CN117755201A - Auxiliary driving method for drill jumbo and drill jumbo - Google Patents
Auxiliary driving method for drill jumbo and drill jumbo Download PDFInfo
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- CN117755201A CN117755201A CN202410166358.5A CN202410166358A CN117755201A CN 117755201 A CN117755201 A CN 117755201A CN 202410166358 A CN202410166358 A CN 202410166358A CN 117755201 A CN117755201 A CN 117755201A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 239000000725 suspension Substances 0.000 claims description 23
- 239000011435 rock Substances 0.000 claims description 7
- 230000008569 process Effects 0.000 abstract description 8
- 230000002349 favourable effect Effects 0.000 abstract description 5
- 238000005553 drilling Methods 0.000 description 38
- 238000010276 construction Methods 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 6
- 238000005422 blasting Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Abstract
The application provides a drill jumbo auxiliary driving method and a drill jumbo, wherein the method comprises the following steps: acquiring a scanning distance of a radar; comparing the scanning distance of the radar with the early warning distance; and if the scanning distance of the radar is not in the range of the early warning distance, outputting early warning information. Through above-mentioned scheme, this application can real-time supervision driving environment when driving the drill jumbo to through early warning information suggestion navigating mate, thereby reduce the risk that the drill jumbo bumps when lining the platform truck and the drill jumbo is unsettled even the risk that falls of tire when passing through the landing stage, and whole process passes through electronic system realization, be favorable to reducing the input of manpower.
Description
Technical Field
The application relates to the technical field of tunnel construction, in particular to a driving assisting method for a rock drilling trolley and the rock drilling trolley.
Background
The drill jumbo is also called a drilling jumbo, and is a kind of rock drilling equipment for tunnel and underground engineering construction by using a drilling and blasting method. The portable drilling machine of supporting simultaneously carries out drilling operation, has multiple functions such as drilling, loading, support, measurement, is in order to adapt to the needs of large-section tunnel construction, overcomes handheld drilling machine drilling inefficiency's shortcoming simultaneously and develops, is popularized and applied in railway tunnel and hydraulic tunnel construction.
In the drilling and blasting construction process, in the process that the drilling trolley enters a tunnel and advances to a tunnel face, facilities such as a lining trolley in a secondary lining construction area, a trestle in an inverted arch construction area and the like are needed to pass through. When passing through the lining trolley, the cab of the drill trolley needs to be reduced due to the limitation of the height, so that the probability of safe passing can be improved, but the sight of the operator of the drill trolley is blocked completely, and the operator of the drill trolley and the operator still have the risk of collision. When passing through the inverted arch trestle, a driver cannot directly observe the distance between the equipment tire and the edge of the trestle at a driving position, and the equipment tire is suspended or even falls.
In order to reduce the risk, in the scheme of the related technology, on-site personnel are adopted to assist in observing the surrounding conditions of the area, and the drivers are informed of the conditions through gestures or interphones, so that the smooth passing of the drill jumbo is ensured. However, this method requires at least two persons to assist in the observation in front of and behind the drill jumbo, respectively, increasing the human input; and the dangerous condition of the top range of the drill jumbo is difficult to observe, and the risk still exists that the drill jumbo cannot pass through facilities such as lining jumbo and trestle.
Disclosure of Invention
In order to overcome the defects in the related art, the purpose of the application is to provide a driving assisting method for a drill jumbo and the drill jumbo, which are favorable for reducing the input of manpower and reducing the risk of collision when the drill jumbo passes through a lining trolley and the risk of suspension or even falling of a tire when the drill jumbo passes through a trestle.
In one aspect, the present application provides a driving assisting method for a drill jumbo, including:
acquiring a scanning distance of a radar;
comparing the scanning distance of the radar with the early warning distance;
and if the scanning distance of the radar is not in the range of the early warning distance, outputting early warning information.
In one possible implementation, the radar includes a first radar, the pre-warning distance includes a first pre-warning distance, the pre-warning information includes collision pre-warning information, the method includes:
acquiring a scanning distance between the first radar and the lining beam frame;
comparing the scanning distance between the first radar and the lining beam frame with the first early warning distance;
and if the scanning distance between the first radar and the lining beam frame is smaller than the first early warning distance, outputting collision early warning information.
In one possible implementation, the radar includes a second radar, the pre-warning distance includes a second pre-warning distance, the pre-warning information includes suspension pre-warning information, and the method includes:
acquiring a scanning distance between the second radar and the trestle;
comparing the scanning distance between the second radar and the trestle with the second early warning distance;
and if the scanning distance between the second radar and the trestle is greater than the second early warning distance, outputting suspension early warning information.
In one possible implementation, the method further includes:
controlling the advancing state of the drill jumbo based on the early warning information;
wherein the travel state includes braking, steering, and body height.
In one possible implementation, the method further includes:
acquiring an image of a camera;
and acquiring a panoramic picture based on the image stitching of the camera.
In another aspect, the present application provides a rock-drilling rig comprising:
the acquisition module is used for acquiring the scanning distance of the radar;
the comparison module is used for comparing the scanning distance of the radar with the early warning distance;
and the output module is used for outputting early warning information if the scanning distance of the radar is not in the range of the early warning distance.
In one possible implementation, the radar includes a first radar, the pre-warning distance includes a first pre-warning distance, and the pre-warning information includes collision pre-warning information;
the acquisition module is used for acquiring the scanning distance between the first radar and the lining beam frame;
the comparison module is used for comparing the scanning distance between the first radar and the lining beam frame with the first early warning distance;
and if the scanning distance between the first radar and the lining beam frame is smaller than the first early warning distance, the output module is used for outputting collision early warning information.
In one possible implementation, the radar includes a second radar, the pre-warning distance includes a second pre-warning distance, and the pre-warning information includes suspension pre-warning information;
the acquisition module is used for acquiring the scanning distance between the second radar and the trestle;
the comparison module is used for comparing the scanning distance between the second radar and the trestle with the second early warning distance;
and if the scanning distance between the second radar and the trestle is greater than the second early warning distance, the output module is used for outputting suspension early warning information.
In one possible implementation, the method further includes:
the control module is used for controlling the advancing state of the drill jumbo based on the early warning information;
wherein the travel state includes braking, steering, and body height.
In one possible implementation, the method further comprises a splicing module;
the acquisition module is also used for acquiring an image of the camera;
the splicing module is used for acquiring panoramic pictures based on image splicing of the cameras.
The application provides a drill jumbo auxiliary driving method and a drill jumbo, wherein the method comprises the following steps: acquiring a scanning distance of a radar; comparing the scanning distance of the radar with the early warning distance; and if the scanning distance of the radar is not in the range of the early warning distance, outputting early warning information. Through above-mentioned scheme, this application can real-time supervision driving environment when driving the drill jumbo to through early warning information suggestion navigating mate, thereby can reduce the risk that the drill jumbo bumps when lining the platform truck and the drill jumbo is unsettled even the risk that falls of tire when passing through the landing stage, and whole process passes through electronic system realization, be favorable to reducing the input of manpower.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the following description will briefly describe the drawings that are required to be used in the embodiments or the related technical descriptions, and it is obvious that, in the following description, the drawings are some embodiments of the present application, and other drawings may be obtained according to these drawings without any inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a driving assistance method for a drill jumbo according to an embodiment of the present application;
fig. 2 is a schematic structural view of a drilling rig according to an embodiment of the present application;
fig. 3 is a schematic view of a structure of a drilling rig according to an embodiment of the present application in a first state;
fig. 4 is a schematic view of a structure of a drill jumbo in a second state according to an embodiment of the present application;
FIG. 5 is a top view of FIG. 3;
fig. 6 is a schematic view of a drill carriage according to an embodiment of the present application passing through a lining carriage;
fig. 7 is a schematic view of a drilling rig according to an embodiment of the present application passing through a trestle;
fig. 8 is a partial schematic view of the right front wheel of fig. 7.
Reference numerals:
1-tunneling; 11-hardening the road surface; 12-hanging part;
10-a rock drilling trolley;
20-lining trolley;
30-trestle;
110-an acquisition module;
120-a comparison module;
130-an output module;
210-a first radar;
220-a second radar;
310-a first camera;
320-a second camera;
330-a third camera;
340-fourth camera.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments.
All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure. The following embodiments and features of the embodiments may be combined with each other without conflict.
As described in the background art, in the drilling and blasting method construction process, in order to reduce the risk of collision when the drill jumbo passes through the lining trolley and the risk of the tire suspending or even falling when the drill jumbo passes through the trestle, on-site personnel are required to assist in observing the surrounding situation of the area, and the driver is informed through gestures or interphones, so that the drill jumbo is ensured to pass smoothly. However, this method requires at least two persons to assist in the observation in front of and behind the drill jumbo, respectively, increasing the human input; and the dangerous condition of the top range of the drill jumbo is difficult to observe, and the risk still exists that the drill jumbo cannot pass through facilities such as lining jumbo and trestle.
In view of this, an embodiment of the present application provides a driving assisting method for a drill jumbo and the drill jumbo, by acquiring a scanning distance of a radar; comparing the scanning distance of the radar with the early warning distance; if the scanning distance of the radar is not in the range of the early warning distance, early warning information is output, so that the driving environment can be monitored in real time when the drilling jumbo is driven, and a driver is prompted through the early warning information, so that the risk of collision of the drilling jumbo when the drilling jumbo passes through the lining jumbo and the risk of tire suspension and even falling when the drilling jumbo passes through a trestle can be reduced, and the whole process is realized through an electronic system, so that the input of manpower is reduced.
The following detailed description of embodiments of the present application will be presented in conjunction with the accompanying drawings to enable one skilled in the art to more fully understand the present application.
Fig. 1 is a flowchart of a driving assistance method for a drill jumbo according to an embodiment of the present application.
Referring to fig. 1, the present embodiment provides a driving assisting method for a drilling rig, including:
step S110, acquiring the scanning distance of the radar.
For example, the radar of the present embodiment may employ a lidar, and the installation position of the radar may be determined according to the area to be scanned actually, for example, may be installed at the top of the cab, at the wheels, or the like. The scanning distance of the radar may be determined as required, for example, within a certain range on the left and right sides of the front of the driving of the drill jumbo, or within a certain range on the top of the front of the driving of the drill jumbo.
Step S120, comparing the scanning distance of the radar with the early warning distance.
For example, a scanning angle range of the radar may be set so that a distance to which the radar scans in the angle range is a scanning distance of the radar. The early warning distance can be a distance value beyond a safety threshold, and can be specifically set according to the needs.
And step 130, outputting early warning information if the scanning distance of the radar is not within the range of the early warning distance.
For example, when the drill jumbo is traveling normally, the scanning distance of the radar should be within the range of the pre-warning distance, at which time the drill jumbo is traveling normally. And once the scanning distance of the radar is not within the range of the early warning distance, the running risk is indicated, and at the moment, early warning information can be output to prompt a driver to pay attention to the running safety. The pre-warning information may include sounds, lights, etc.
In one possible implementation, the radar of the present example may include a first radar that may be mounted on top of the cab for scanning the vertical distance between the cab and the lining beam. The early warning distance comprises a first early warning distance which is the minimum value of the vertical distance between the cab and the lining beam frame. The pre-warning information may include collision pre-warning information to alert a driver to the risk of collision as the driver passes through the lining beam. The method specifically comprises the following steps:
and acquiring a scanning distance between the first radar and the lining beam frame, wherein the scanning distance is the vertical distance between the drilling jumbo and the lining beam frame when the drilling jumbo runs.
Comparing the scanning distance between the first radar and the lining beam frame with a first early warning distance; if the scanning distance between the first radar and the lining beam frame is smaller than the first early warning distance, collision early warning information is output, and accordingly the risk of collision when a driver passes through the lining beam frame is prompted.
In one possible implementation, the radar of the present example may include a second radar that may be mounted at the wheel for scanning the horizontal distance between the two sides of the wheel and the trestle. The early warning distance comprises a second early warning distance which is the maximum value of the horizontal distance between the wheels and the trestle. The early warning information comprises suspension early warning information so as to prompt a driver to have suspension risk when passing through the trestle. The method specifically comprises the following steps:
and acquiring a scanning distance between the second radar and the trestle, wherein the scanning distance is the horizontal distance between the second radar and the trestle when the drill jumbo runs.
Comparing the scanning distance between the second radar and the trestle with a second early warning distance; if the scanning distance between the second radar and the trestle is greater than the second early warning distance, the suspension early warning information is output, so that the risk of suspension exists when a driver passes through the trestle is prompted.
Further, the method of the embodiment further includes:
controlling the advancing state of the drill jumbo based on the early warning information; the traveling state includes braking, steering, and vehicle body height, among others.
For example, after outputting the early warning information, the drill jumbo may be braked first, so as to avoid the occurrence of corresponding risks. Then, carrying out targeted treatment based on whether the specific early warning information is collision early warning information or suspension early warning information; if the information is suspension early warning information, the steering of the drill jumbo can be adjusted so as to reduce suspension risk; if collision early warning information is obtained, the cab height of the drill jumbo can be adjusted, so that the overall height of the car body is reduced, and the collision risk is reduced.
In one possible implementation manner, the method of the present embodiment further includes:
acquiring an image of a camera; and (3) acquiring a panoramic picture based on image stitching of cameras, and assisting in passing through a lining beam frame or a trestle by utilizing the panoramic picture.
Specifically, a plurality of cameras may be installed on the drill jumbo to acquire images of different angles. After the cameras are installed, calibrating all the cameras respectively, wherein the calibration comprises internal parameters of the cameras and external parameters of the cameras. Obtaining an internal reference matrix and distortion parameters of the camera through internal reference calibration; when the external parameters are calibrated, the characteristic points are arranged based on the coordinate system of the drill jumbo, and the camera shoots the characteristic point pictures to obtain the pixel coordinates of the characteristic points. And meanwhile, the coordinate of the characteristic point under the trolley coordinate system is measured by means of the total station, and the conversion relation between the camera coordinate system and the trolley coordinate system is established.
And secondly, establishing a mapping relation according to pixel coordinates of the images of the overlapping parts of the visual fields of the two adjacent cameras, and completing the splicing of the images of the two adjacent cameras.
Then, based on the conversion relation between each camera and the trolley system, the image data in each direction acquired by the cameras are subjected to perspective conversion to obtain views of the trolley in each direction, and operators can view the panoramic views or switch different view angles according to requirements to cope with different scenes.
Finally, feature points in the panoramic picture can be identified for automatically identifying surrounding barriers such as lining trolleys, waterproof board trolleys and brackets and operators during traveling. And when the driving safety is affected, outputting early warning information.
The embodiment can monitor driving environment in real time when driving the drilling jumbo to through early warning information suggestion navigating mate, thereby can reduce the risk that the drilling jumbo bumps when lining the platform truck and the risk that the tire is unsettled even falls when the drilling jumbo passes through the landing stage, and whole process passes through electronic system realization, is favorable to reducing the input of manpower.
Fig. 2 is a schematic structural view of a drilling rig according to an embodiment of the present application.
Referring to fig. 2, the present embodiment further provides a drilling rig, including:
the acquisition module 110, the acquisition module 110 is used for acquiring the scanning distance of the radar.
For example, the radar of the present embodiment may employ a lidar, and the installation position of the radar may be determined according to the area to be scanned actually, for example, may be installed at the top of the cab, at the wheels, or the like. The scanning distance of the radar may be determined as required, for example, within a certain range on the left and right sides of the front of the driving of the drill jumbo, or within a certain range on the top of the front of the driving of the drill jumbo.
The comparison module 120, the comparison module 120 is used for comparing the scanning distance of the radar with the pre-warning distance.
For example, a scanning angle range of the radar may be set so that a distance to which the radar scans in the angle range is a scanning distance of the radar. The early warning distance can be a distance value beyond a safety threshold, and can be specifically set according to the needs.
The output module 130, the output module 130 is configured to output the early warning information if the scanning distance of the radar is not within the range of the early warning distance.
For example, when the drill jumbo is traveling normally, the scanning distance of the radar should be within the range of the pre-warning distance, at which time the drill jumbo is traveling normally. And once the scanning distance of the radar is not within the range of the early warning distance, the running risk is indicated, and at the moment, early warning information can be output to prompt a driver to pay attention to the running safety. The pre-warning information may include sounds, lights, etc.
In one possible implementation, the radar of the present example may include a first radar that may be mounted on top of the cab for scanning the vertical distance between the cab and the lining beam. The early warning distance comprises a first early warning distance which is the minimum value of the vertical distance between the cab and the lining beam frame. The pre-warning information may include collision pre-warning information to alert a driver to the risk of collision as the driver passes through the lining beam.
The acquisition module 110 is configured to acquire a scanning distance between the first radar and the lining beam frame, where the scanning distance is a vertical distance between the first radar and the lining beam frame when the drill jumbo is running.
The comparison module 120 is configured to compare a scanning distance between the first radar and the lining beam frame with a first pre-warning distance; if the scanning distance between the first radar and the lining beam frame is smaller than the first pre-warning distance, the output module 130 is configured to output collision pre-warning information, so as to prompt a driver that a collision risk exists when passing through the lining beam frame.
In one possible implementation, the radar of the present example may include a second radar that may be mounted at the wheel for scanning the horizontal distance between the two sides of the wheel and the trestle. The early warning distance comprises a second early warning distance which is the maximum value of the horizontal distance between the wheels and the trestle. The early warning information comprises suspension early warning information so as to prompt a driver to have suspension risk when passing through the trestle.
The obtaining module 110 is configured to obtain a scanning distance between the second radar and the trestle, where the scanning distance is a horizontal distance between the second radar and the trestle when the drilling rig is running.
The comparison module 120 is configured to compare a scanning distance between the second radar and the trestle with a second pre-warning distance; if the scanning distance between the second radar and the trestle is greater than the second warning distance, the output module 130 is configured to output the suspension warning information, thereby prompting a driver that suspension risk exists when passing through the trestle.
Further, the present embodiment further includes:
the control module is used for controlling the advancing state of the drill jumbo based on the early warning information; the traveling state includes braking, steering, and vehicle body height, among others.
For example, after outputting the early warning information, the drill jumbo may be braked first, so as to avoid the occurrence of corresponding risks. Then, carrying out targeted treatment based on whether the specific early warning information is collision early warning information or suspension early warning information; if the information is suspension early warning information, the steering of the drill jumbo can be adjusted so as to reduce suspension risk; if collision early warning information is obtained, the cab height of the drill jumbo can be adjusted, so that the overall height of the car body is reduced, and the collision risk is reduced.
In one possible implementation manner, the embodiment further comprises a splicing module;
the acquisition module 110 is further configured to acquire an image of the camera; the splicing module is used for acquiring panoramic pictures based on image splicing of cameras, and the panoramic pictures are utilized to assist in passing through lining beam frames or trestle bridges.
Specifically, a plurality of cameras may be installed on the drill jumbo to acquire images of different angles. After the cameras are installed, calibrating all the cameras respectively, wherein the calibration comprises internal parameters of the cameras and external parameters of the cameras. Obtaining an internal reference matrix and distortion parameters of the camera through internal reference calibration; when the external parameters are calibrated, the characteristic points are arranged based on the coordinate system of the drill jumbo, and the camera shoots the characteristic point pictures to obtain the pixel coordinates of the characteristic points. And meanwhile, the coordinate of the characteristic point under the trolley coordinate system is measured by means of the total station, and the conversion relation between the camera coordinate system and the trolley coordinate system is established.
And secondly, establishing a mapping relation according to pixel coordinates of the images of the overlapping parts of the visual fields of the two adjacent cameras, and completing the splicing of the images of the two adjacent cameras.
Then, based on the conversion relation between each camera and the trolley system, the image data in each direction acquired by the cameras are subjected to perspective conversion to obtain views of the trolley in each direction, and operators can view the panoramic views or switch different view angles according to requirements to cope with different scenes.
Finally, feature points in the panoramic picture can be identified for automatically identifying surrounding barriers such as lining trolleys, waterproof board trolleys and brackets and operators during traveling. And when the driving safety is affected, outputting early warning information.
The embodiment can monitor driving environment in real time when driving the drilling jumbo to through early warning information suggestion navigating mate, thereby can reduce the risk that the drilling jumbo bumps when lining the platform truck and the risk that the tire is unsettled even falls when the drilling jumbo passes through the landing stage, and whole process passes through electronic system realization, is favorable to reducing the input of manpower.
The drill jumbo of the present embodiment will be described in detail with reference to one specific embodiment.
Fig. 3 is a schematic view of a structure of a drilling rig according to an embodiment of the present application in a first state; fig. 4 is a schematic view of a structure of a drill jumbo in a second state according to an embodiment of the present application; fig. 5 is a top view of fig. 3.
Referring to fig. 3 to 5, a plurality of radars and a plurality of cameras may be provided on the drill carriage 10 of the present embodiment. The radar includes one first radar 210 and four second radars 220; the first radar 210 is installed at a front side position of the top of the cab to scan a vertical distance between the drilling rig and the lining beam frame while traveling; four second radars 220 are respectively installed at front positions of the left front wheel, the left rear wheel, the right front wheel and the right rear wheel of the drill jumbo 10 to scan horizontal distances between both sides of each wheel and the trestle when the drill jumbo is driven.
The drill jumbo 10 may also be provided with a plurality of cameras, including two first cameras 310, two second cameras 320, two third cameras 330 and two fourth cameras 340. Wherein, two first cameras 310 are respectively installed at the front and rear of the drill carriage 10 for acquiring images of the drill carriage 10 in the front-rear direction; two second cameras 320 are respectively installed at right front and right rear positions of the drill carriage 10 for acquiring images of the right direction of the drill carriage 10; two third cameras 330 are respectively installed at the left front and left rear positions of the drill jumbo 10 for acquiring images of the left direction of the drill jumbo 10; two fourth cameras 340 are installed at the front and rear positions of the top of the drill carriage 10, respectively, for acquiring images of the top of the drill carriage 10 in the front and rear directions.
As shown in fig. 3 and 4, the drill jumbo 10 may also adjust its height to accommodate different height limiting requirements.
Fig. 6 is a schematic view of a drill carriage according to an embodiment of the present application when passing through a lining carriage.
With continued reference to fig. 6, the lining trolley 20 is disposed in the tunnel 1, and the first radar 210 at the front side position of the top of the cab can scan the distance within the angle α in real time when the drill trolley 10 passes through, so as to prevent the collision between the drill trolley 10 and the lining beam or side wall of the lining trolley 20. In general, the vertical distance h between the lining beam frames of the drill jumbo 10 and the lining jumbo 20 is the minimum distance; when the scanning distance of the first radar 210 is greater than the minimum distance, it is indicated that the drill carriage 10 does not collide with the lining carriage 20 and can pass safely; when the scanning distance of the first radar 210 is smaller than the minimum distance, it indicates that the drill jumbo 10 is at risk of collision with the lining jumbo 20, and collision warning information can be output to a driver at this time, who can pass through the lining jumbo 20 after lowering the height of the drill jumbo 10.
Fig. 7 is a schematic view of a drilling rig according to an embodiment of the present application passing through a trestle; fig. 8 is a partial schematic view of the right front wheel of fig. 7.
With continued reference to fig. 7, the trestle 30 is erected between two adjacent sections of hardened road surfaces 11 in the tunnel 1, the area outside the trestle 30 is the suspended position 12, and four second radars 220 mounted at the front positions of the left front wheel, the left rear wheel, the right front wheel and the right rear wheel of the drill jumbo 10 when the drill jumbo 10 passes through can scan the horizontal distance within the angle range in real time, so as to prevent the drill jumbo 10 from suspending.
Specifically, as shown in fig. 8, the second radar 220 may scan a horizontal distance h within an angle α in front of the wheel, where the horizontal distance h has a maximum value h1, and when the scanning distance of the second radar 220 is smaller than the maximum distance h1, it indicates that the drill jumbo 10 is not suspended, and may safely pass through the trestle 30; when the scanning distance of the second radar 220 is greater than the maximum distance h1, it indicates that the drill jumbo 10 may be suspended, and at this time, suspension early warning information may be output to the driver, who may adjust the steering of the drill jumbo 10 to safely pass through the trestle 30.
When passing through the lining trolley 20 and the trestle 30, the two first cameras 310, the two second cameras 320, the two third cameras 330 and the two fourth cameras 340 can acquire images, so that panoramic images are spliced, and the panoramic images are displayed to a driver through a display device arranged in a cab to assist the driver in manipulating the rock drilling trolley 10.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
It should be noted that in the description of the present application, the terms "first," "second," and the like are merely used for convenience in describing the various components and are not to be construed as indicating or implying a sequential relationship, relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
In this application, each embodiment or implementation is described in a progressive manner, and each embodiment focuses on a difference from other embodiments, and identical and similar parts between the embodiments are only needed to see each other.
In the description of the present application, descriptions of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this application, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method of assisting driving of a drill jumbo, comprising:
acquiring a scanning distance of a radar;
comparing the scanning distance of the radar with the early warning distance;
and if the scanning distance of the radar is not in the range of the early warning distance, outputting early warning information.
2. A method of assisting driving a drill rig according to claim 1, wherein the radar comprises a first radar, the pre-warning distance comprises a first pre-warning distance, the pre-warning information comprises collision pre-warning information, the method comprising:
acquiring a scanning distance between the first radar and the lining beam frame;
comparing the scanning distance between the first radar and the lining beam frame with the first early warning distance;
and if the scanning distance between the first radar and the lining beam frame is smaller than the first early warning distance, outputting collision early warning information.
3. A method of assisting driving a drill rig according to claim 2, wherein the radar comprises a second radar, the pre-warning distance comprises a second pre-warning distance, the pre-warning information comprises hang-in pre-warning information, the method comprising:
acquiring a scanning distance between the second radar and the trestle;
comparing the scanning distance between the second radar and the trestle with the second early warning distance;
and if the scanning distance between the second radar and the trestle is greater than the second early warning distance, outputting suspension early warning information.
4. A method of assisting in driving a rock drill rig according to claim 3, further comprising:
controlling the advancing state of the drill jumbo based on the early warning information;
wherein the travel state includes braking, steering, and body height.
5. A method of assisting driving a rock drill rig according to any one of claims 1-4, further comprising:
acquiring an image of a camera;
and acquiring a panoramic picture based on the image stitching of the camera.
6. A drill jumbo, comprising:
the acquisition module is used for acquiring the scanning distance of the radar;
the comparison module is used for comparing the scanning distance of the radar with the early warning distance;
and the output module is used for outputting early warning information if the scanning distance of the radar is not in the range of the early warning distance.
7. A drill jumbo according to claim 6, characterized in that the radar comprises a first radar, the pre-warning distance comprises a first pre-warning distance, the pre-warning information comprises collision pre-warning information;
the acquisition module is used for acquiring the scanning distance between the first radar and the lining beam frame;
the comparison module is used for comparing the scanning distance between the first radar and the lining beam frame with the first early warning distance;
and if the scanning distance between the first radar and the lining beam frame is smaller than the first early warning distance, the output module is used for outputting collision early warning information.
8. A drill jumbo according to claim 7 wherein the radar comprises a second radar, the pre-warning distance comprises a second pre-warning distance, and the pre-warning information comprises hang pre-warning information;
the acquisition module is used for acquiring the scanning distance between the second radar and the trestle;
the comparison module is used for comparing the scanning distance between the second radar and the trestle with the second early warning distance;
and if the scanning distance between the second radar and the trestle is greater than the second early warning distance, the output module is used for outputting suspension early warning information.
9. A drill jumbo as in claim 8, further comprising:
the control module is used for controlling the advancing state of the drill jumbo based on the early warning information;
wherein the travel state includes braking, steering, and body height.
10. A drill jumbo according to any of the claims 6-9, characterized by further comprising a splicing module;
the acquisition module is also used for acquiring an image of the camera;
the splicing module is used for acquiring panoramic pictures based on image splicing of the cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410166358.5A CN117755201A (en) | 2024-02-05 | 2024-02-05 | Auxiliary driving method for drill jumbo and drill jumbo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410166358.5A CN117755201A (en) | 2024-02-05 | 2024-02-05 | Auxiliary driving method for drill jumbo and drill jumbo |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117755201A true CN117755201A (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410166358.5A Pending CN117755201A (en) | 2024-02-05 | 2024-02-05 | Auxiliary driving method for drill jumbo and drill jumbo |
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| Country | Link |
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| CN (1) | CN117755201A (en) |
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- 2024-02-05 CN CN202410166358.5A patent/CN117755201A/en active Pending
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