CN114779781A - Method and system for detecting unmanned production and transportation safety of surface mine - Google Patents

Abstract

The invention discloses a method and a system for detecting unmanned production and transportation safety of a surface mine, wherein the method comprises the following steps: acquiring characteristic data of a protective lifting edge of an open stope road; detecting the driving position, the driving direction and the driving speed of the unmanned vehicle in the current driving process; calculating a driving direction included angle and a driving transverse deviation of the unmanned vehicle in the current driving process by combining the characteristic data of the protective edge of the open stope road, and calculating the position of the unmanned vehicle within seconds in the future; and respectively comparing the running direction included angle and the running transverse deviation of the unmanned vehicle in the current running process, and the appearance position of the unmanned vehicle within a plurality of seconds in the future with a set corresponding threshold value, and judging the running state of the unmanned vehicle. The invention can carry out real-time safety detection on the unmanned production transportation process.

Description

A detection method and system for the safety of unmanned production and transportation in open-pit mines

technical field

The invention relates to the technical field of production safety monitoring in smart mines, in particular to a method and system for safety detection of mine truck transportation and driving in unmanned production in open-pit mines.

Background technique

Open pit mining is a process of removing the covering on the ore body to obtain the required minerals. The production process includes perforation, blasting, mining and loading, transportation, soil dumping and other operations. The use of mining trucks to complete road transportation and soil dumping operations is a The first choice for large open-pit mines, the road transportation operation has the advantages of high flexibility, easy to adapt to the mining progress, and production can be carried out without initial infrastructure investment.

With the change of intelligent and unmanned production methods in mines, the integration of unmanned transportation line control systems and unmanned control systems has become an advanced production method, and at the same time, new requirements have been placed on the mine production environment. The unmanned mining truck has the characteristics of high automation, high redundancy design and all-round perception ability. It is the direction of mining technology upgrading. Intelligent, unmanned and remote also fundamentally improve the safety of mine production personnel. . However, due to the reduction of personnel in the production process, the equipment safety of unmanned mining truck transportation has become an important part of safe production. The following aspects cause safety problems in unmanned driving:

(1) The problem of the vehicle itself cannot be found and dealt with in time

When the vehicle runs for a long time and the load is heavy, problems such as deformation of parts, heat generation, and bending of the rotating shaft that are not easy to monitor often occur. At this time, the vehicle may be out of control.

(2) Problems with driving control

In unmanned driving, due to the different behavior patterns of automated control vehicles and human control systems, the consumption of wearing parts and wearing parts during vehicle operation is also different, and vehicle failures may also occur.

SUMMARY OF THE INVENTION

In view of this, the present invention proposes a detection method and system for the safety of unmanned production and transportation in open-pit mines, which can timely discover and detect the safety hazards existing in the driving of mining trucks, so as to control the braking of mining trucks in time and avoid the occurrence of corresponding safety hazards. .

A first aspect of the present invention provides a method for detecting the safety of unmanned production and transportation in an open-pit mine. The method includes: acquiring characteristic data of the protective edge of a road in an open-pit mine; direction and driving speed; combined with the characteristic data of the protection and edge of the open stope road, calculate the driving direction angle and the driving lateral deviation of the unmanned vehicle during the current driving process, and calculate the appearance position of the unmanned vehicle in the next few seconds ; Compare the driving direction angle and the driving lateral deviation of the unmanned vehicle during the current driving process, as well as the appearance position of the unmanned vehicle in the next few seconds with the corresponding set thresholds to judge the driving state of the unmanned vehicle.

Further, the characteristic data of the protective edge of the open stope road includes the safe position of the road allowed to travel, the allowed direction of the road and the allowed speed of the road.

Further, the step of calculating the driving direction angle and the driving lateral deviation of the unmanned vehicle during the current driving process in combination with the protection and edge feature data of the open stope road, and calculating the appearance position of the unmanned vehicle in the next few seconds. Including: comparing the driving position of the unmanned vehicle during the current driving process with the safe position allowed for driving on the road, and calculating the lateral deviation of the unmanned vehicle from the road during the current driving process; comparing the driving direction of the unmanned vehicle during the current driving process with Compare the permitted driving directions of the road, and calculate the angle between the driving direction of the unmanned vehicle and the permitted driving direction of the protective edge under the current driving state; Compare and calculate the time for the unmanned vehicle to roll to the edge of the protective lift during the current driving process; calculate the future based on the angle between the driving direction of the driverless vehicle, the lateral deviation of the driving and the time to roll to the edge of the protective lift during the current driving process. The location of the driverless vehicle in seconds.

Further, if the driving direction angle and the driving lateral deviation of the unmanned vehicle during the current driving process, as well as the appearance position of the unmanned vehicle in the next few seconds are within the set threshold range, the driving state of the unmanned vehicle is normal.

Further, if the driving direction angle and the driving lateral deviation of the unmanned vehicle during the current driving process, or the appearance position of the unmanned vehicle in the next few seconds exceeds the set threshold range, the driving state of the unmanned vehicle is abnormal.

Further, it also includes: determining the danger level of the unmanned vehicle according to the abnormal driving state of the unmanned vehicle, and generating corresponding control instructions according to the danger level of the unmanned vehicle, so as to control the driving of the unmanned vehicle to decelerate or brake urgently .

Further, the degree of danger of the unmanned vehicle includes low degree of danger, medium degree of danger and serious degree of danger; when it is determined that the degree of danger of the unmanned vehicle is low, a first control instruction is generated, and the first instruction is used to control the sound. The light alarm sound and light alarm and record the alarm information; when it is determined that the danger level of the unmanned vehicle is moderate, the second control command is generated, and the second command is used to control the sound and light alarm of the sound and light alarm and record the alarm information, and control the The unmanned vehicle drives and decelerates; when it is determined that the danger of the unmanned vehicle is serious, a third control command is generated, and the third control command is used to control the sound and light alarm of the sound and light alarm and record the alarm information, and control the unmanned driving. The vehicle brakes suddenly.

The second aspect of the present invention provides a detection system for unmanned production and transportation safety in open-pit mines. The system includes: a vehicle-mounted Beidou positioning and orientation terminal for detecting the driving position, driving direction and driving speed of the unmanned vehicle during the current driving process. , and transmit it to the remote server; the remote server is used to receive the driving position, driving direction and driving speed of the unmanned vehicle detected by the vehicle-mounted Beidou positioning and orientation terminal, and calculate the current The driving direction angle and the driving lateral deviation of the unmanned vehicle during the driving process are calculated, and the location of the unmanned vehicle in the next few seconds is calculated; And the position of the unmanned vehicle in the next few seconds is compared with the corresponding set threshold to judge the driving state of the unmanned vehicle.

Further, the remote server includes: a feature data acquisition module, used to obtain the feature data of the protective edge of the open stope road; a data comparison module, used to calculate the current driving process in combination with the feature data of the protective edge of the open stope road The driving direction angle and the driving lateral deviation of the unmanned vehicle in the middle of the road, and calculate the appearance position of the unmanned vehicle in the next few seconds; the driving state judgment module is used to respectively calculate the driving direction angle of the unmanned vehicle during the current driving process. Compare with the driving lateral deviation, as well as the appearance position of the unmanned vehicle in the next few seconds with the corresponding set threshold to judge the driving state of the unmanned vehicle.

Further, the remote server further includes: an abnormality degree determination module, configured to determine the danger degree of the unmanned vehicle according to the abnormal state of the unmanned vehicle, and generate corresponding control instructions according to the danger degree of the unmanned vehicle to Control unmanned vehicles to slow down or brake suddenly.

The above-mentioned detection method and detection system for the safety of unmanned production and transportation in open-pit mines monitor the status of unmanned vehicles driving on the road by acquiring the characteristic data of the protection and edge of the open-pit road. When an unmanned vehicle is detected When the driving state is different from the characteristic data characteristics of the protection and edge of the stope road, it is used as the criterion for the abnormal state of the unmanned vehicle. According to the dangerous degree of the unmanned vehicle state, the mining truck is controlled to slow down or brake urgently, which can realize the control of the mining truck. Safety inspection of unmanned production and transportation process in open-pit mines.

Description of drawings

For purposes of illustration and not limitation, the present invention will now be described in accordance with preferred embodiments thereof, particularly with reference to the accompanying drawings, wherein:

1 is a flow chart of a method for detecting unmanned production and transportation safety in an open-pit mine proposed by an embodiment of the present invention;

Figure 2 is a schematic diagram of the detection situation of the mining truck driving state compared with the protection edge;

3 is a schematic structural diagram of a detection system for unmanned production and transportation safety in an open-pit mine proposed by another embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a remote server proposed by another embodiment of the present invention.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments may be combined with each other under the condition of no conflict.

In the following description, many specific details are set forth in order to facilitate a full understanding of the present invention, and the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.

FIG. 1 is a flowchart of a method for detecting the safety of unmanned production and transportation in an open-pit mine according to an embodiment of the present invention. The detection method for the safety of unmanned production and transportation of open-pit mines monitors the state of unmanned vehicles driving on the road by acquiring the characteristic data of the protection and edge of the open-pit stope road. When the characteristics of road protection and edge feature data are different, it is used as the criterion for the abnormal state of the unmanned vehicle, and the mining truck is controlled to slow down or brake urgently according to the dangerous degree of the state of the unmanned vehicle.

Taking the unmanned vehicle as an unmanned mine truck as an example, the method for detecting the safety of unmanned production and transportation in an open-pit mine proposed in this embodiment will be described in detail.

Please refer to Figure 1. The detection method for the safety of unmanned production and transportation in this open-pit mine includes the following steps:

S100, acquiring and storing the characteristic data of the protective edge of the open stope road.

In this embodiment, the characteristic data of the protective edge of the open stope road includes the safe position of the road that is allowed to travel, the direction that the road is allowed to travel, and the speed that the road is allowed to travel.

The remote server stores the characteristic data of the protective edge of the open stope road in the database.

S200, detecting the driving position, driving direction and driving speed of the unmanned mining truck in the current driving process.

In this embodiment, the vehicle-mounted Beidou positioning and orientation terminal is used to detect the driving position, driving direction and driving speed of the unmanned mining truck during the current driving process with the support of the local Beidou differential reference station. The vehicle-mounted Beidou positioning and orientation terminal transmits the detected driving position, driving direction and driving speed of the unmanned mining truck during the current driving process to the remote server through the wireless communication network.

The S300, combined with the characteristic data of the protection and edge of the open pit road, calculates the driving direction angle and the driving lateral deviation of the unmanned mining truck during the current driving process, and calculates the appearance position of the unmanned mining truck in the next few seconds.

The remote server compares the driving position and driving direction of the unmanned mining truck during the current driving process with the protection and edge feature data of the open stope road saved in the database, and calculates the driving direction clip of the unmanned mining truck during the current driving process. Angle and driving lateral deviation, and calculate the location of the unmanned mining truck in the next few seconds.

In this embodiment, the specific implementation of step S300 is as follows:

S301 , comparing the driving position of the unmanned mining truck during the current driving process with the safe position allowed for driving on the road, and calculating the lateral deviation of the unmanned mining truck from the road during the current driving process.

S302, compare the driving direction of the unmanned mining truck in the current driving process with the permitted driving direction of the road, and calculate the angle between the driving direction of the unmanned mining truck and the permitted driving direction of the protective edge under the current driving state.

S303 , comparing the driving speed of the unmanned mining truck during the current driving process with the allowable driving speed of the road, and calculating the time for the unmanned mining truck to be rolled to the edge of the protection lift during the current driving process.

S304 , according to the angle between the driving direction of the unmanned mining truck, the lateral deviation of driving and the time it takes for the unmanned mining truck to roll to the edge of the protection lift during the current driving process, calculate the appearance position of the unmanned mining truck in the next few seconds.

Figure 2 is a schematic diagram of the detection situation of the mining truck driving state compared with the detection of the protective edge. As shown in (a) of Figure 2, when the mining truck is driving normally on the road, it can be seen that: ① the driving direction of the mining truck is basically the same as the tangential direction of the road on the right; ② the right wheel of the mining truck is kept at the right edge of the road A certain lateral distance; ③ The mine truck will remain on the inside of the road within the next few seconds when the mining truck maintains the driving direction.

As shown in (b) of Figure 2, when the mining truck is about to rush out of the road, it can be seen that: (1) there is a certain angle between the driving direction of the mining truck and the tangent of the road on the right side; (2) the right wheel of the mining truck and the road on the right side have a certain angle. The lateral distance of the edge is very small; ③The mine truck will rush out to the outside of the road in the next few seconds while maintaining the driving direction.

S400, setting corresponding thresholds, the thresholds include a first threshold corresponding to the driving direction, a second threshold corresponding to the lateral deviation of the driving, and a third threshold corresponding to the location where the unmanned mine card appears in the next few seconds.

S500, respectively compares the driving direction angle and the driving lateral deviation of the unmanned mining truck during the current driving process, as well as the appearance position of the unmanned mining truck in the next few seconds with the corresponding set thresholds, and judges the unmanned mining truck. The driving state of the card can realize the safety detection of the unmanned mining card in the road operation.

If the angle between the driving direction of the unmanned mining truck during the current driving process exceeds the set first threshold, or the driving lateral deviation of the unmanned mining truck during the forward driving process exceeds the set second threshold, or if the If the position of the unmanned mining card exceeds the set third threshold, it means that the driving state of the unmanned mining card is abnormal.

If the angle between the driving directions of the unmanned mining truck during the current driving process is within the first threshold range, the driving lateral deviation of the unmanned mining truck during the forward driving process is within the second threshold range, and the unmanned driving in the next few seconds If the location where the mining card appears is within the third threshold range, it means that the unmanned mining card is in a normal driving state.

S600, if the driving state of the unmanned mining truck is abnormal, determine the danger level of the unmanned mining truck, and generate corresponding control instructions according to the danger level of the unmanned mining truck, so as to control the driving speed of the unmanned mining truck or emergency control. verb: move.

In this embodiment, the level of danger of the unmanned mining truck includes low level of danger, medium level of danger and severe level of danger.

When it is determined that the danger level of the unmanned mine card is low, a first control instruction is generated, and the first instruction is used to control the sound and light alarm of the sound and light alarm and record the alarm information. The alarm information can be used as the basis for the management and improvement of unmanned mining trucks, so as to avoid the occurrence of more serious problems in subsequent unmanned production.

When it is determined that the danger level of the unmanned mining truck is moderate, the second control command is generated. The second command is used to control the sound and light alarm of the sound and light alarm and record the alarm information, and send the safety braking command to the vehicle terminal, so that the unmanned Drive the mining truck to slow down to control the safe parking of the vehicle, and review the possible problems in the control production system.

When it is determined that the danger level of the unmanned mining truck is serious, a third control command is generated. The third control command is used to control the sound and light alarm of the sound and light alarm and record the alarm information, and send the highest emergency braking command to the vehicle terminal to control the The vehicle brakes immediately to ensure the safety of the vehicle equipment.

The above detection method can fully detect the driving direction, driving speed and real-time high-precision positioning of the unmanned mining truck during the driving process, combined with the characteristic data of the road edge, and set the corresponding threshold. The safety of the card running on the road is detected; and when the mining card travels beyond the set threshold of the road edge, the corresponding control command is generated to send a safety braking command to control the mining card to stop in time.

The unmanned production method of mines avoids the possible dangers of production personnel on the production site through the upgrading of technology, and improves production safety. The present invention is aimed at the unmanned production method. During the unmanned transportation of mine trucks, the automatic detection method is adopted in combination with the protection and edge feature data of the open stope road, which avoids the problems caused by the failure of the unmanned system. It is the safety protection of major production equipment in the intelligent and automated production process, which has good economic benefits, and is also a safety detection supplement to the unmanned production method.

The traditional driverless control method adopts the mining truck driving path planned in advance or by the background system, and then controls the transportation and driving method of the mining truck. From the perspective of road characteristics, the present invention monitors whether the state of unmanned mining trucks running on the road is dangerous, and is independent of the unmanned control and detection method, and can be used as an independent production safety monitoring method to monitor the unmanned production process. Real-time security detection.

3 is a flowchart of a detection system for unmanned production and transportation safety in an open-pit mine proposed by another embodiment of the present invention. The detection system for the safety of unmanned production and transportation in open-pit mines detects the driving state of the unmanned vehicle by detecting the driving direction, driving speed and position information of the unmanned vehicle. When the characteristic data characteristics of the edge of the protection are different, it is used as the criterion for the abnormal state of the unmanned vehicle, and the mining truck is controlled to slow down or brake urgently according to the dangerous degree of the state of the unmanned vehicle.

Taking the unmanned vehicle as an unmanned mine truck as an example, the detection system for unmanned production and transportation safety in an open-pit mine proposed in this embodiment will be described in detail.

Please refer to Figure 3. The detection system for unmanned production and transportation safety in this open-pit mine includes:

The vehicle-mounted Beidou positioning and orientation terminal 100 is used to detect the driving position, driving direction and driving speed of the unmanned mining truck during the current driving process, and transmit it to the remote server.

The remote server 200 is used to receive the driving position, driving direction and driving speed of the unmanned mining truck in the current driving process detected by the vehicle-mounted positioning and orientation terminal, obtain and store the protection and edge feature data of the open pit road; The protection and edge feature data of the road in the field are used to calculate the driving direction angle and the driving lateral deviation of the unmanned mining truck during the current driving process, and calculate the appearance position of the unmanned mining truck in the next few seconds; set the corresponding thresholds, respectively Compare the driving direction angle and the driving lateral deviation of the unmanned mining truck during the current driving process, as well as the appearance position of the unmanned mining truck in the next few seconds with the corresponding set threshold to judge the driving status of the unmanned mining truck ; If the driving state of the unmanned mining truck is abnormal, the danger level of the unmanned mining truck is determined, and corresponding control instructions are generated according to the danger level of the unmanned mining truck to control the driving of the unmanned mining truck to slow down or brake urgently. .

In this embodiment, the vehicle-mounted Beidou positioning and orientation terminal 100 detects the driving position, driving direction and driving speed of the unmanned mining truck during the current driving process with the support of the local Beidou differential reference station 300 . The vehicle-mounted Beidou positioning and orientation terminal 100 transmits the detected driving position and driving direction of the unmanned mining truck in the current driving process to the remote server 200 through the wireless communication network 400 .

FIG. 4 is a schematic structural diagram of a remote server proposed by another embodiment of the present invention. Referring to FIG. 4 , the remote server 200 includes a feature data acquisition module 201 , a data comparison module 202 , a driving state determination module 203 and an abnormality degree determination module 204 .

Among them, the characteristic data acquisition module 201 is used to acquire and store the characteristic data of the protective edge of the open stope road.

In this embodiment, the characteristic data of the protective edge of the open stope road includes the safe position of the road that is allowed to travel, the direction that the road is allowed to travel, and the speed that the road is allowed to travel.

Among them, the data comparison module 202 is used to calculate the driving direction angle and the driving lateral deviation of the unmanned mining truck during the current driving process in combination with the protection and edge feature data of the open pit road, and calculate the unmanned driving in the next few seconds. The location where the mine card appears.

In this embodiment, the data comparison module 202 calculates the driving direction angle and the driving lateral deviation of the unmanned mining truck during the current driving process, and calculates the specific implementation of the location where the unmanned mining truck appears in the next few seconds as follows:

The driving position of the unmanned mining truck during the current driving process is compared with the safe position allowed for driving on the road, and the lateral deviation of the unmanned mining truck from the road during the current driving process is calculated.

The driving direction of the unmanned mining truck during the current driving process is compared with the allowable driving direction of the road, and the angle between the driving direction of the unmanned mining truck and the allowable driving direction of the protective edge under the current driving state is calculated.

The driving speed of the unmanned mining truck during the current driving process is compared with the allowable driving speed of the road, and the time for the unmanned mining truck to be rolled to the edge of the protection lift during the current driving process is calculated.

According to the angle between the driving direction of the unmanned mining truck, the lateral deviation of driving and the time it takes to roll to the edge of the protective lift during the current driving process, the location of the unmanned mining truck in the next few seconds is calculated.

The driving state judging module 203 is used to set corresponding thresholds, respectively comparing the driving direction angle and the driving lateral deviation of the unmanned mining truck during the current driving process, as well as the appearance position of the unmanned mining truck in the next few seconds and The set corresponding thresholds are compared to judge the driving status of the unmanned mining truck.

In this embodiment, the specific implementation manner of the driving state judging module 203 for judging the driving state of the unmanned mining truck is:

Set corresponding thresholds, which include the first threshold corresponding to the driving direction, the second threshold corresponding to the lateral deviation of the driving, and the third threshold corresponding to the appearance position of the unmanned mining card in the next few seconds.

If the angle between the driving direction of the unmanned mining truck during the current driving process exceeds the set first threshold, or the driving lateral deviation of the unmanned mining truck during the forward driving process exceeds the set second threshold, or if the If the position of the unmanned mining card exceeds the set third threshold, it means that the driving state of the unmanned mining card is abnormal.

If the angle between the driving directions of the unmanned mining truck during the current driving process is within the first threshold range, the driving lateral deviation of the unmanned mining truck during the forward driving process is within the second threshold range, and the unmanned driving in the next few seconds If the location where the mining card appears is within the third threshold range, it means that the unmanned mining card is in a normal driving state.

The abnormality degree determination module 204 is used to determine the danger level of the unmanned mining truck according to the driving abnormality of the unmanned mining truck, and generate corresponding control instructions according to the danger level of the unmanned mining truck to control the unmanned driving. The mining truck slows down or brakes suddenly.

In this embodiment, the abnormality degree determination module 204 determines the degree of danger of the unmanned mining truck according to the abnormality of the driving of the unmanned mining truck as follows:

When it is determined that the danger level of the unmanned mine card is low, a first control instruction is generated, and the first instruction is used to control the sound and light alarm of the sound and light alarm and record the alarm information. The alarm information can be used as the basis for the management and improvement of unmanned mining trucks, so as to avoid the occurrence of more serious problems in subsequent unmanned production.

When it is determined that the danger level of the unmanned mining truck is moderate, the second control command is generated. The second command is used to control the sound and light alarm of the sound and light alarm and record the alarm information, and send the safety braking command to the vehicle terminal, so that the unmanned Drive the mining truck to slow down to control the safe parking of the vehicle, and review the possible problems in the control production system.

When it is determined that the danger level of the unmanned mining truck is serious, a third control command is generated. The third control command is used to control the sound and light alarm of the sound and light alarm and record the alarm information, and send the highest emergency braking command to the vehicle terminal to control the The vehicle brakes immediately to ensure the safety of the vehicle equipment.

The above detection system, by comprehensively detecting the driving direction, driving speed and real-time high-precision positioning of the unmanned mining truck during the driving process, combined with the characteristic data of the road edge, and setting corresponding thresholds, can completely realize the detection of unmanned mining trucks. The safety of the card running on the road is detected; and when the mining card travels beyond the set threshold of the road edge, the corresponding control command is generated to send a safety braking command to control the mining card to stop in time.

The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. a detection method for unmanned production and transportation safety in open-pit mines, is characterized in that, comprises: Obtain the characteristic data of the protective edge of the open stope road; Detect the driving position, driving direction and driving speed of the driverless vehicle during the current driving process; Combined with the characteristic data of the protection and edge of the open stope road, calculate the driving direction angle and the driving lateral deviation of the unmanned vehicle during the current driving process, and calculate the appearance position of the unmanned vehicle in the next few seconds; The driving direction angle and the driving lateral deviation of the unmanned vehicle during the current driving process, as well as the appearance position of the unmanned vehicle in the next few seconds, are compared with the corresponding set thresholds to judge the driving state of the unmanned vehicle. 2. The method for detecting the safety of unmanned production and transportation in open-pit mines according to claim 1, wherein the characteristic data of the protection and edge of the open-pit stope road includes the safe position of the road allowed to travel, and the direction of the road allowed to travel. and the speed allowed on the road. 3. The detection method for unmanned production and transportation safety in open-pit mines according to claim 1, wherein the driving of the unmanned vehicle in the current driving process is calculated in combination with the protection and edge feature data of the open-pit stope road. The steps to calculate the directional angle and the lateral deviation of driving, and to estimate the location of the driverless vehicle in the next few seconds include: Comparing the driving position of the unmanned vehicle during the current driving process with the safe position allowed for driving on the road, and calculating the lateral deviation of the unmanned vehicle from the road during the current driving process; Compare the driving direction of the unmanned vehicle in the current driving process with the allowed driving direction of the road, and calculate the angle between the driving direction of the unmanned vehicle and the allowable driving direction of the protective edge under the current driving state; Compare the driving speed of the unmanned vehicle during the current driving process with the allowable speed of the road, and calculate the time for the unmanned vehicle to roll over to the edge of the protection lift during the current driving process; According to the angle between the driving direction of the unmanned vehicle, the lateral deviation of the driving and the time it takes to roll to the edge of the protective lift during the current driving process, the location of the unmanned vehicle in the next few seconds is calculated. 4. The method for detecting the safety of unmanned production and transportation in open-pit mines according to claim 1, characterized in that, if the driving direction included angle and the driving lateral deviation of the unmanned vehicle during the current driving process, and the unmanned vehicle in the next few seconds, If the location where the driver-driven vehicle appears is within the set threshold range, the driverless vehicle is in a normal driving state. 5. The method for detecting safety of unmanned production and transportation in open-pit mines according to claim 1, characterized in that, if the angle between the driving direction and the driving lateral deviation of the unmanned vehicle during the current driving process, or the unmanned vehicle in the next few seconds, If the location of the driver-driven vehicle exceeds the set threshold range, the driverless vehicle is in an abnormal driving state. 6. The method for detecting the safety of unmanned production and transportation in open-pit mines according to claim 5, further comprising: judging the danger level of the unmanned vehicle according to the abnormal driving state of the unmanned vehicle, and according to the unmanned vehicle The danger level of the vehicle generates corresponding control instructions to control the unmanned vehicle to slow down or brake suddenly. 7. The method for detecting safety of unmanned production and transportation in open-pit mines according to claim 6, wherein the danger level of the unmanned vehicle comprises a low level of danger, a medium level of danger and a serious level of danger; When it is determined that the danger level of the unmanned vehicle is low, a first control command is generated, and the first command is used to control the sound and light alarm of the acousto-optic alarm and record the alarm information; When it is determined that the danger level of the unmanned vehicle is moderate, a second control instruction is generated, and the second instruction is used to control the sound and light alarm of the sound and light alarm and record the alarm information, and control the unmanned vehicle to drive and slow down; When it is determined that the danger level of the unmanned vehicle is serious, a third control instruction is generated, and the third control instruction is used to control the sound and light alarm of the acousto-optic alarm and record the alarm information, and control the unmanned vehicle to brake in an emergency. 8. A detection system for unmanned production and transportation safety in open-pit mines, comprising: The vehicle-mounted Beidou positioning and orientation terminal is used to detect the driving position, driving direction and driving speed of the unmanned vehicle during the current driving process, and transmit it to the remote server; The remote server is used to receive the driving position, driving direction and driving speed of the unmanned vehicle detected by the vehicle-mounted Beidou positioning and orientation terminal, and combine the protection and edge feature data of the open stope road to calculate the unmanned vehicle during the current driving process. The driving direction angle and the driving lateral deviation are calculated, and the location of the unmanned vehicle in the next few seconds is calculated; The driving vehicle's appearance position is compared with the set corresponding threshold to judge the driving state of the unmanned vehicle. 9. The detection system for unmanned production and transportation safety in open-pit mines according to claim 8, wherein the remote server comprises: The characteristic data acquisition module is used to acquire the characteristic data of the protection and lifting edge of the open stope road; The data comparison module is used to calculate the driving direction angle and the driving lateral deviation of the unmanned vehicle during the current driving process, and calculate the appearance position of the unmanned vehicle in the next few seconds in combination with the protection and edge feature data of the open stope road; The driving state judgment module is used to compare the driving direction angle and the driving lateral deviation of the unmanned vehicle during the current driving process, as well as the appearance position of the unmanned vehicle in the next few seconds with the corresponding set threshold, and judge whether there is no driving. The driving state of the human-driven vehicle. 10. The detection system for unmanned production and transportation safety in open-pit mines according to claim 9, wherein the remote server further comprises: The abnormality degree determination module is used to determine the danger level of the unmanned vehicle according to the abnormal state of the unmanned vehicle, and generate corresponding control instructions according to the danger degree of the unmanned vehicle to control the driving speed of the unmanned vehicle or emergency braking. verb: move.

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