CN111781601A - Unmanned system for mine car and mine car - Google Patents
Unmanned system for mine car and mine car Download PDFInfo
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- CN111781601A CN111781601A CN202010709346.4A CN202010709346A CN111781601A CN 111781601 A CN111781601 A CN 111781601A CN 202010709346 A CN202010709346 A CN 202010709346A CN 111781601 A CN111781601 A CN 111781601A
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- 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
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- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/862—Combination of radar systems with sonar systems
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- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
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- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an unmanned system for a mine car and the mine car, which comprise a laser radar group, a long-distance millimeter wave radar group, a medium-distance millimeter wave radar group and an ultrasonic radar group, wherein the laser radar group comprises a first laser radar arranged at the middle position of the tail of the mine car and two second laser radars respectively arranged at two sides of the head of the mine car; the long-distance millimeter wave radar group comprises a first long-distance millimeter wave radar arranged at the tail of the mine car and a second long-distance millimeter wave radar arranged on the head of the mine car; the middle distance millimeter wave radar group comprises first middle distance millimeter wave radars arranged on two sides of the head of the mine car and second middle distance millimeter wave radars arranged on two sides of the body of the mine car; the ultrasonic radar set comprises first ultrasonic radars respectively arranged on the head and the tail of the mine car and second ultrasonic radars respectively arranged on two sides of the body of the mine car. The invention can carry out layered detection on the road environment where the mine car is located, thereby realizing the comprehensive detection on the obstacles with different sizes near the mine car.
Description
Technical Field
The invention belongs to the technical field of unmanned driving, and particularly relates to an unmanned driving system for a mine car and the mine car.
Background
Along with the rapid development of economy in China, the demand on mineral resources is greater and greater, so that the development on the mine resources is increased continuously, along with the remarkable improvement of the mining scale of mines, the mining conditions are worse and worse, the safety threat to people is greater and higher, but the requirement on the mining efficiency is higher and higher. Because the unmanned mine car depends on the cooperation of artificial intelligence, visual calculation, radar, a monitoring device and a global positioning system, the computer can automatically and safely operate the motor vehicle without any active operation of human, and therefore, the mine car capable of being automatically driven can avoid the safety threat of mining conditions to people.
However, the existing unmanned system generally detects the running environment of the vehicle through an optical camera and a laser radar, the optical camera is the cheapest and most common vehicle-mounted sensor at present, and although the optical camera can be an excellent tool for reading scenes by distinguishing colors, the optical camera cannot judge the distance between an object and the vehicle and is too sensitive to light; however, although the laser radar can detect and measure with laser light, the laser light has a short wavelength and thus has a weak penetrating power to rainy weather, dust, smoke, and the like.
The millimeter wave radar is a radar which works in a millimeter wave band (mi l interferometer wave) for detection, and the millimeter wave generally refers to a frequency domain (with a wavelength of 1-10 mm) of 30-300 GHz. Millimeter-wave radars have some of the advantages of microwave radars and photoelectric radars, because millimeter-wave wavelengths are between those of microwaves and centimeter waves. Compared with a laser radar, the millimeter wave radar has the characteristics of small volume, light weight and high spatial resolution, has the advantage of strong capability of penetrating fog, smoke and dust, and can work all day long in all weather (except heavy rainy days). In addition, the millimeter wave radar has stronger interference resistance. The millimeter wave radar can distinguish and identify very small targets and can identify a plurality of targets simultaneously; has the advantages of imaging capability, small volume and the like. Although the detection depth and distance precision of the millimeter wave radar is not higher than that of the ultrasonic radar and the laser radar, the millimeter wave radar has the advantages of lower price, stronger short-distance detection range and capability and the like, and therefore, the millimeter wave radar can be matched with the ultrasonic radar and the laser radar for use.
Therefore, an unmanned system which is formed by matching a millimeter wave radar, an ultrasonic radar and a laser radar and can comprehensively detect obstacles with different sizes needs to be researched urgently.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the unmanned system for the mine car and the mine car, wherein the unmanned system can comprehensively detect obstacles with different sizes near the mine car.
One aspect of the invention provides an unmanned system for a mine car, comprising:
the laser radar set comprises a first laser radar arranged in the middle of the tail of the mine car and two second laser radars respectively arranged on two sides of the head of the mine car;
the long-distance millimeter wave radar group comprises a first long-distance millimeter wave radar arranged in the middle position of the tail of the mine car and a second long-distance millimeter wave radar arranged on the head of the mine car and positioned between the two second laser radars;
the middle-distance millimeter wave radar group comprises first middle-distance millimeter wave radars arranged on two sides of the head of the mine car and second middle-distance millimeter wave radars arranged on two sides of the body of the mine car;
the ultrasonic radar set comprises first ultrasonic radars which are respectively arranged on the head and the tail of the mine car and second ultrasonic radars which are respectively arranged on two sides of the body of the mine car.
Further, the detection distances of the first laser radar and the second laser radar are both 100m, the horizontal viewing angle is 360 degrees, and the vertical viewing angle is 30 degrees.
Further, first long-range millimeter wave radar is close to first laser radar sets up, second long-range millimeter wave radar and two distance between the second laser radar equals, wherein, the detection distance of first long-range millimeter wave radar and second long-range millimeter wave radar is 150m, and the horizontal visual angle is 18 °, and the vertical visual angle is 14 °.
Further, establish first mesosphere millimeter wave radar of mine car automobile body both sides is close to respectively the second laser radar sets up, the second mesosphere millimeter wave radar is established the battery box 101 of mine car is close to the one side of front wheel, the detection distance of first mesosphere millimeter wave radar and second mesosphere millimeter wave radar is 50m, the horizontal viewing angle is 75 °, and the vertical viewing angle is 12.
Furthermore, two 4 first ultrasonic radars that distribute between the second laser radar set up each be equipped with one first ultrasonic radar in first laser radar both sides, first ultrasonic radar's detection distance is 2m, and the horizontal visual angle is 110 °, and the vertical visual angle is 50.
Furthermore, two sides of a battery box of the mine car are respectively provided with one second ultrasonic radar, and the detection distance of the second ultrasonic radar is 4.5m, the horizontal visual angle is 60 degrees, and the vertical visual angle is 40 degrees.
Furthermore, first laser radar, second laser radar, first long-range millimeter wave radar, second long-range millimeter wave radar, first intermediate range millimeter wave radar, second intermediate range millimeter wave radar, first ultrasonic radar and second ultrasonic radar all are in same water flat line.
Further, the method also comprises the following steps:
the camera assembly comprises a first camera arranged in the middle of the head of the mine car, a second camera arranged in the middle of the tail of the mine car and third cameras respectively arranged on two sides of the mine car, and the horizontal visual angles of the first camera, the second camera and the third camera are 170 degrees, and the vertical visual angles are 117 degrees.
Further, the method also comprises the following steps:
and the receiving antenna is positioned at the top of the mine car and used for acquiring the positioning signals transmitted by the satellite so as to control the running route of the mine car.
According to a further aspect of the invention there is provided a mine car including an unmanned system for a mine car as described above.
According to the unmanned system for the mine car and the mine car, the mine car is provided with the laser radar group, the long-distance millimeter wave radar group, the medium-distance millimeter wave radar group and the ultrasonic radar group, layered detection is carried out on the road environment where the mine car is located, a three-dimensional detection net for obstacles near the mine car is further formed, graded defense of the mine car for the obstacles is achieved, and meanwhile, detection dead zones are avoided by utilizing the self detection advantages of the laser radar group, the long-distance millimeter wave radar group, the medium-distance millimeter wave radar group and the ultrasonic radar group. In a word, the unmanned system provided by the invention can comprehensively detect obstacles with different sizes near the mine car.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a front view of a mining vehicle drone system of an exemplary embodiment of the present invention positioned on the mining vehicle;
FIG. 2 is a side view of an unmanned system for a mining vehicle according to an exemplary embodiment of the present invention positioned on the mining vehicle;
FIG. 3 is a schematic illustration of an unmanned system for a mining vehicle for detecting obstacles in accordance with an exemplary embodiment of the present invention;
FIG. 4 is a schematic illustration of a further drone system for mine cars for detecting obstacles in accordance with an exemplary embodiment of the present invention;
FIG. 5 is a schematic view of another drone system for mine cars for detecting obstacles in accordance with an exemplary embodiment of the present invention.
In the figure:
1-mine car, 101-battery box, 102-bumper;
2-a first lidar;
3-a second lidar;
4-a first long range millimeter wave radar;
5-a second long range millimeter wave radar;
6-a first mid-range millimeter wave radar;
7-a second mid-range millimeter wave radar;
8-a first ultrasonic radar;
9-a second ultrasonic radar;
10-a first camera;
11-a second camera;
12-a third camera;
13-receive antenna.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The invention provides an unmanned system for a mine car, which comprises a laser radar group, a long-distance millimeter wave radar group, a middle-distance millimeter wave radar group and an ultrasonic radar group, wherein the laser radar group comprises a first laser radar 2 arranged in the middle of the tail of the mine car 1 and two second laser radars 3 respectively arranged on two sides of the head of the mine car 1; the long-distance millimeter wave radar group comprises a first long-distance millimeter wave radar 4 arranged in the middle of the tail of the mine car 1 and a second long-distance millimeter wave radar 5 arranged on the head of the mine car 1 and positioned between the two second laser radars 3; the middle distance millimeter wave radar group comprises a first middle distance millimeter wave radar 6 arranged on two sides of the head of the mine car 1 and a second middle distance millimeter wave radar 7 arranged on two sides of the car body of the mine car 1; the ultrasonic radar group comprises first ultrasonic radars 8 respectively arranged on the head and the tail of the mine car 1 and second ultrasonic radars 9 respectively arranged on two sides of the car body of the mine car 1.
The mine car 1 is provided with the laser radar group, the long-distance millimeter wave radar group, the medium-distance millimeter wave radar group and the ultrasonic radar group, layered detection is carried out on the road environment where the mine car 1 is located, a three-dimensional detection network for obstacles near the mine car 1 is further formed, graded defense of the mine car 1 for the obstacles is realized, meanwhile, detection blind areas are avoided by utilizing the self detection advantages of the laser radar group, the long-distance millimeter wave radar group, the medium-distance millimeter wave radar group and the ultrasonic radar group, and in a word, the unmanned system provided by the invention can comprehensively detect the obstacles near the mine car 1 with different sizes. Although the detection distance of the front and rear long-distance millimeter waves 5 is longer, the horizontal and vertical detection ranges are limited, so that a first laser radar 2 and a second laser radar 3 with wider detection ranges are additionally arranged; the detection of the laser radar is realized by emitting laser within the range of 360 degrees around, the detection has certain time delay, and the laser radar has shorter wavelength, poorer fog, smoke and dust penetrating capability and larger influence on the laser radar in rainy days, so the assistance of the first intermediate millimeter wave radar 6 and the second intermediate millimeter wave radar 7 is added to enhance the detection capability in the environments of rainy days, fog, smoke and dust; when a barrier appears in the ultra-close range (2-4m) of the head of the mine car 1, the first ultrasonic radar and the second ultrasonic radar 9 which are arranged on the mine car 1 can detect the barrier, so that a detection blind area is avoided.
As a preferred embodiment, referring to fig. 3 and 4, the first lidar 2 and the second lidar 3 each have a detection distance of 100m, a horizontal angle of view of 360 °, and a vertical angle of view of 30 °. In the embodiment, the first laser radar 2 and the second laser radar 3 with the detection distances of 100m are respectively arranged on the tail and the head of the mine car 1, so that the obstacles in the range of 100m around the mine car 1 are detected, and the horizontal visual angles and the vertical visual angles of the first laser radar 2 and the second laser radar 3 are both 360 degrees and 30 degrees, so that the first laser radar 2 and the second laser radar 3 aim at the detection of the obstacles around the mine car 1 and near the car body. Preferably, the first lidar 2 is disposed on the rear side of the car 1, the second lidar 3 is disposed on both sides of the bumper 102 of the car 1, therefore, the first laser radar 2 detects an obstacle within a circumferential range of 100m near the first laser radar 2 centering on the middle of the vehicle rear, the second laser radar 3 detects an obstacle within a circumferential range of 100m near the second laser radar 3 centering on one side of the bumper 102, the detection ranges of the first laser radar 2 and the second laser radar 3 are overlapped at the vehicle body, the detection ranges of the two second laser radars 3 are overlapped at the vehicle head, therefore, the first laser radar 2 and the second laser radar can form a detection network capable of detecting obstacles within 100m around the mine car 1, and therefore the detection capability of the mine car 1 on the obstacles is improved.
As a preferred embodiment, referring to fig. 5, the first long-range millimeter wave radar 4 is disposed close to the first laser radar 2, and the distances between the second long-range millimeter wave radar 5 and the two second laser radars 3 are equal, wherein the detection distances of the first long-range millimeter wave radar 4 and the second long-range millimeter wave radar 5 are both 150m, the horizontal viewing angles are both 18 °, and the vertical viewing angles are both 14 °. In the embodiment, the first long-distance millimeter wave radar 4 and the second long-distance millimeter wave radar 5 with detection distances of 150m are respectively arranged on the tail and the head of the mine car 1, so that the obstacles in the range of 150m in front of and behind the mine car 1 are detected, and the horizontal visual angles and the vertical visual angles of the first long-distance millimeter wave radar 4 and the second long-distance millimeter wave 5 are 18 degrees and 14 degrees respectively, so that the first long-distance millimeter wave radar 4 and the second long-distance millimeter wave 5 are used for detecting the long-distance small-range obstacles in front of and behind the mine car 1. Preferably, the first lidar 2 is provided on the rear side of the car 1, and the second lidar 3 is provided at the center position of the front bumper 102 of the car 1, so that the first long distance millimeter wave radar 4 detects an obstacle within 150m of the first long distance millimeter wave radar 4 around the middle of the car tail, and the second long distance millimeter wave radar 5 detects an obstacle within 150m of the second long distance millimeter wave radar 5 around the center position of the bumper 102.
As a preferable embodiment, the first intermediate distance millimeter wave radar 6 arranged on two sides of the mine car 1 is respectively arranged close to the second laser radar 3, the second intermediate distance millimeter wave radar 7 is arranged on one side of the battery box 101 of the mine car 1 close to the front wheels, the detection distances of the first intermediate distance millimeter wave radar 6 and the second intermediate distance millimeter wave radar 7 are both 50m, the horizontal viewing angle is 75 degrees, and the vertical viewing angle is 12 degrees. In the embodiment, the first midrange millimeter wave radar 6 is respectively arranged at two sides of a bumper 102 of the mine car 1, the first midrange millimeter radar detects the obstacles which are close to the first midrange millimeter wave radar 6 and within the range of 50m by taking one side of the bumper 102 as the center, the second midrange millimeter wave radar 7 is arranged at one side of a battery box 101 of the mine car 1, which is close to a front wheel, and detects the obstacles which are close to the first midrange millimeter wave radar 6 and within the range of 50m by taking the second midrange millimeter radar as the center, and the horizontal visual angle and the vertical visual angle are respectively 75 degrees and 12 degrees because the midrange millimeter radar detects the obstacles which are close to the first midrange millimeter wave radar 6 and within the range of 50m by taking one side of the bumper 102 as the center, therefore, the detection of an obstacle within a range of 50m near the first midrange millimeter wave radar 6 centered on one side of the bumper 102 by the midrange millimeter radar is directed to the detection of a midrange obstacle. Preferably, the detection ranges of the first and second midrange millimeter radars do not overlap.
In a preferred embodiment, 4 first ultrasonic radars 8 are distributed between the two second laser radars 3, one first ultrasonic radar 8 is arranged on each of the two sides of the first laser radar 2, and the first ultrasonic radar 8 has a detection distance of 2m, a horizontal viewing angle of 110 °, and a vertical viewing angle of 50 °. In this embodiment, establish 4 first ultrasonic radar 8 between two second laser radar 3, the detection range of two adjacent first ultrasonic radar 8 takes place to overlap, and the first ultrasonic radar 8 that is located locomotive department surveys the barrier that is close to locomotive 2m within range, because the horizontal visual angle of first ultrasonic radar 8 is 110 °, the vertical visual angle is 50 again, consequently, the detection of the barrier that is close to locomotive and locomotive department of rear of a vehicle of first ultrasonic radar 8. Preferably, 4 first ultrasonic radars 8 provided at the vehicle head are provided on the bumper 102.
As a preferred embodiment, two second ultrasonic radars 9 are respectively arranged on two sides of the battery box 101 of the mine car 1, and the detection distance of the second ultrasonic radar 9 is 4.5m, the horizontal visual angle is 60 degrees, and the vertical visual angle is 40 degrees. In the present embodiment, the second ultrasonic radar 9 located in the battery box 101 detects an obstacle in a range of 4.5m close to the battery box 101, and the second ultrasonic radar 9 detects an obstacle close to the battery box 101 because the horizontal angle of view is 60 ° and the vertical angle of view is 40 °.
As a preferred embodiment, the first laser radar 2, the second laser radar 3, the first long-distance millimeter wave radar 4, the second long-distance millimeter wave radar 5, the first intermediate-distance millimeter wave radar 6, the second intermediate-distance millimeter wave radar 7, the first ultrasonic radar 8 and the second ultrasonic radar 9 are all positioned on the same horizontal line, so that the first laser radar 2, the second laser radar 3, the first long-distance millimeter wave radar 4, the second long-distance millimeter wave radar 5, the first intermediate-distance millimeter wave radar 6, the second intermediate-distance millimeter wave radar 7, the first ultrasonic radar 8 and the second ultrasonic radar 9 are constructed and combined into a three-dimensional detection network, and the accuracy of detecting obstacles near the mine car 1 is improved.
As a preferable embodiment, the mining vehicle further comprises a camera assembly, the camera assembly comprises a first camera 10 arranged in the middle of the head of the mining vehicle 1, a second camera 11 arranged in the middle of the tail of the mining vehicle 1 and third cameras 12 respectively arranged on two sides of the mining vehicle 1, and the horizontal visual angles and the vertical visual angles of the first camera 10, the second camera 11 and the third cameras 12 are all 170 degrees and 117 degrees respectively. In this embodiment, the first camera 10, the second camera 11 and the third camera 12 are all on the same horizontal line, the third cameras 12 are arranged on the battery boxes 101 on both sides of the mine car 1, and the camera assemblies are used for monitoring the environment around the mine car 1 in real time, so as to improve the accuracy of detecting obstacles near the mine car 1.
As a preferred embodiment, it also comprises a receiving antenna 13, the receiving antenna 13 being located at the top of the mine car 1 for acquiring positioning signals transmitted by satellites for controlling the travel path of the mine car 1.
The invention provides a mine car, which comprises the unmanned system for the mine car. In the embodiment, because the laser radar group in the unmanned system can not work normally under the conditions of low temperature and low illumination, the unmanned system can not provide an accurate running route for the mine car 1, therefore, by adding a long-range millimeter wave radar group, a medium-range millimeter wave radar group, and an ultrasonic radar group and a laser radar that can normally operate under low temperature and low light conditions to the unmanned system, the purpose that the unmanned system can provide an accurate running route for the mine car 1 under the conditions of low temperature and low illumination is achieved, meanwhile, a laser radar group, a long-distance millimeter wave radar group, a middle-distance millimeter wave radar group and an ultrasonic radar group are arranged on the mine car 1, the layered detection is carried out on the road environment where the mine car 1 is located, so that a three-dimensional detection network for the obstacles near the mine car 1 is formed, and the graded defense of the mine car 1 for the obstacles is realized.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An unmanned system for a mining vehicle, comprising:
the laser radar set comprises a first laser radar (2) arranged in the middle of the tail of the mine car (1) and two second laser radars (3) respectively arranged on two sides of the head of the mine car (1);
the long-distance millimeter wave radar group comprises a first long-distance millimeter wave radar (4) arranged in the middle position of the tail of the mine car (1) and a second long-distance millimeter wave radar (5) arranged on the head of the mine car (1) and positioned between the two second laser radars (3);
the middle distance millimeter wave radar group comprises first middle distance millimeter wave radars (6) arranged on two sides of the head of the mine car (1) and second middle distance millimeter wave radars (7) arranged on two sides of the body of the mine car (1);
the ultrasonic radar set comprises first ultrasonic radars (8) respectively arranged on the head and the tail of the mine car (1) and second ultrasonic radars (9) respectively arranged on two sides of the car body of the mine car (1).
2. The unmanned system for mining vehicles according to claim 1, wherein the first lidar (2) and the second lidar (3) each have a detection distance of 100m, a horizontal viewing angle of 360 ° and a vertical viewing angle of 30 °.
3. The unmanned system for mine cars of claim 1, characterized in that said first long-range millimeter wave radar (4) is disposed close to said first lidar (2), and said second long-range millimeter wave radar (5) is disposed at a distance equal to two of said second lidar (3), wherein said first long-range millimeter wave radar (4) and said second long-range millimeter wave radar (5) each have a detection distance of 150m, a horizontal viewing angle of 18 °, and a vertical viewing angle of 14 °.
4. The unmanned system for mining vehicles according to claim 1, wherein first median millimeter wave radars (6) provided on both sides of the vehicle body of the mining vehicle (1) are respectively provided near the first laser radar (2), the second median millimeter wave radar (7) is provided on the side of the battery box (101) of the mining vehicle (1) near the front wheels, the detection distances of the first and second median millimeter wave radars (6, 7) are both 50m, the horizontal viewing angles are both 75 °, and the vertical viewing angles are both 12 °.
5. The unmanned system for mining vehicles according to claim 1, wherein 4 of said first ultrasonic radars (8) are disposed between two of said second laser radars (3), one of said first ultrasonic radars (8) is disposed on each of both sides of said first laser radar (2), and said first ultrasonic radar (8) has a detection distance of 2m, a horizontal angle of view of 110 ° and a vertical angle of view of 50 °.
6. The unmanned system for mining vehicles according to claim 1, wherein one of the second ultrasonic radars (9) is provided on each of both sides of a battery box (101) of the mining vehicle (1), and the second ultrasonic radar (9) has a detection distance of 4.5m, a horizontal angle of view of 60 °, and a vertical angle of view of 40 °.
7. The unmanned system for mine cars of claim 1, characterized in that the first lidar (2), the second lidar (3), the first long-range millimeter-wave radar (4), the second long-range millimeter-wave radar (5), the first mid-range millimeter-wave radar (6), the second mid-range millimeter-wave radar (7), the first ultrasonic radar (8), and the second ultrasonic radar (9) are all on the same horizon.
8. The unmanned system for mining vehicles of claim 1, further comprising:
the camera assembly comprises a first camera (10) arranged in the middle of the head of the mine car (1), a second camera (11) arranged in the middle of the tail of the mine car (1), and third cameras (12) respectively arranged on two sides of the mine car (1), wherein the horizontal visual angles of the first camera (10), the second camera (11) and the third camera (12) are 170 degrees, and the vertical visual angle is 117 degrees.
9. The unmanned system for mining vehicles of claim 1, further comprising:
and the receiving antenna (13) is positioned at the top of the mine car (1) and is used for acquiring positioning signals transmitted by a satellite so as to control the running route of the mine car (1).
10. A mining vehicle including an unmanned system for mining vehicles according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010709346.4A CN111781601A (en) | 2020-07-22 | 2020-07-22 | Unmanned system for mine car and mine car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010709346.4A CN111781601A (en) | 2020-07-22 | 2020-07-22 | Unmanned system for mine car and mine car |
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| Publication Number | Publication Date |
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| CN111781601A true CN111781601A (en) | 2020-10-16 |
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| CN202010709346.4A Pending CN111781601A (en) | 2020-07-22 | 2020-07-22 | Unmanned system for mine car and mine car |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112379674A (en) * | 2020-11-26 | 2021-02-19 | 中国第一汽车股份有限公司 | Automatic driving equipment and system |
-
2020
- 2020-07-22 CN CN202010709346.4A patent/CN111781601A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112379674A (en) * | 2020-11-26 | 2021-02-19 | 中国第一汽车股份有限公司 | Automatic driving equipment and system |
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