CN114460935A - Unmanned obstacle detection system and method for mining vehicle - Google Patents
Unmanned obstacle detection system and method for mining vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention provides a system and a method for detecting unmanned driving obstacles of a mining vehicle, wherein the system comprises a controller, the input end of the controller is respectively and electrically connected with a vehicle speed detection module and an obstacle detection module, and the output end of the controller is respectively and electrically connected with a steering module, a moving module, a braking module, a voice prompt module, an obstacle analysis module, an obstacle image intercepting module and an obstacle clearing module. The obstacle detection system can upload encountered obstacles to the remote monitoring end, is convenient for operators to find and clean the obstacles in time, and solves the problems that the existing obstacle detection system of the mine car unmanned vehicle has a single obstacle detection mode in the use process, cannot detect the size and height of the obstacles, cannot upload the encountered obstacles to the remote monitoring end, is not favorable for the operators to find the uncleaned obstacles in time, is easy to cause the stop operation of the mine car, and further influences the normal work of the mine car.
Description
Technical Field
The invention belongs to the technical field of unmanned driving, and relates to a mining vehicle, in particular to a system and a method for detecting unmanned driving obstacle of the mining vehicle.
Background
The mining truck belongs to the off-road truck, is mainly used in mines, is more durable and more heavy than a common truck in engineering, has no great difference from a common dump truck in structure, and is just 'big', actually, the mining truck has essential difference from the common dump truck in design concept, the common dump truck is used for road transportation, and the mining truck is used for mine construction operation, so that the whole truck and used parts of the mining truck take mine operation environment into consideration, and the mining truck is designed and manufactured for the users.
Along with the development of science and technology, unmanned vehicle has got into people's the field of vision, apply to in the middle of the industrial production, current mine car unmanned vehicle's obstacle detection system is in the use, the mode of detecting the barrier is comparatively single, can not detect the size and the height of barrier, can not upload the barrier that meets to the remote monitoring end, be unfavorable for operating personnel in time to discover the barrier that can not clear up, cause the out-of-service of mine car easily, thereby influence the normal work of mine car.
Disclosure of Invention
The invention aims to solve the problems in the prior art, provides a mine car unmanned obstacle detection system and a mine car unmanned obstacle detection method, and has the advantages of being capable of detecting the size and height of an obstacle, being capable of uploading the encountered obstacle to a remote monitoring end, being convenient for an operator to find and clean the obstacle in time, and solving the problems that the existing mine car unmanned vehicle obstacle detection system is single in obstacle detection mode, incapable of detecting the size and height of the obstacle, incapable of uploading the encountered obstacle to the remote monitoring end, not beneficial to the operator to find the uncleaned obstacle in time, and easy to cause the mine car to stop running, thereby influencing the normal work of the mine car.
The purpose of the invention can be realized by the following technical scheme: the utility model provides a mine car unmanned driving obstacle detection system, includes the controller, the input of controller is electricity respectively and is connected with speed of a motor vehicle detection module and obstacle detection module, the output of controller is electricity respectively and is connected with turn to module, removal module, braking module, voice prompt module, obstacle analysis module, obstacle image intercepting module and obstacle clearance module, the output electricity of obstacle analysis module is connected with obstacle calculation module, the output electricity of obstacle image intercepting module is connected with obstacle image uploading module.
Preferably, the input of controller is electrically connected with temperature detection module, humidity detection module and air quality detection module respectively, temperature detection module is temperature sensor, humidity detection module is humidity transducer, air quality detection module is air quality transducer.
Preferably, the input end of the controller is electrically connected with a current conversion module, the input end of the current conversion module is electrically connected with a power module, and the input end of the power module is electrically connected with a solar power generation module.
Preferably, the output end of the controller is electrically connected with a lighting module, and the controller is a lighting lamp.
Preferably, the output end and the input end of the controller are respectively and bidirectionally electrically connected with a video acquisition module and a wireless transceiver module, and the output end of the wireless transceiver module is respectively and electrically connected with a remote monitoring end and a remote moving end.
Preferably, the remote mobile terminal comprises a processor, the input end of the processor is electrically connected with a key module, the output end of the processor is electrically connected with a display module and an alarm module respectively, the alarm module comprises an alarm lamp and a buzzer, and the output end of the processor is electrically connected with the alarm lamp and the buzzer respectively.
Preferably, the obstacle calculation module comprises an obstacle height calculation module, an obstacle width calculation module, an obstacle contour calculation module and an obstacle distance detection module, and the output end of the obstacle analysis module is electrically connected with the obstacle height calculation module, the obstacle width calculation module, the obstacle contour calculation module and the obstacle distance detection module respectively.
Preferably, the controller is electrically connected with a GPS positioning module in a bidirectional mode, the GPS positioning module is a GPS positioner, and the steering module is a steering engine.
A method for detecting unmanned obstacle of a mining vehicle comprises the following steps:
a: the controller analyzes the obstacles through the obstacle analysis module, respectively counts the height, the width and the outline of the obstacles through the obstacle height calculation module, the obstacle width calculation module and the obstacle outline calculation module, detects the distance between the mining vehicle and the impurities through the obstacle distance detection module, if the height and the width of the impurities are smaller than preset values, so as to judge that the obstacles can be cleaned, and controls the obstacle cleaning module to clean the obstacles through the controller, the obstacle cleaning module is an electric push rod and pushes sundries to one side, so that the condition that the traveling road is blocked by the sundries is avoided, or the mine car is steered through the steering module so as to bypass the obstacle;
b: if the height and width of the barrier are larger than the preset values, the barrier cannot be crossed and cleaned, the voice prompt module can send out voice prompt to prompt that the barrier exists, can prompt workers beside the mining vehicle to have obstacles, and is convenient for the workers beside the mining vehicle to clean the obstacles, for example, no workers beside the mining vehicle, the image of the obstacle is intercepted by the obstacle image intercepting module, the image is uploaded by the obstacle image uploading module, the obstacle picture is sent to the remote monitoring end and the remote mobile end through the wireless receiving and sending module, the processor receives the uploaded obstacle picture, the display module displays an obstacle picture, the alarm lamp flashes to alarm, the buzzer sends out a voice prompt alarm to prompt a monitoring person that the mining vehicle encounters an obstacle which cannot pass through and be cleaned, and an operator can conveniently clean the obstacle on the site of the mining vehicle in time;
c: through setting up temperature detection module, humidity detection module and air quality detection module, can detect mining truck temperature, humidity and the air quality of environment of driving respectively, through setting up lighting module, can throw light on to the environment of driving, the night driving control of being convenient for, through GPS orientation module, can fix a position mining truck, the monitoring personnel of being convenient for know the position of mining truck, the long-range removal end is the smart mobile phone, avoid can't learn alarm information under the unmanned condition of long-range monitoring end.
Compared with the prior art, the invention has the following advantages:
1. the invention has the advantages that the obstacle detection system can detect the size and height of an obstacle and can upload the encountered obstacle to the remote monitoring end, thereby being convenient for an operator to find and clean the obstacle in time, and the problem that the existing obstacle detection system of the unmanned mine vehicle has a single obstacle detection mode and can not detect the size and height of the obstacle in the using process is solved, the obstacles which are met cannot be uploaded to the remote monitoring end, so that the obstacles which cannot be cleaned can not be found in time by operators, and the mine car is easy to stop running, thereby affecting the normal work of the mine car.
2. The invention can supply power to the electric equipment by arranging the power supply module, the current conversion module is an inverter and can convert direct current of the power supply module into alternating current for the electric equipment to use, solar energy can be converted into electric energy to be stored in the obstacle width calculation module by arranging the solar power generation module, the power supply module is charged, the electric power resource is saved, the temperature, the humidity and the air quality of the driving environment of the mining vehicle can be respectively detected by arranging the temperature detection module, the humidity detection module and the air quality detection module, the driving environment can be illuminated by arranging the illumination module, the driving monitoring at night is convenient, the voice prompt module can send out voice prompt for obstacles, the obstacle image intercepting module is arranged, the encountered obstacles can be captured, and the obstacle image uploading module is arranged, can upload the obstacle picture of intercepting, upload to remote monitoring terminal, the remote personnel of being convenient for observe the obstacle, through setting up video acquisition module, the video detection driving route of being convenient for, through setting up display module, be convenient for show driving in the operation obstacle image and the video that transmit, through setting up the alarm lamp, can scintillation suggestion control personnel, through setting up bee calling organ, can send the sound suggestion control personnel.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of a controller and video capture module system of the present invention;
FIG. 3 is a system schematic diagram of an obstacle analysis module and an obstacle calculation module according to the present invention;
FIG. 4 is a schematic diagram of a remote monitoring system of the present invention;
FIG. 5 is a schematic diagram of a processor and alarm module system of the present invention.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Example one
As shown in fig. 1-5, a system for detecting unmanned obstacle of mining vehicle comprises a controller, wherein the input end of the controller is respectively and electrically connected with a vehicle speed detection module and an obstacle detection module, the output end of the controller is respectively and electrically connected with a steering module, a moving module, a braking module, a voice prompt module, an obstacle analysis module, an obstacle image intercepting module and an obstacle cleaning module, the output end of the obstacle analysis module is electrically connected with an obstacle calculation module, the output end of the obstacle image intercepting module is electrically connected with an obstacle image uploading module, the voice prompt module can send out voice prompt to indicate that the obstacle exists, the obstacle image capture module can capture the encountered obstacle, through setting up obstacle image upload module, can upload the obstacle picture of intercepting, upload to remote monitoring terminal, the remote personnel of being convenient for observe the obstacle.
The input of controller is connected with temperature detection module, humidity detection module and air quality detection module respectively electricity, and temperature detection module is temperature sensor, and humidity detection module is humidity transducer, and air quality detection module is air quality sensor, through setting up temperature detection module, humidity detection module and air quality detection module, can detect mining truck temperature, humidity and the air quality of environment of driving respectively.
The input electricity of controller is connected with current conversion module, current conversion module's input electricity is connected with power module, power module's input electricity is connected with solar energy power module, through setting up power module, can supply power to consumer, current conversion module is the dc-to-ac converter, can convert power module's direct current to the alternating current, then supply the consumer to use, through setting up solar energy power module, can convert solar energy to electric energy storage to obstacle width calculation module in, charge for power module, power resources is saved.
The output electricity of controller is connected with lighting module, and the controller is the light, through setting up lighting module, can throw light on to the environment of traveling, is convenient for travel control night.
The output and the input of controller are two-way electricity respectively and are connected with video acquisition module and wireless transceiver module, and wireless transceiver module's output is electricity respectively and is connected with remote monitoring end and long-range removal end, through setting up video acquisition module, the video detection driving route of being convenient for.
The long-range removal end includes the treater, the input electricity of treater is connected with the button module, the output electricity of treater is connected with display module and alarm module respectively, alarm module includes alarm lamp and bee calling organ, the output of treater is connected with alarm lamp and bee calling organ electricity respectively, through setting up display module, be convenient for show the barrier image and the video that the driving operation was middle and upper transmitted, through setting up the alarm lamp, can flash the suggestion control personnel, through setting up bee calling organ, can send the sound suggestion control personnel.
The obstacle calculation module comprises an obstacle height calculation module, an obstacle width calculation module, an obstacle outline calculation module and an obstacle distance detection module, and the output end of the obstacle analysis module is electrically connected with the obstacle height calculation module, the obstacle width calculation module, the obstacle outline calculation module and the obstacle distance detection module respectively.
The bidirectional electric connection of controller has GPS orientation module, and GPS orientation module is the GPS locator, and the steering module is for turning to the steering wheel, through GPS orientation module, can fix a position the mining car, and the monitoring personnel of being convenient for knows the position of mining car.
Example two
The utility model provides a mine car unmanned obstacle detection system, which comprises a controller, the input of controller is electricity respectively is connected with speed of a motor vehicle detection module and obstacle detection module, the output of controller is electricity respectively is connected with turns to the module, the removal module, the braking module, the voice prompt module, obstacle analysis module, obstacle image intercepting module and obstacle clearance module, obstacle analysis module's output electricity is connected with obstacle calculation module, the output electricity of obstacle image intercepting module is connected with obstacle image uploading module, through the voice prompt module, can send voice prompt and have the obstacle, through setting up obstacle image intercepting module, can carry out the screenshot to the obstacle that meets, through setting up obstacle image uploading module, can upload the obstacle picture of intercepting, upload to remote monitoring terminal, be convenient for remote personnel observe the obstacle.
The input of controller is connected with temperature detection module, humidity detection module and air quality detection module respectively electricity, and temperature detection module is temperature sensor, and humidity detection module is humidity transducer, and air quality detection module is air quality sensor, through setting up temperature detection module, humidity detection module and air quality detection module, can detect mining truck temperature, humidity and the air quality of environment of driving respectively.
The output and the input of controller are two-way electricity respectively and are connected with video acquisition module and wireless transceiver module, and wireless transceiver module's output is electricity respectively and is connected with remote monitoring end and long-range removal end, through setting up video acquisition module, the video detection driving route of being convenient for.
The long-range removal end includes the treater, the input electricity of treater is connected with the button module, the output electricity of treater is connected with display module and alarm module respectively, alarm module includes alarm lamp and bee calling organ, the output of treater is connected with alarm lamp and bee calling organ electricity respectively, through setting up display module, be convenient for show the barrier image and the video that the driving operation was middle and upper transmitted, through setting up the alarm lamp, can flash the suggestion control personnel, through setting up bee calling organ, can send the sound suggestion control personnel.
The obstacle calculation module comprises an obstacle height calculation module, an obstacle width calculation module, an obstacle outline calculation module and an obstacle distance detection module, and the output end of the obstacle analysis module is electrically connected with the obstacle height calculation module, the obstacle width calculation module, the obstacle outline calculation module and the obstacle distance detection module respectively.
A method for detecting unmanned obstacle of a mining vehicle comprises the following steps:
a: the controller analyzes the obstacles through the obstacle analysis module, respectively counts the height, the width and the outline of the obstacles through the obstacle height calculation module, the obstacle width calculation module and the obstacle outline calculation module, detects the distance between the mining vehicle and the impurities through the obstacle distance detection module, if the height and the width of the impurities are smaller than preset values, so as to judge that the obstacles can be cleaned, and controls the obstacle cleaning module to clean the obstacles through the controller, the obstacle cleaning module is an electric push rod and pushes sundries to one side, so that the condition that the traveling road is blocked by the sundries is avoided, or the mine car is steered through the steering module so as to bypass the obstacle;
b: if the height and width of the barrier are larger than the preset values, the barrier cannot be crossed and cleaned, the voice prompt module can send out voice prompt to prompt that the barrier exists, can prompt workers beside the mining vehicle to have obstacles, and is convenient for the workers beside the mining vehicle to clean the obstacles, for example, no workers beside the mining vehicle, the image of the obstacle is intercepted by the obstacle image intercepting module, the image is uploaded by the obstacle image uploading module, the obstacle picture is sent to the remote monitoring end and the remote mobile end through the wireless receiving and sending module, the processor receives the uploaded obstacle picture, the display module displays an obstacle picture, the alarm lamp flashes to alarm, the buzzer sends out a voice prompt alarm to prompt a monitoring person that the mining vehicle encounters an obstacle which cannot pass through and be cleaned, and an operator can conveniently clean the obstacle on the site of the mining vehicle in time;
c: through setting up temperature detection module, humidity detection module and air quality detection module, can detect mining truck temperature, humidity and the air quality of environment of driving respectively, through setting up lighting module, can throw light on to the environment of driving, the night driving control of being convenient for, through GPS orientation module, can fix a position mining truck, the monitoring personnel of being convenient for know the position of mining truck, the long-range removal end is the smart mobile phone, avoid can't learn alarm information under the unmanned condition of long-range monitoring end.
In summary, the following steps: the unmanned obstacle detection system and method for the mining vehicle solve the problems that in the use process of an existing unmanned obstacle detection system for the mining vehicle, the obstacle detection mode is single, the size and the height of the obstacle cannot be detected, the encountered obstacle cannot be uploaded to a remote monitoring end, operators cannot find the obstacle which cannot be cleaned in time, the mining vehicle is easy to stop running, and normal work of the mining vehicle is affected.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides a mining truck unmanned obstacle detection system, includes the controller, its characterized in that: the input of controller is connected with speed of a motor vehicle detection module and obstacle detection module respectively electricity, the output of controller is connected with respectively electricity and turns to module, removal module, braking module, voice prompt module, obstacle analysis module, obstacle image intercepting module and obstacle clearance module, the output electricity of obstacle analysis module is connected with obstacle calculation module, the output electricity of obstacle image intercepting module is connected with obstacle image upload module.
2. The system according to claim 1, wherein the input end of the controller is electrically connected with a temperature detection module, a humidity detection module and an air quality detection module respectively, the temperature detection module is a temperature sensor, the humidity detection module is a humidity sensor, and the air quality detection module is an air quality sensor.
3. The mining vehicle unmanned obstacle detection system of claim 1, wherein an input end of the controller is electrically connected with a current conversion module, an input end of the current conversion module is electrically connected with a power supply module, and an input end of the power supply module is electrically connected with a solar power generation module.
4. The mining vehicle driverless obstacle detection system of claim 1, wherein an output of the controller is electrically connected to a lighting module, the controller being a light.
5. The system according to claim 1, wherein the output end and the input end of the controller are respectively and electrically connected with a video acquisition module and a wireless transceiver module in a bidirectional manner, and the output end of the wireless transceiver module is respectively and electrically connected with a remote monitoring end and a remote moving end.
6. The mining vehicle unmanned obstacle detection system of claim 1, wherein the remote moving end comprises a processor, an input end of the processor is electrically connected with a key module, an output end of the processor is electrically connected with a display module and an alarm module respectively, the alarm module comprises an alarm lamp and a buzzer, and an output end of the processor is electrically connected with the alarm lamp and the buzzer respectively.
7. The unmanned obstacle detection system for mining vehicles according to claim 1, wherein the obstacle calculation module comprises an obstacle height calculation module, an obstacle width calculation module, an obstacle contour calculation module and an obstacle distance detection module, and an output end of the obstacle analysis module is electrically connected with the obstacle height calculation module, the obstacle width calculation module, the obstacle contour calculation module and the obstacle distance detection module, respectively.
8. The mining vehicle unmanned obstacle detection system of claim 1, wherein the controller is electrically connected with a GPS positioning module in a bidirectional manner, the GPS positioning module is a GPS positioner, and the steering module is a steering engine.
9. The method for detecting unmanned obstacle of mining vehicle according to any one of claims 1 to 8, characterized by comprising the steps of:
a: the controller analyzes the obstacles through the obstacle analysis module, respectively counts the height, the width and the outline of the obstacles through the obstacle height calculation module, the obstacle width calculation module and the obstacle outline calculation module, detects the distance between the mining vehicle and the impurities through the obstacle distance detection module, if the height and the width of the impurities are smaller than preset values, so as to judge that the obstacles can be cleaned, and controls the obstacle cleaning module to clean the obstacles through the controller, the obstacle cleaning module is an electric push rod and pushes sundries to one side, so that the condition that the traveling road is blocked by the sundries is avoided, or the mine car is steered through the steering module so as to bypass the obstacle;
b: if the height and width of the barrier are larger than the preset values, the barrier cannot be crossed and cleaned, the voice prompt module can send out voice prompt to prompt that the barrier exists, can prompt workers beside the mining vehicle to have obstacles, and is convenient for the workers beside the mining vehicle to clean the obstacles, for example, no workers beside the mining vehicle, the image of the obstacle is intercepted by the obstacle image intercepting module, the image is uploaded by the obstacle image uploading module, the obstacle picture is sent to the remote monitoring end and the remote mobile end through the wireless receiving and sending module, the processor receives the uploaded obstacle picture, the display module displays an obstacle picture, the alarm lamp flashes to alarm, the buzzer sends out a voice prompt alarm to prompt a monitoring person that the mining vehicle encounters an obstacle which cannot pass through and be cleaned, and an operator can conveniently clean the obstacle on the site of the mining vehicle in time;
c: through setting up temperature detection module, humidity detection module and air quality detection module, can detect mining truck temperature, humidity and the air quality of environment of driving respectively, through setting up lighting module, can throw light on to the environment of driving, the night driving control of being convenient for, through GPS orientation module, can fix a position mining truck, the monitoring personnel of being convenient for know the position of mining truck, the long-range removal end is the smart mobile phone, avoid can't learn alarm information under the unmanned condition of long-range monitoring end.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110833360A (en) * | 2019-12-13 | 2020-02-25 | 肖江强 | Intelligent robot for automatic obstacle removal logistics transportation |
| CN211935288U (en) * | 2020-02-17 | 2020-11-17 | 国网浙江省电力有限公司检修分公司 | Obstacle cleaning device and fire-fighting robot |
| CN113002396A (en) * | 2020-04-14 | 2021-06-22 | 青岛慧拓智能机器有限公司 | A environmental perception system and mining vehicle for automatic driving mining vehicle |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110833360A (en) * | 2019-12-13 | 2020-02-25 | 肖江强 | Intelligent robot for automatic obstacle removal logistics transportation |
| CN211935288U (en) * | 2020-02-17 | 2020-11-17 | 国网浙江省电力有限公司检修分公司 | Obstacle cleaning device and fire-fighting robot |
| CN113002396A (en) * | 2020-04-14 | 2021-06-22 | 青岛慧拓智能机器有限公司 | A environmental perception system and mining vehicle for automatic driving mining vehicle |
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