CN110985127A - Mobile terminal working method and system of surface mine unmanned transportation system - Google Patents
Mobile terminal working method and system of surface mine unmanned transportation system Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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Abstract
The invention discloses a mobile terminal working method and a system of an unmanned transportation system of a surface mine.A mining machine cluster management system is operated on a PAD (mobile device) as a mobile positioning terminal, the terminal mainly adopts a CORS (continuous operational reference System) system to carry out accurate positioning by utilizing communication technologies such as 4G (standard deviation) and the like, can not be influenced by factors such as position, time, weather and the like, interacts with cluster scheduling center information after successful login, acquires terminal position information sent by the CORS positioning system, and uploads the terminal position information to a cluster scheduling center; acquiring vehicle position information of a cluster scheduling center, and judging whether a vehicle enters a terminal protection ring or not according to the terminal position information and the vehicle position information; and starting corresponding safety protection actions according to the judgment result. Checking data of a cluster dispatching center, roughly positioning, monitoring traffic conditions, emergently stopping and ensuring personal safety of an equipment holder.
Description
Technical Field
The invention belongs to the technical field of unmanned surface mine driving, and relates to a mobile terminal working method and a mobile terminal working system of an unmanned surface mine transportation system.
Background
The traditional surface mine mining generally adopts large excavators, mining trucks, auxiliary vehicles and the like to complete the stripping and loading work of surface mining, along with the development of unmanned technology, intelligent control is gradually applied to the field of mining machinery, and an unmanned transportation system is an important ring for ensuring the efficient and safe operation of unmanned mines.
The prior art has the following defects: the method adopted by patent CN108958237A provides a mobile terminal, a vehicle and an unmanned system for unmanned transportation, the sensor configured in the mobile terminal is mainly used for realizing functions such as vehicle positioning, and the mobile terminal does not have the convenience and operability of the PAD mobile terminal, does not have a function for unmanned safety, and cannot meet the design requirement of a mobile safety mechanism of an unmanned transportation system.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a mobile terminal working method and a mobile terminal working system of an unmanned transportation system of a surface mine.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the first aspect provides a mobile terminal working method of an unmanned transportation system of a surface mine, wherein the mobile terminal comprises a terminal system which is in communication connection with a cluster dispatching center, and the cluster dispatching center comprises a server; the working method comprises login authentication:
the terminal system sends a login authentication request to the server according to the user name and the password input by the client; the login authentication request comprises a user name, a password and a logged-in terminal equipment ID;
the server receives the login authentication request sent by the terminal system, judges whether the user name exists and the password is correct, generates a dynamic check code in response to the user name existing and the password being correct, and sends the dynamic check code to the client or the mobile phone of the user,
the client or the mobile phone of the user receives the dynamic check code, inputs the dynamic check code, the server compares the input dynamic check code with the dynamic check code of the server, and the login is successful if the dynamic check codes are consistent;
the first request is successful, the server generates a session and a session ID, returns the session ID to the terminal system, the terminal system receives the session ID and stores the session ID in a cookie,
when the client sends the request again, the session ID is brought, and the server finds the corresponding session according to the session ID after receiving the request, so that the server can use the session again;
the cookie life cycle is the session period, the client terminal actively logs out, and the terminal system returns to the state before logging in.
The terminal system adopts a login authentication method based on the web.
After logging successfully, the terminal system sends a data synchronization request to the cluster scheduling center, receives map data issued by the cluster scheduling center, and synchronizes the map data; the data synchronization request includes a request ID, a device ID, an occurrence time, and a local map file version number.
The mobile terminal and the cluster dispatching center exchange information to obtain the terminal position information sent by the CORS positioning system and send the terminal position information to the cluster dispatching center;
acquiring vehicle position information of a cluster scheduling center, and judging whether a vehicle enters a terminal protection ring or not according to the terminal position information and the vehicle position information; and starting corresponding safety protection actions according to the judgment result.
In some embodiments, the terminal guard circle is divided according to the distance from the vehicle to the center of the terminal and the danger coefficient, and comprises: the emergency stop guard circle R1, the alarm guard circle R2 and the prompt guard circle R3.
According to the judgment result, starting a corresponding safety protection action, comprising:
responding to the fact that a vehicle enters the prompt guard ring R3, sending an instruction to a terminal system for displaying and prompting, and sending an instruction to the vehicle near the range of the terminal guard ring for prompting;
and/or responding to the fact that a vehicle enters the alarm guard circle R2, prompting by the cluster dispatching center, sending an instruction to the terminal system to control and send out an alarm, and sending an instruction to decelerate the vehicle within the range of the alarm guard circle;
and/or responding to the vehicle entering the emergency stop guard circle R1, prompting by the cluster dispatching center, and sending an instruction to control all unmanned vehicles within the range of the emergency stop guard circle to stop emergently.
The terminal protection circle is used for selecting and setting a range by combining with a region under the guidance of a terminal system by a user.
The cluster dispatching center acquires a heartbeat signal of the mobile terminal, judges whether the communication between the cluster dispatching center and the mobile terminal is normal or not, enlarges an emergency stop guard ring R1 along with the time lapse by taking the position point of the mobile terminal when the mobile terminal is finally withdrawn as the circle center if the communication is abnormally interrupted or abnormally withdrawn, and sends an instruction to control all unmanned vehicles within the range of the emergency stop guard ring to stop emergently until the alarm is relieved.
The cluster dispatching center acquires vehicle information around the mobile terminal, predicts whether collision risk exists between the mobile terminal and surrounding vehicles according to the position information of the mobile terminal and the vehicle information around the mobile terminal, responds to the predicted collision risk, and sends an emergency stop request to the cluster dispatching center, and the cluster dispatching center receives the emergency stop request and sends an instruction to the unmanned vehicles within the range of the vehicle control protection circle to stop emergently.
The second aspect provides a mobile terminal working system of an unmanned transportation system of a surface mine, which comprises a cluster dispatching center and a mobile terminal, wherein the cluster dispatching center is in communication connection with the mobile terminal;
the mobile terminal includes:
a login authentication module to: sending a login authentication request to a server according to a user name and a password input by a client, and communicating and connecting with a cluster scheduling center after the login authentication is passed;
the protection circle setting module is used for setting the protection circle parameters of the mobile terminal by a user and uploading the protection circle parameters to the cluster scheduling center;
the CORS positioning module is used for acquiring the terminal position information sent by the CORS positioning system and uploading the terminal position information to the cluster scheduling center;
the map synchronization module is used for sending a data synchronization request to the cluster scheduling center, receiving map data issued by the cluster scheduling center and synchronizing the map data;
the data interaction module is used for interacting information with the cluster dispatching center and inquiring the running condition data, the production arrangement data and the local area production condition data of vehicles in the unmanned transportation system of the surface mine;
the safety protection module is used for acquiring the vehicle position information of the cluster scheduling center and judging whether a vehicle enters a terminal protection ring or not according to the terminal position information and the vehicle position information; and starting corresponding safety protection actions according to the judgment result.
In some embodiments, the mobile terminal is a handheld PAD mobile terminal.
Has the advantages that: the mobile terminal working method and the mobile terminal working system of the unmanned transportation system of the surface mine have the following advantages that: the mining machine cluster management system is operated on a PAD (PAD application) of a handheld mobile device to serve as a mobile positioning terminal, and a CORS (continuous operational reference system) is adopted to carry out accurate positioning by utilizing communication technologies such as 4G and the like, so that data of a cluster dispatching center can be checked, coarse positioning can be carried out, the traffic condition can be monitored, emergency parking can be carried out, and the personal safety of a device holder can be ensured. By using the PAD handheld terminal, the operation condition of the mine can be monitored in real time without being influenced by factors such as position, time, weather and the like, and the working efficiency is improved. The PAD handheld terminal has a safety protection function and can ensure the safety of a holder.
Drawings
FIG. 1 is a schematic diagram of a PAD operating system of a mobile terminal according to an embodiment;
FIG. 2 is a schematic diagram illustrating a login authentication process of a mobile terminal according to an embodiment;
fig. 3 is a schematic diagram of a terminal protection ring in the embodiment.
Detailed Description
The present invention will be further described with reference to the following examples.
Example 1
A mobile terminal working method of an unmanned transportation system of a surface mine comprises a terminal system which is in communication connection with a cluster dispatching center, wherein the cluster dispatching center comprises a server; the working method comprises login authentication:
the terminal system sends a login authentication request to the server according to the user name and the password input by the client; the login authentication request comprises a user name, a password and a logged-in terminal equipment ID;
the server receives the login authentication request sent by the terminal system, judges whether the user name exists and the password is correct, generates a dynamic check code in response to the user name existing and the password being correct, and sends the dynamic check code to the client or the mobile phone of the user,
the client or the mobile phone of the user receives the dynamic check code, inputs the dynamic check code, the server compares the input dynamic check code with the dynamic check code of the server, and the login is successful if the dynamic check codes are consistent;
the first request is successful, the server generates a session and a session ID, returns the session ID to the terminal system, the terminal system receives the session ID and stores the session ID in a cookie,
when the client sends the request again, the session ID is brought, and the server finds the corresponding session according to the session ID after receiving the request, so that the server can use the session again;
the cookie life cycle is the session period, the client terminal actively logs out, and the terminal system returns to the state before logging in.
After the login is successful, vehicle position information of a cluster scheduling center is obtained, and whether a vehicle enters a terminal protection ring or not is judged according to the terminal position information and the vehicle position information; and starting corresponding safety protection actions according to the judgment result.
In some embodiments, the end system employs a web-based login authentication method.
After logging successfully, the terminal system sends a data synchronization request to the cluster scheduling center, receives map data issued by the cluster scheduling center, and synchronizes the map data; the data synchronization request includes a request ID, a device ID, an occurrence time, and a local map file version number.
Interacting with the information of the cluster scheduling center, acquiring the terminal position information sent by the CORS positioning system, and uploading the terminal position information to the cluster scheduling center;
in some embodiments, the terminal guard circle is divided according to the distance from the vehicle to the center of the terminal and the danger coefficient, and comprises: the emergency stop guard circle R1, the alarm guard circle R2 and the prompt guard circle R3.
According to the judgment result, starting a corresponding safety protection action, comprising:
responding to a vehicle entering a prompt guard ring R3 (the distance R between the vehicle and the terminal is less than R3), sending an instruction to a terminal system for displaying and prompting, and sending an instruction to a vehicle near the range of the terminal guard ring for prompting;
and/or, in response to the fact that a vehicle enters an alarm guard circle R2 (R < R2), the cluster dispatching center prompts, sends an instruction to a terminal system to control and send out an alarm (including display and sound alarm), and sends an instruction to the vehicle within the range of the alarm guard circle to decelerate;
and/or responding to the vehicle entering the emergency stop guard circle R1 (R < R1), the cluster dispatching center prompts and sends an instruction to control all unmanned vehicles within the range of the emergency stop guard circle to stop emergently.
The terminal protection circle is used for selecting and setting a range by combining with a region under the guidance of a terminal system by a user.
The cluster dispatching center acquires a heartbeat signal of the mobile terminal, judges whether the communication between the cluster dispatching center and the mobile terminal is normal or not, enlarges an emergency stop guard ring R1 along with the time lapse by taking the position point of the mobile terminal when the mobile terminal is finally withdrawn as the circle center if the communication is abnormally interrupted or abnormally withdrawn, and sends an instruction to control all unmanned vehicles within the range of the emergency stop guard ring to stop emergently until the alarm is relieved.
The cluster dispatching center acquires vehicle information around the mobile terminal, predicts whether collision risk exists between the mobile terminal and surrounding vehicles according to the position information of the mobile terminal and the vehicle information around the mobile terminal, responds to the predicted collision risk, and sends an emergency stop request to the cluster dispatching center, and the cluster dispatching center receives the emergency stop request and sends an instruction to the unmanned vehicles within the range of the vehicle control protection circle to stop emergently.
The invention provides a system design of a mobile PAD in an unmanned transportation system of a surface mine, which comprises the following basic steps:
(1) login authentication
The login authentication system is used for the system to authorize the user identity and comprises four parts of login verification, dynamic verification, login keeping and login logout.
The login authentication means that a client inputs a user name and a password, a login request is provided for a server, the server judges whether the user name exists and the password is correct and sends a dynamic check code to the client, and if the input information is matched with the server information, the login is successful. The system employs a web-based login authentication method.
The dynamic verification means that in order to enhance the account security of the user, the server automatically generates a random number as an authentication code and temporarily records the random number, and simultaneously submits the short message content and the mobile phone number of the user to a communication service provider through the authentication code, and the service provider sends the short message to the mobile phone of the user. And after the user successfully receives the information, inputting a corresponding verification code, comparing by the server, and if the verification code is consistent with the verification code, successfully verifying.
The login maintenance means that after the client logs in, the server can distinguish the logged-in client and user information and continuously provide login authority, so that the purpose that the user accesses a plurality of pages without performing identity information verification for many times can be achieved.
The logout means that the client logs out actively, and the system returns to a state before logging in.
(2) Map synchronization and data interaction
The map synchronization and data interaction function means that after the system is started, the wireless communication device is connected with a terminal, and a data synchronization request (information such as request ID, equipment ID, occurrence time, local map file version number and the like) is automatically sent to a cluster scheduling center to perform map data synchronization. Meanwhile, the terminal obtains the position information of the CORS high-precision positioning system through the wireless communication device, and obtains the position of the terminal in real time and transmits the position information to the cluster scheduling center.
The terminal can check relevant data such as the running condition, the production arrangement, the local area production condition and the like of the open-air unmanned mine vehicle.
(3) Arrangement of protective ring
The protection circle comprises a terminal PAD, an emergency stop protection circle R1, an alarm protection circle R2 and a prompt protection circle R3, and a user selects a range by combining with a located area under the guidance of a terminal system.
When a vehicle enters a prompt guard ring R3 (the distance R between the vehicle and the terminal is less than R3), the PAD system displays prompt information to remind a user of paying attention to the nearby vehicle; when the vehicle enters an alarm protection ring R2 (R < R2), the PAD terminal system gives an alarm and sends a signal to a cluster dispatching center in real time for prompting; when the vehicle enters the emergency stop guard circle R1 (R < R1), the PAD terminal system can emergently stop the vehicles in the surrounding area and send the information to the cluster dispatching center for processing.
The PAD mobile terminal has the function of checking all surrounding vehicles and running states, and can send an emergency stop request to the cluster dispatching center if overlapping with other vehicle protection circles and collision risks exist, and issue an instruction to unmanned vehicles in a region through the cluster dispatching center to carry out emergency stop processing. If the terminal communication is abnormally interrupted or abnormally quits, the sudden stop guard ring R1 is expanded along with the time by taking the position point when the terminal communication is finally quitted as the center of a circle, and all unmanned vehicles within the range of the sudden stop guard ring are stopped emergently until the alarm is relieved.
(4) Mechanism of failure
The failure mechanism is a series of countermeasures taken after abnormal interruption of heartbeat signals of the terminal and the cluster dispatching center so as to ensure the safety of a terminal holder.
And when the terminal loses the contact with the cluster dispatching center, the PAD terminal reminds the holder to take emergency countermeasures according to the safety operation standard and the actual situation. The cluster dispatching center takes the position point of the last terminal as the center of a circle, the emergency stop protection circle range is expanded, all unmanned vehicles entering the range of the emergency stop protection circle are in emergency stop, the protection circle range is gradually expanded along with the increasing of time, and meanwhile, the cluster dispatching center contacts a terminal holder to confirm the situation through a mobile phone and other modes. And after the problem is repaired, the range of the emergency stop guard circle is restored to the normal range.
Example 2
A mobile terminal working system of an unmanned transportation system of a surface mine comprises a cluster dispatching center and a mobile terminal, wherein the cluster dispatching center is in communication connection with the mobile terminal;
the mobile terminal includes:
a login authentication module to: sending a login authentication request to a server according to a user name and a password input by a client, and communicating and connecting with a cluster scheduling center after the login authentication is passed;
the protection circle setting module is used for setting the protection circle parameters of the mobile terminal by a user and uploading the protection circle parameters to the cluster scheduling center;
the CORS positioning module is used for acquiring the terminal position information sent by the CORS positioning system and uploading the terminal position information to the cluster scheduling center;
the map synchronization module is used for sending a data synchronization request to the cluster scheduling center, receiving map data issued by the cluster scheduling center and synchronizing the map data;
the data interaction module is used for interacting information with the cluster dispatching center and inquiring the running condition data, the production arrangement data and the local area production condition data of vehicles in the unmanned transportation system of the surface mine;
the safety protection module is used for acquiring the vehicle position information of the cluster scheduling center and judging whether a vehicle enters a terminal protection ring or not according to the terminal position information and the vehicle position information; and starting corresponding safety protection actions according to the judgment result.
Example 3
The embodiment provides a mobile terminal system of an unmanned transportation system for a surface mine, which at least comprises a cluster dispatching center, a set of wireless communication devices, a set of high-precision positioning devices and a mobile PAD, as shown in fig. 1.
The cluster dispatching center is a control center of an unmanned system of the surface mine, can realize the functions of vehicle dispatching, traffic control, data analysis, map updating and the like, and realizes information interaction with manned and unmanned vehicles through a wireless communication device.
The wireless communication device realizes remote data interaction between the devices through 4G wireless communication, 5G wireless communication, a WIFI network or other wireless communication technologies, and provides support for information interaction between the mobile PAD and the cluster scheduling center.
The high-precision positioning device realizes PAD mobile terminal positioning by adopting CORS (continuous operation reference station system), the mobile terminal is firstly connected with the server through the wireless communication device, and the communication device is used for acquiring position data provided by the CORS positioning system. And secondly, the mobile terminal acquires position data through a GPS module of the mobile terminal and utilizes the GPS module to decipher positioning data, state data and the like. After the GPS information and the CORS corrected position information are obtained, the final position data is corrected through a certain algorithm, and therefore the positioning accuracy of the terminal is improved.
The mobile PAD terminal carries a mining machinery cluster management system, realizes data interaction with a cluster dispatching center through a wireless communication device, and has the functions of checking data of the cluster dispatching center in real time, roughly positioning, monitoring traffic conditions, emergency stop and the like.
With reference to fig. 2, the login authentication system is used for the system to authorize the user identity, and includes four parts, namely login verification, dynamic verification, login maintenance, and logout.
The login authentication means that a client inputs a user name and a password, a login request is provided for a server, the server judges whether the user name exists and the password is correct and sends a dynamic check code to the client, and if the input information is matched with the server information, the login is successful. The system employs a web-based login authentication method. The dynamic verification means that in order to enhance the account security of the user, the server automatically generates a random number as an authentication code and temporarily records the random number, and simultaneously submits the short message content and the mobile phone number of the user to a communication service provider through the authentication code, and the service provider sends the short message to the mobile phone of the user. And after the user successfully receives the information, inputting a corresponding verification code, comparing by the server, and if the verification code is consistent with the verification code, successfully verifying. The login maintenance means that after the client logs in, the server can distinguish the logged-in client and user information and continuously provide login authority, so that the purpose that the user accesses a plurality of pages without performing identity information verification for many times can be achieved. The logout means that the client logs out actively, and the system returns to a state before logging in.
With reference to fig. 3, the terminal protection circle comprises a terminal PAD, an emergency stop protection circle R1, an alarm protection circle R2 and a prompt protection circle R3, and when a vehicle enters the prompt protection circle R3 (the distance between the vehicle and the terminal R < R3), the PAD system displays prompt information to remind the user of paying attention to the nearby vehicle; when the vehicle enters an alarm protection ring R2 (R < R2), the PAD terminal system gives an alarm and sends a signal to a cluster dispatching center in real time for prompting; when the vehicle enters the emergency stop guard circle R1 (R < R1), the PAD terminal system can emergently stop the vehicles in the surrounding area and send the information to the cluster dispatching center for processing. The PAD mobile terminal has the function of checking all surrounding vehicles and running states, and can send an emergency stop request to the cluster dispatching center if overlapping with other vehicle protection circles and collision risks exist, and issue an instruction to unmanned vehicles in a region through the cluster dispatching center to carry out emergency stop processing. If the terminal communication is abnormally interrupted or abnormally quits, the sudden stop guard ring R1 is expanded along with the time by taking the position point when the terminal communication is finally quitted as the center of a circle, and all unmanned vehicles within the range of the sudden stop guard ring are stopped emergently until the alarm is relieved.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. A mobile terminal working method of an unmanned transportation system of a surface mine is characterized in that the mobile terminal comprises a terminal system which is in communication connection with a cluster dispatching center, and the cluster dispatching center comprises a server; the working method comprises login authentication:
the terminal system sends a login authentication request to the server according to the user name and the password input by the client; the login authentication request comprises a user name, a password and a logged-in terminal equipment ID;
the server receives the login authentication request sent by the terminal system, judges whether the user name exists and the password is correct, generates a dynamic check code in response to the user name existing and the password being correct, and sends the dynamic check code to the client or the mobile phone of the user,
the client or the mobile phone of the user receives the dynamic check code, inputs the dynamic check code, the server compares the input dynamic check code with the dynamic check code of the server, and the login is successful if the dynamic check codes are consistent;
the first request is successful, the server generates a session and a session ID, returns the session ID to the terminal system, the terminal system receives the session ID and stores the session ID in a cookie,
when the client sends the request again, the session ID is brought, and the server finds the corresponding session according to the session ID after receiving the request, so that the server can use the session again;
the cookie life cycle is the session period, the client actively quits the login, and the terminal system returns to the state before the login;
after logging successfully, the information interaction with a cluster scheduling center is carried out, and the terminal position information sent by a CORS positioning system is obtained and uploaded to the cluster scheduling center;
acquiring vehicle position information of a cluster scheduling center, and judging whether a vehicle enters a terminal protection ring or not according to the terminal position information and the vehicle position information; and starting corresponding safety protection actions according to the judgment result.
2. The method of claim 1, wherein the terminal system employs a web-based login authentication method.
3. The method for operating the mobile terminal of the unmanned transportation system for the surface mine according to claim 1, wherein after the successful login, the terminal system sends a data synchronization request to the fleet scheduling center, receives map data issued by the fleet scheduling center, and synchronizes the map data; the data synchronization request includes a request ID, a device ID, an occurrence time, and a local map file version number.
4. The method of operating a mobile terminal of an unmanned transportation system for a surface mine according to claim 1, wherein the terminal guard circle is divided according to a distance from a vehicle to a center of the terminal and a risk factor, and comprises: the emergency stop guard circle R1, the alarm guard circle R2 and the prompt guard circle R3.
5. The method of claim 4, wherein the step of initiating a corresponding security protection action according to the determination comprises:
responding to the fact that a vehicle enters the prompt guard ring R3, sending an instruction to a terminal system for displaying and prompting, and sending an instruction to the vehicle near the range of the terminal guard ring for prompting;
and/or responding to the fact that a vehicle enters the alarm guard circle R2, prompting by the cluster dispatching center, sending an instruction to the terminal system to control and send out an alarm, and sending an instruction to decelerate the vehicle within the range of the alarm guard circle;
and/or responding to the vehicle entering the emergency stop guard circle R1, prompting by the cluster dispatching center, and sending an instruction to control all unmanned vehicles within the range of the emergency stop guard circle to stop emergently.
6. The method of claim 1, wherein the terminal guard circle is set for user's range selection according to the area under the guidance of the terminal system.
7. The method as claimed in claim 4, wherein the fleet dispatch center obtains heartbeat signals of the mobile terminal, determines whether the communication between the fleet dispatch center and the mobile terminal is normal, and if the communication is abnormally interrupted or abnormally exited, enlarges the scram guard R1 with the time passing by taking the position point of the mobile terminal when the mobile terminal is finally exited as the center, and sends out instructions to control all unmanned vehicles within the range of the scram guard until the alarm is released.
8. The method as claimed in claim 4, wherein the fleet scheduling center obtains vehicle information around the mobile terminal, predicts whether there is a collision risk between the mobile terminal and the surrounding vehicles according to the location information of the mobile terminal and the vehicle information around the mobile terminal, and in response to the predicted collision risk, transmits an emergency stop request to the fleet scheduling center, and the fleet scheduling center receives the emergency stop request and transmits an instruction to the unmanned vehicle within the vehicle control protection circle to stop emergently.
9. A mobile terminal working system of an unmanned transportation system of a surface mine is characterized by comprising a cluster dispatching center and a mobile terminal, wherein the cluster dispatching center is in communication connection with the mobile terminal;
the mobile terminal includes:
a login authentication module to: sending a login authentication request to a server according to a user name and a password input by a client, and communicating and connecting with a cluster scheduling center after the login authentication is passed;
the protection circle setting module is used for setting the protection circle parameters of the mobile terminal by a user and uploading the protection circle parameters to the cluster scheduling center;
the CORS positioning module is used for acquiring the terminal position information sent by the CORS positioning system and uploading the terminal position information to the cluster scheduling center;
the map synchronization module is used for sending a data synchronization request to the cluster scheduling center, receiving map data issued by the cluster scheduling center and synchronizing the map data;
the data interaction module is used for interacting information with the cluster dispatching center and inquiring the running condition data, the production arrangement data and the local area production condition data of vehicles in the unmanned transportation system of the surface mine;
the safety protection module is used for acquiring the vehicle position information of the cluster scheduling center and judging whether a vehicle enters a terminal protection ring or not according to the terminal position information and the vehicle position information; and starting corresponding safety protection actions according to the judgment result.
10. The mobile terminal operation system of the surface mine unmanned transportation system of claim 9, wherein the terminal guard circle is divided according to a distance of the vehicle from a terminal center and a risk factor, and comprises: an emergency stop guard ring R1, an alarm guard ring R2 and a prompt guard ring R3;
according to the judgment result, starting a corresponding safety protection action, comprising:
responding to the fact that a vehicle enters the prompt guard ring R3, sending an instruction to a terminal system for displaying and prompting, and sending an instruction to the vehicle near the range of the terminal guard ring for prompting;
and/or responding to the fact that a vehicle enters the alarm guard circle R2, prompting by the cluster dispatching center, sending an instruction to the terminal system to control and send out an alarm, and sending an instruction to decelerate the vehicle within the range of the alarm guard circle;
and/or responding to the vehicle entering the emergency stop guard circle R1, prompting by the cluster dispatching center, and sending an instruction to control all unmanned vehicles within the range of the emergency stop guard circle to stop emergently.
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