the embodiment regarding the vehicle-mounted terminal 10 described above, and will not be repeated here.

[0043] It should be noted that the connection relationship, functions, and corresponding effects between the positioning master module 101 and the positioning slave module 102 in the vehicle terminal 10 are the same as the corresponding parts in the above-mentioned embodiments of the vehicle terminal 10, and will not be repeated here.

[0044] In some optional implementations of this utility model, the vehicle body 201 is further provided with a radar sensor 203, an inertial measurement unit (IMU) 204, a memory 205, and a domain controller 202, such as... Figure 4 As shown.

[0045] Specifically, the positioning master module 101 of the vehicle terminal 10 has a first communication connection line with the domain controller 202; the position information in the positioning master module 101 is transmitted to the domain controller 202 through the first communication connection line; wherein, the position information in the positioning master module 101 includes the relative position information between the mine car and the positioning reference module, and the positioning reference module is fixedly installed in the mine roadway where the mine car travels automatically; the radar sensor 203 has a second communication connection line with the domain controller 202; wherein, the radar sensor 203 measures... Measurement data is transmitted to domain controller 202 via a second communication connection line; the inertial measurement unit 204 and domain controller 202 have a third communication connection line; wherein, the measurement data of the inertial measurement unit 204 is transmitted to domain controller 202 via the third communication connection line; and the domain controller 202 is used to determine the current position information of the mine car in the mine tunnel based on the position information in the positioning main module 101, the measurement data of the radar sensor 203, the measurement data of the inertial measurement unit 204 and the high-precision map data in the memory 205. The positioning information in the main positioning module 101 includes the relative position information (such as coordinates and latitude / longitude) between the mine car and the positioning reference module, as determined by the module. The measurement data from the radar sensor 203 may include, but is not limited to, the distance information between the mine car 20 and the positioning reference module, the angle information of the mine car 20 in different directions, and the 3D point cloud data corresponding to the environment in which the mine car 20 is located. The measurement data from the inertial measurement unit 204 includes, but is not limited to, the acceleration and angular velocity information of the mine car 20. The high-precision map data in the memory 205 may specifically refer to the map data corresponding to the mine tunnel or the mining area where the mine tunnel is located. In this way, accurate positioning of the mine car's current position in the mine tunnel can be achieved, and the trajectory of the mine car during its automatic driving process in the mine tunnel can be further calibrated.

[0046] In some optional implementations of the present invention, the radar sensor 203 may include a lidar sensor and a non-lidar sensor.

[0047] In some optional implementations of this utility model, the radar sensor 203 can be installed at the top or head position of the vehicle body 201; the inertial measurement unit 204 can be located near the domain controller 202.

[0048] In some optional implementations of this utility model, the first communication connection line, the second communication connection line, and the third communication connection line may respectively include a Serial Peripheral Interface (SPI) bus or a Universal Asynchronous Receiver / Transmitter (UART) line, which are general serial data buses.

[0049] In some optional implementations of this utility model, the domain controller 202 can be specifically implemented as an intelligent driving domain controller, which can integrate and manage the autonomous driving-related functions of the mining truck, such as adaptive cruise control, collision warning, lane departure and other related functions.

[0050] Furthermore, in some optional implementations of this utility model, the intelligent driving domain controller may include a microcontroller (MCU) and a system-on-chip (SoC) in its hardware architecture, and the microcontroller and SoC can communicate and interact. Specifically, the SoC can be used to implement positioning calculations, that is, based on the position information in the positioning main module 101, the measurement data of the radar sensor 203, the measurement data of the inertial measurement unit 204, and the high-precision map data in the memory 205, the current position information of the mining truck in the mine tunnel is determined, thereby achieving efficient and reliable calibration of the position of the mining truck.

[0051] Please refer to Figure 5 , Figure 5 The present invention provides a structural block diagram of a positioning system 30, which includes a mine car 20 as shown in any of the above embodiments and at least one positioning reference module 301 adapted to be fixedly installed in the mine roadway in which the mine car 20 travels automatically; wherein, the positioning reference module 301 is provided with a third communication circuit 3010 based on target wireless short-range communication technology and wirelessly connected to a first communication circuit and a second communication circuit of the vehicle terminal in the mine car 20, and the first communication circuit and the second communication circuit are respectively based on target wireless short-range communication technology.

[0052] According to the positioning system 30 provided in this embodiment of the present invention, through the wireless connection between each positioning reference module 301 fixedly installed in the mine tunnel and the mine car 20 automatically moving in the mine tunnel, fast and reliable information transmission between each positioning reference module 301 and the mine car 20 is realized. Specifically, the first and second communication circuits of the vehicle terminal in the mine car 20 can be wirelessly connected to the third communication circuit 3010 in the positioning reference module 301, and each communication circuit is based on target wireless short-range communication technology. Therefore, information transmission between the mine car 20 and the positioning reference module 301 fixedly installed in the mine tunnel can be realized without the mine car 20 stopping, which effectively improves the information transmission efficiency and further helps to improve the positioning efficiency of the mine car 20.

[0053] Furthermore, the aforementioned mining truck 20 can specifically refer to a mining truck 20 that automatically moves in a mine tunnel in a mining area (such as an underground mining area) based on intelligent driving or unmanned driving technology.

[0054] In some optional implementations of this utility model, the number of the at least one positioning reference module 301 is multiple. These multiple positioning reference modules 301 can be spaced apart at the edges of the same or different sides of the mine tunnel to ensure that the mine car 20 can establish a communication connection with the corresponding positioning reference module 301 at different positions in the mine tunnel during its movement. It should be understood that, without departing from the teachings of this utility model, the number of the multiple positioning reference modules 301 can be set according to actual needs, and no specific limitation is made here.

[0055] In some optional implementations of this utility model, the positioning reference module 301 stores the location information of the positioning reference module 301 in the mine tunnel; the first communication circuit is set in the positioning master module of the vehicle terminal, and the second communication circuit is set in the positioning slave module of the vehicle terminal; and the location information of the positioning reference module 301 is transmitted to the positioning master module based on the wireless connection between the third communication circuit 3010 and the first communication circuit; the location information of the positioning reference module 301 is transmitted to the positioning slave module based on the wireless connection between the third communication circuit 3010 and the second communication circuit.

[0056] In this embodiment, the location information of the positioning reference module 301 in the mine tunnel can be efficiently and reliably transmitted to the positioning master module through a wireless connection between the third communication circuit 3010 disposed therein and the first communication circuit disposed in the positioning master module disposed in the vehicle terminal; similarly, the location information of the positioning reference module 301 in the mine tunnel can also be efficiently and reliably transmitted to the positioning slave module through a wireless connection between the third communication circuit 3010 and the second communication circuit disposed in the positioning slave module disposed in the vehicle terminal.

[0057] It should be noted that the connection relationship, functions, and corresponding effects of the positioning master module and positioning slave module in the vehicle terminal of the mining truck 20, as well as the functions and corresponding effects of the aforementioned target wireless short-range communication technology, are the same as the corresponding parts in the above embodiments concerning the vehicle terminal and the mining truck 20, and will not be repeated here.

[0058] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "head", "tail", "left", "right", "side", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship of the device or component during normal use. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation at any time, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model in this respect.

[0059] In the accompanying drawings, the thickness, dimensions, and shapes of the parts have been slightly adjusted for ease of illustration. The drawings are for illustrative purposes only and are not drawn to scale. As used herein, the terms “approximately,” “about,” and similar terms are used as expressions of approximation, not as expressions of degree, and are intended to illustrate inherent deviations in measured or calculated values ​​that will be recognized by one of ordinary skill in the art.

[0060] It should also be understood that expressions such as "comprising," "including," "having," "containing," and / or "comprising" are open-ended rather than closed-ended expressions in this specification, indicating the presence of the stated features, elements, and / or components, but not excluding the presence of one or more other features, elements, components, and / or combinations thereof. Furthermore, when describing embodiments of the present invention, the word "may" is used to mean "one or more embodiments of the present invention." The term "exemplary" is intended to refer to an example or illustration, and throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items. Additionally, the terms "first," "second," "third," "fourth," etc., used in this specification are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor do they constitute a specific limitation.

[0061] Unless otherwise specified, all terms used herein (including engineering and technical terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that, unless expressly stated herein, terms defined in common dictionaries shall be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not in an idealized or overly formalized sense.

[0062] The specific embodiments described above do not constitute a limitation on the scope of protection of this utility model. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A vehicle-mounted terminal, characterized in that, include: Multiple positioning modules are suitable for installation on the body of a mining car, and include a main positioning module and at least one slave positioning module. The positioning master module is equipped with a first communication circuit based on target wireless short-range communication technology, and the positioning slave module is equipped with a second communication circuit based on the target wireless short-range communication technology. The first communication circuit and the second communication circuit are wirelessly connected to a third communication circuit based on the target wireless short-range communication technology in the positioning reference module. The positioning reference module is fixedly installed in the mine tunnel where the mine car travels automatically.

2. The vehicle-mounted terminal according to claim 1, characterized in that, The positioning master module and the positioning slave module communicate with each other based on the wireless connection between the first communication circuit and the second communication circuit.

3. The vehicle-mounted terminal according to claim 2, characterized in that, The positioning master module and the positioning slave module communicate with each other via a controller area network (CAN) bus. The positioning slave module transmits the relative position information between itself and the positioning reference module to the positioning master module via the CAN bus.

4. The vehicle-mounted terminal according to claim 1, characterized in that, At least one of the positioning modules may be multiple.

5. The vehicle-mounted terminal according to any one of claims 1 to 4, characterized in that, The first to the third communication circuits based on the target short-range wireless communication technology each include one of the following: Circuit based on ultra-wideband UWB communication technology; Circuit based on Star Flash wireless short-range communication technology.

6. A mining car, characterized in that, include: Body; as well as The vehicle-mounted terminal as described in any one of claims 1 to 5; wherein the vehicle-mounted terminal is disposed on the vehicle body.

7. The mining car according to claim 6, wherein, The vehicle body is also equipped with radar sensors, an inertial measurement unit, a memory, and a domain controller, characterized in that... The vehicle-mounted terminal has a first communication connection line between its main positioning module and the domain controller; the position information in the main positioning module is transmitted to the domain controller through the first communication connection line; wherein, the position information in the main positioning module includes the relative position information between the mine car and the positioning reference module, and the positioning reference module is fixedly installed in the mine roadway in which the mine car travels automatically; The radar sensor and the domain controller have a second communication connection line; wherein, the measurement data of the radar sensor is transmitted to the domain controller through the second communication connection line; The inertial measurement unit (IMU) and the domain controller have a third communication connection; wherein, the measurement data of the IMU is transmitted to the domain controller through the third communication connection; and The domain controller is used to determine the current position information of the mining car in the mine tunnel based on the position information in the positioning main module, the measurement data of the radar sensor, the measurement data of the inertial measurement unit, and the high-precision map data in the memory.

8. The mining car according to claim 7, characterized in that, The positioning main module is located at the head position or the side position of the vehicle body.

9. The mining car according to claim 8, characterized in that, The positioning module is located on the side of the vehicle body.

10. A positioning system, characterized in that, include: The mining car as described in any one of claims 6-9; as well as At least one positioning reference module is adapted to be fixedly installed in the mine tunnel where the mine car travels automatically; wherein, the positioning reference module is provided with a third communication circuit based on target wireless short-range communication technology and wirelessly connected to the first communication circuit and the second communication circuit of the vehicle terminal in the mine car, and the first communication circuit and the second communication circuit are respectively based on the target wireless short-range communication technology.

11. The positioning system according to claim 10, characterized in that, The positioning reference module stores the position information of the positioning reference module in the mine tunnel. The first communication circuit is set in the positioning master module of the vehicle terminal, and the second communication circuit is set in the positioning slave module of the vehicle terminal. as well as The location information of the positioning reference module is transmitted to the positioning main module based on the wireless connection between the third communication circuit and the first communication circuit. The location information of the positioning reference module is transmitted to the positioning slave module based on the wireless connection between the third communication circuit and the second communication circuit.

12. The positioning system according to claim 10 or 11, characterized in that, The number of at least one of the positioning reference modules is multiple.

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