CN110459074A - Mine truck collision early warning system and method based on radar and WIFI - Google Patents
Mine truck collision early warning system and method based on radar and WIFI Download PDFInfo
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- CN110459074A CN110459074A CN201910739099.XA CN201910739099A CN110459074A CN 110459074 A CN110459074 A CN 110459074A CN 201910739099 A CN201910739099 A CN 201910739099A CN 110459074 A CN110459074 A CN 110459074A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 46
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 230000002093 peripheral effect Effects 0.000 claims description 18
- 238000012549 training Methods 0.000 claims description 18
- 238000002592 echocardiography Methods 0.000 claims description 13
- 230000001537 neural effect Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 14
- 238000001514 detection method Methods 0.000 abstract description 10
- 239000000428 dust Substances 0.000 abstract description 7
- 238000005065 mining Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
The present invention relates to mine truck early warning technology fields, provide a kind of mine truck collision early warning system and method based on radar and WIFI.System of the invention includes WIFI signal transmitting module, WIFI signal receiving module, radar signal acquisition module, signal processing module, alarm module, display module；Signal processing module is used for WIFI signal intensity transmission range computation model and exports the distance between truck to safe decision model, the orientation of dangerous mine truck is judged when distance between truck is less than alarm distance threshold value according to the electric signal received from radar signal acquisition module, at the same export alarm signal to alarm module, export apart from and orientation to display module.The present invention is able to carry out real-time anticollision early warning, and area of detection is big in ranging, detecting distance is long, detection accuracy is high, and the influence for being able to carry out curve detection, bad weather and dust is small, and early warning is at low cost, early warning accuracy rate and stability are high.
Description
Technical field
The present invention relates to mine truck early warning technology fields, more particularly to a kind of mine truck based on radar and WIFI
Collision early warning system and method.
Background technique
In mine environment, dust is big, and bend is more, and the braking distance of mine truck is long, the anticollision early warning of mine truck
As problem.In existing mine truck anticollision early warning technology, ultrasonic technology, infrared technique or GPS technology are generally used
Carry out ranging.However, in ultrasonic technology ultrasonic sensor in the biggish mine environment of dust be easy by dust covering from
And causing range accuracy lower, infrared technique detecting distance is short and ability of not curve detection, bad weather and mine environment
In dust measurement can be produced a very large impact, GPS technology although can solve the above problem but its is at high cost, stability is poor, no
Conducive to producing and come into operation on a large scale.
Summary of the invention
In view of the problems of the existing technology, it is pre- to provide a kind of mine truck anticollision based on radar and WIFI by the present invention
Alert system and method, is able to carry out real-time anticollision early warning, area of detection is big in ranging, detecting distance is long, detection accuracy
Height, the influence for being able to carry out curve detection, bad weather and dust is small, and early warning is at low cost, early warning accuracy rate and stability are high.
The technical solution of the present invention is as follows:
A kind of mine truck collision early warning system based on radar and WIFI, it is characterised in that: sent out including WIFI signal
Penetrate module, WIFI signal receiving module, radar signal acquisition module, signal processing module, alarm module, display module；
The output end of the WIFI signal receiving module, the radar signal acquisition module output end with the signal
The input terminal of processing module is electrically connected, the output end of the signal processing module and the display module, the alarm module
Input terminal be electrically connected respectively；
The WIFI signal transmitting module is used to emit WIFI signal to early warning mine truck peripheral region；
The WIFI signal receiving module is used to receive the WIFI signal that other mine trucks issue in peripheral region, and will
The WIFI signal intensity and title of other mine trucks are transferred to the signal processing module；
The radar signal acquisition module is used to acquire the microwave echoes signal of other mine trucks in peripheral region and will
Microwave echoes signal is transferred to the signal processing module after being converted to electric signal；
Mine truck anticollision Early-warning Model, the mine truck anticollision early warning are packaged in the signal processing module
Model includes apart from computation model, safe decision model, and described apart from computation model is input, WIFI letter with WIFI signal intensity
Number corresponding distance of intensity is output, the safe decision model between early warning mine truck and other mine trucks away from
From for input, alarm signal be output；The signal processing module is used to input the WIFI signal intensity of other mine trucks
Apart from computation model and export to the distance between early warning mine truck and other mine trucks to safe decision model；The letter
Number processing module be used for judge in safe decision model to early warning mine truck at a distance between other mine trucks whether
Determine other mine trucks for dangerous mine truck, basis less than alarm distance threshold value, and when being less than alarm distance threshold value
The electric signal received from radar signal acquisition module judges the orientation of dangerous mine truck, while exporting alarm signal to described
Alarm module, export to the bearing data of the distance between early warning mine truck and dangerous mine truck and dangerous mine truck to
The display module；
The alarm module when receiving alarm signal for alarming；
The display module is for showing the bearing data received and range data.
The mine truck anticollision Early-warning Model is the mine truck anticollision Early-warning Model after training；
The building and training of the mine truck anticollision Early-warning Model include: to acquire in mine environment under different distance
WIFI signal intensity data forms sample set, and each sample includes that WIFI signal intensity data is corresponding with the WIFI signal intensity
Range data；Using WIFI signal intensity as input, the corresponding distance of WIFI signal intensity as output, building distance is calculated
Model；Sample composing training collection is chosen from sample set, is trained to described apart from computation model using training set；According to mine
The actual demand of mountain environment sets the alarm distance threshold value in safe decision model.
It is described apart from computation model be based on RBF neural apart from computation model.
The WIFI signal transmitting module is WIFI transmitter, and the WIFI signal receiving module is WIFI receiver, institute
Stating radar signal acquisition module is radar sensor, and the signal processing module is central processing unit, and the display module is number
Code display, the alarm module are phonetic alarm.
There are four the radar sensors, and four radar sensors are separately mounted to all around the four of mine truck
A position.
The radar sensor has eight, eight radar sensors be separately mounted to mine truck before, it is left front, right
Front, rear, left and right, it is left back, right after eight positions.
The radar sensor is millimetre-wave radar sensor or laser radar sensor.
It is a kind of to use the above-mentioned side that anticollision early warning is carried out based on the mine truck collision early warning system of radar and WIFI
Method, which is characterized in that include the following steps:
Step 1: the mine truck collision early warning system based on radar and WIFI is mounted in mine environment
On each mine truck, named to the WIFI of each mine truck；The WIFI title of each mine truck is unique；
Step 2: when mine truck brings into operation, starting the mine truck anticollision early warning based on radar and WIFI
System；
Step 3: the WIFI signal receiving module receives the WIFI signal that other mine trucks issue in peripheral region, and
The WIFI signal intensity and title of other mine trucks are transferred to the signal processing module；The radar signal acquisition module
It acquires the microwave echoes signal of other mine trucks in peripheral region and is transferred to after microwave echoes signal is converted to electric signal
The signal processing module；
Step 4: the signal processing module, which is called, to be calculated apart from computation model to early warning mine truck and other mining cards
Then the distance between vehicle calls safe decision model to judge to the distance between early warning mine truck and other mine trucks
Whether be less than alarm distance threshold value, and be less than alarm distance threshold value when determine other mine trucks for dangerous mine truck,
The orientation of dangerous mine truck is judged according to the electric signal that receives from radar signal acquisition module, at the same export alarm signal to
The alarm module, output are to the distance between early warning mine truck and dangerous mine truck and the orientation number of dangerous mine truck
According to the display module；
Step 5: the alarm module is alarmed receiving alarm signal, and the display module is to the orientation received
Data and range data are shown.
The radar signal acquisition module includes four radar sensors；In the step 1, will it is described based on radar and
The mine truck collision early warning system of WIFI be mounted on each mine truck in mine environment include: will be at the signal
Reason module, display module, alarm module are packaged together and are mounted in the driver's cabin to early warning mine truck, described in four
Radar sensor is separately mounted to four positions all around to early warning mine truck, by the WIFI signal transmitting module,
The WIFI signal receiving module is installed in the inside to early warning mine truck.
The invention has the benefit that
(1) present invention by WiFi technology be applied to mine truck distance detection in, by WIFI signal transmitting module to
Emit WIFI signal to early warning mine truck peripheral region, receives in peripheral region that other are mining by WIFI signal receiving module
The WIFI signal that truck issues, by will be output by input, the corresponding distance of WIFI signal intensity of WIFI signal intensity
Be encapsulated in signal processing module apart from computation model, can be calculated according to WIFI signal intensity between mine truck away from
From compared to existing ultrasonic measuring distance technology, can effectively overcome ultrasonic sensor to be covered by dust causes range accuracy lower
The problem of；Compared to existing infrared distance measurement technology, it is able to carry out curve detection --- it especially can in the biggish bend in blind area
Do not limited by landform and detect that bend another party carrys out vehicle, and area of detection is big, detecting distance is long, the influence not being illuminated by the light from
And it also can reach good effect in night environment；Compared to existing GPS technology, ranging is at low cost, stability is high, can be extensive
It produces and comes into operation.
(2) Radar Technology is applied to judge the orientation of other mine trucks, to pass through radar signal acquisition module by the present invention
It acquires the microwave echoes signal of other mine trucks in peripheral region and is transferred to after microwave echoes signal is converted to electric signal
Signal processing module, signal processing module judge the side of mine truck according to the electric signal received from radar signal acquisition module
Position can be realized and detect over long distances, and not by environmental disturbances.
(3) the present invention is based on radars and WiFi technology can be realized by the safe decision model in signal processing module
Early warning mine truck is treated compared between the distance between other mine trucks and alarm distance threshold value, and works as mine truck
The distance between be less than alarm distance threshold value when, alarmed by alarm module, by display module progress information alert, energy
Real-time anticollision early warning enough is carried out for mine truck, and early warning accuracy rate is high.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the mine truck collision early warning system of the invention based on radar and WIFI.
Fig. 2 is building and the training flow chart of mine truck anticollision Early-warning Model in embodiment；
Fig. 3 is the structural representation of the mine truck collision early warning system of the invention based on radar and WIFI in embodiment
Figure；
Fig. 4 is the flow chart of the mine truck anticollision method for early warning of the invention based on radar and WIFI；
Fig. 5 illustrates for the installation of the mine truck collision early warning system of the invention in embodiment based on radar and WIFI
Figure；
Fig. 6 is the relationship in the training set and test set in embodiment apart from computation model between distance and WIFI signal intensity
Schematic diagram；
Fig. 7 is the comparison diagram of the output and actual range in embodiment apart from computation model.
In figure, 1-WIFI transmitter, 2-WIFI receiver, 3- radar sensor, 4- central processing unit, 5- digital-scroll technique
Device, 6- phonetic alarm.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
As shown in Figure 1, the mine truck collision early warning system of the invention based on radar and WIFI, it is characterised in that:
Including WIFI signal transmitting module, WIFI signal receiving module, radar signal acquisition module, signal processing module, alarm module,
Display module；
The output end of the WIFI signal receiving module, the radar signal acquisition module output end with the signal
The input terminal of processing module is electrically connected, the output end of the signal processing module and the display module, the alarm module
Input terminal be electrically connected respectively；
The WIFI signal transmitting module is used to emit WIFI signal to early warning mine truck peripheral region；
The WIFI signal receiving module is used to receive the WIFI signal that other mine trucks issue in peripheral region, and will
The WIFI signal intensity and title of other mine trucks are transferred to the signal processing module；
The radar signal acquisition module is used to acquire the microwave echoes signal of other mine trucks in peripheral region and will
Microwave echoes signal is transferred to the signal processing module after being converted to electric signal；
Mine truck anticollision Early-warning Model, the mine truck anticollision early warning are packaged in the signal processing module
Model includes apart from computation model, safe decision model, and described apart from computation model is input, WIFI letter with WIFI signal intensity
Number corresponding distance of intensity is output, the safe decision model between early warning mine truck and other mine trucks away from
From for input, alarm signal be output；The signal processing module is used to input the WIFI signal intensity of other mine trucks
Apart from computation model and export to the distance between early warning mine truck and other mine trucks to safe decision model；The letter
Number processing module be used for judge in safe decision model to early warning mine truck at a distance between other mine trucks whether
Determine other mine trucks for dangerous mine truck, basis less than alarm distance threshold value, and when being less than alarm distance threshold value
The electric signal received from radar signal acquisition module judges the orientation of dangerous mine truck, while exporting alarm signal to described
Alarm module, export to the bearing data of the distance between early warning mine truck and dangerous mine truck and dangerous mine truck to
The display module；
The alarm module when receiving alarm signal for alarming；
The display module is for showing the bearing data received and range data.
The mine truck anticollision Early-warning Model is the mine truck anticollision Early-warning Model after training；
As shown in Fig. 2, the building and training of the mine truck anticollision Early-warning Model include: to acquire in mine environment not
WIFI signal intensity data under same distance, forms sample set, and each sample includes WIFI signal intensity data and WIFI letter
Number corresponding range data of intensity；Using WIFI signal intensity as input, the corresponding distance of WIFI signal intensity as output, structure
It builds apart from computation model；Sample composing training collection is chosen from sample set, is carried out to described apart from computation model using training set
Training；The alarm distance threshold value in safe decision model is set according to the actual demand of mine environment.
In the present embodiment, it is described apart from computation model be based on RBF neural apart from computation model.
In the present embodiment, the transmission function that RBF neural uses i.e. radial basis function is based on for gaussian kernel function
Python writes the program of mine truck anticollision Early-warning Model；Acquire WIFI signal intensity number of the 1-50m under
According to sample set is constituted, sample is chosen from sample set and constitutes training set and test set as shown in FIG. 6；Using training set to described
After being trained apart from computation model, will after test set input training in computation model, obtain apart from computation model
It exports as shown in Figure 7 with the comparing result of actual range.
In the present embodiment, as shown in figure 3, the WIFI signal transmitting module is WIFI transmitter 1, the WIFI signal is connect
Receipts module is WIFI receiver 2, and the radar signal acquisition module is radar sensor 3, and the signal processing module is center
Processor 4, the display module are digital display 5, and the alarm module is phonetic alarm 6.
In the present embodiment, there are four the radar sensors 3, and four radar sensors 3 are separately mounted to mining card
Four positions all around of vehicle.In addition, the radar sensor 3 of other quantity can be set according to the demand to true bearing
And radar sensor 3 is mounted on to the orientation of needs, such as in another embodiment, and the radar sensor 3 has eight, and eight
A radar sensor 3 be separately mounted to mine truck before, left front, right front, rear, left and right, it is left back, right after eight positions.
The radar sensor 3 is millimetre-wave radar sensor or laser radar sensor.In the present embodiment, using millimeter
Wave radar sensor.The radar sensor 3 be also possible to those skilled in the art it is conceivable that any other radar sensing
Device.
As shown in figure 4, of the invention carried out using above-mentioned based on the mine truck collision early warning system of radar and WIFI
The method of anticollision early warning, which is characterized in that include the following steps:
Step 1: the mine truck collision early warning system based on radar and WIFI is mounted in mine environment
On each mine truck, named to the WIFI of each mine truck；The WIFI title of each mine truck is unique；
Step 2: when mine truck brings into operation, starting the mine truck anticollision early warning based on radar and WIFI
System；
Step 3: the WIFI signal receiving module receives the WIFI signal that other mine trucks issue in peripheral region, and
The WIFI signal intensity and title of other mine trucks are transferred to the signal processing module；The radar signal acquisition module
It acquires the microwave echoes signal of other mine trucks in peripheral region and is transferred to after microwave echoes signal is converted to electric signal
The signal processing module；
Step 4: the signal processing module, which is called, to be calculated apart from computation model to early warning mine truck and other mining cards
Then the distance between vehicle calls safe decision model to judge to the distance between early warning mine truck and other mine trucks
Whether be less than alarm distance threshold value, and be less than alarm distance threshold value when determine other mine trucks for dangerous mine truck,
The orientation of dangerous mine truck is judged according to the electric signal that receives from radar signal acquisition module, at the same export alarm signal to
The alarm module, output are to the distance between early warning mine truck and dangerous mine truck and the orientation number of dangerous mine truck
According to the display module；
Step 5: the alarm module is alarmed receiving alarm signal, and the display module is to the orientation received
Data and range data are shown.
In the present embodiment, the radar signal acquisition module includes four radar sensors 3；In the step 1, such as Fig. 5
It is shown, the mine truck collision early warning system based on radar and WIFI is mounted on the mining card of each of mine environment
It include: that the signal processing module, display module, alarm module are packaged together and are mounted on to early warning mine truck on vehicle
Driver's cabin in, four radar sensors 3 are separately mounted to four positions all around to early warning mine truck, will
The WIFI signal transmitting module, the WIFI signal receiving module are installed in the inside to early warning mine truck.
Obviously, above-described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Above-mentioned implementation
Example for explaining only the invention, is not intended to limit the scope of the present invention..Based on the above embodiment, those skilled in the art
Member's every other embodiment obtained namely all in spirit herein and original without making creative work
Made all modifications, equivalent replacement and improvement etc., are all fallen within the protection domain of application claims within reason.
Claims (9)
1. a kind of mine truck collision early warning system based on radar and WIFI, it is characterised in that: emit including WIFI signal
Module, WIFI signal receiving module, radar signal acquisition module, signal processing module, alarm module, display module；
The output end of the WIFI signal receiving module, the radar signal acquisition module output end with the signal processing
The input terminal of module is electrically connected, the output end of the signal processing module and the display module, the alarm module it is defeated
Enter end to be electrically connected respectively；
The WIFI signal transmitting module is used to emit WIFI signal to early warning mine truck peripheral region；
The WIFI signal receiving module is used to receive the WIFI signal of the sending of other mine trucks peripheral region in, and by other
The WIFI signal intensity and title of mine truck are transferred to the signal processing module；
The radar signal acquisition module is used to acquire the microwave echoes signal of other mine trucks in peripheral region and by microwave
Echo-signal is transferred to the signal processing module after being converted to electric signal；
Mine truck anticollision Early-warning Model, the mine truck anticollision Early-warning Model are packaged in the signal processing module
Including apart from computation model, safe decision model, described apart from computation model is that input, WIFI signal are strong with WIFI signal intensity
Corresponding distance is spent for output, and the safe decision model to be to the distance between early warning mine truck and other mine trucks
Input, alarm signal are output；The signal processing module is used for the WIFI signal intensity transmission range of other mine trucks
Computation model is simultaneously exported to the distance between early warning mine truck and other mine trucks to safe decision model；At the signal
Reason module is used to judge to early warning mine truck whether to be less than at a distance between other mine trucks in safe decision model
Alarm distance threshold value, and determine when being less than alarm distance threshold value other mine trucks for dangerous mine truck, according to from thunder
The electric signal received up to signal acquisition module judges the orientation of dangerous mine truck, while exporting alarm signal to the alarm
Module is exported to the bearing data of the distance between early warning mine truck and dangerous mine truck and dangerous mine truck to described
Display module；
The alarm module when receiving alarm signal for alarming；
The display module is for showing the bearing data received and range data.
2. the mine truck collision early warning system according to claim 1 based on radar and WIFI, which is characterized in that institute
Stating mine truck anticollision Early-warning Model is the mine truck anticollision Early-warning Model after training；
The building and training of the mine truck anticollision Early-warning Model include: the WIFI acquired in mine environment under different distance
Signal strength data, formed sample set, each sample include WIFI signal intensity data it is corresponding with the WIFI signal intensity away from
From data；Using WIFI signal intensity as input, the corresponding distance of WIFI signal intensity as output, building distance calculates mould
Type；Sample composing training collection is chosen from sample set, is trained to described apart from computation model using training set；According to mine
The actual demand of environment sets the alarm distance threshold value in safe decision model.
3. the mine truck collision early warning system according to claim 2 based on radar and WIFI, which is characterized in that institute
Stating apart from computation model is based on RBF neural apart from computation model.
4. the mine truck collision early warning system according to claim 1 based on radar and WIFI, which is characterized in that institute
Stating WIFI signal transmitting module is WIFI transmitter (1), and the WIFI signal receiving module is WIFI receiver (2), the thunder
It is radar sensor (3) up to signal acquisition module, the signal processing module is central processing unit (4), and the display module is
Digital display (5), the alarm module are phonetic alarm (6).
5. the mine truck collision early warning system according to claim 4 based on radar and WIFI, which is characterized in that institute
It states there are four radar sensor (3), four radar sensors (3) are separately mounted to four positions all around of mine truck
It sets.
6. the mine truck collision early warning system according to claim 4 based on radar and WIFI, which is characterized in that institute
Stating radar sensor (3) has eight, eight radar sensors (3) be separately mounted to mine truck before, it is left front, right before,
Afterwards, eight positions after left and right, left back, right.
7. the mine truck collision early warning system according to claim 4 based on radar and WIFI, which is characterized in that institute
Stating radar sensor (3) is millimetre-wave radar sensor or laser radar sensor.
8. a kind of mine truck anticollision early warning based on radar and WIFI using as described in any one of claims 1 to 7
The method of system progress anticollision early warning, which is characterized in that include the following steps:
Step 1: the mine truck collision early warning system based on radar and WIFI is mounted on each of mine environment
On mine truck, named to the WIFI of each mine truck；The WIFI title of each mine truck is unique；
Step 2: when mine truck brings into operation, starting the mine truck anticollision early warning system based on radar and WIFI
System；
Step 3: the WIFI signal receiving module receives the WIFI signal of other mine trucks sending in peripheral region, and by its
The WIFI signal intensity and title of his mine truck are transferred to the signal processing module；The radar signal acquisition module acquisition
The microwave echoes signal of other mine trucks and be converted to microwave echoes signal is transferred to after electric signal described in peripheral region
Signal processing module；
Step 4: the signal processing module call apart from computation model calculate to early warning mine truck and other mine trucks it
Between distance, then call safe decision model judge to the distance between early warning mine truck and other mine trucks whether
Determine other mine trucks for dangerous mine truck, basis less than alarm distance threshold value, and when being less than alarm distance threshold value
The electric signal received from radar signal acquisition module judges the orientation of dangerous mine truck, while exporting alarm signal to described
Alarm module, export to the bearing data of the distance between early warning mine truck and dangerous mine truck and dangerous mine truck to
The display module；
Step 5: the alarm module is alarmed receiving alarm signal, and the display module is to the bearing data received
And range data is shown.
9. the mine truck anticollision method for early warning according to claim 8 based on radar and WIFI, which is characterized in that institute
Stating radar signal acquisition module includes four radar sensors (3)；In the step 1, by the mine based on radar and WIFI
Be mounted on each mine truck in mine environment with truck collision early warning system include: by the signal processing module,
Display module, alarm module are packaged together and are mounted in the driver's cabin to early warning mine truck, and four radars are passed
Sensor (3) is separately mounted to four positions all around to early warning mine truck, by the WIFI signal transmitting module, described
WIFI signal receiving module is installed in the inside to early warning mine truck.
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| CN111198377A (en) * | 2020-01-13 | 2020-05-26 | 内蒙古广纳信息科技有限公司 | Mining dump truck open-pit mine anti-collision detection device and method |
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