CN211567936U - Mine obstacle identification system - Google Patents
Mine obstacle identification system Download PDFInfo
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- CN211567936U CN211567936U CN201922446492.8U CN201922446492U CN211567936U CN 211567936 U CN211567936 U CN 211567936U CN 201922446492 U CN201922446492 U CN 201922446492U CN 211567936 U CN211567936 U CN 211567936U
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Abstract
The utility model discloses a mine barrier identification system, the utility model discloses a mine barrier identification system includes on-vehicle barrier identification mechanism, on-vehicle controller and server, on-vehicle barrier identification mechanism sets up on the electric locomotive, on-vehicle controller with communication connection between the on-vehicle barrier identification mechanism, the server with communication connection between on-vehicle barrier identification mechanism, the on-vehicle controller. The utility model discloses greatly increased the scope of barrier discernment, can be applied to in the colliery running environment widely.
Description
Technical Field
The utility model relates to a mine transportation technology field especially relates to a mine barrier identification system.
Background
The research and development and the operation of the unmanned locomotive system of the mine locomotive are beneficial to reducing the probability of transportation accidents caused by scheduling and misoperation; meanwhile, the number of underground personnel can be reduced by using the mine unmanned aerial vehicle system, and the occurrence of transportation accidents can be greatly reduced, so that the number of casualties caused by other mine accidents can be reduced, and huge economic and social benefits are achieved.
An important premise for realizing the safe operation of the unmanned locomotive system is as follows: the locomotive can automatic identification go the various obstacles in the place ahead, including the pedestrian.
The mine obstacle identification system in the prior art is high in cost, poor in communication effect and small in obstacle identification range, so that improvement is urgently needed.
SUMMERY OF THE UTILITY MODEL
In view of the above shortcomings in the prior art, an object of the present invention is to provide a mine obstacle recognition system for solving the problems of high cost, poor communication effect and small obstacle recognition range in the prior art.
In order to achieve the above objects and other related objects, the present invention provides a mine obstacle recognition system, which includes:
a vehicle-mounted obstacle recognition mechanism provided on the locomotive;
the vehicle-mounted controller is in communication connection with the vehicle-mounted obstacle identification mechanism; and
the server is in communication connection with the vehicle-mounted obstacle identification mechanism and the vehicle-mounted controller;
the vehicle-mounted obstacle recognition mechanism includes:
the main controller is in communication connection with the server and the vehicle-mounted controller;
the at least two cameras are in communication connection with the main controller;
and the sensor is in communication connection with the main controller.
In an embodiment of the present invention, at least two of the cameras include:
the system comprises a first camera and a second camera, wherein the first camera and the second camera are in communication connection with the main controller.
In an embodiment of the present invention, at least two of the cameras include:
the system comprises a first camera, a second camera and a third camera, wherein the first camera, the second camera and the third camera are in communication connection with the main controller.
In an embodiment of the present invention, the first camera and the second camera are horizontally mounted on the locomotive.
In an embodiment of the present invention, an installation angle between the third camera and the locomotive is between 0 ° and 90 °.
In an embodiment of the present invention, the vehicle-mounted controller is connected to the vehicle-mounted obstacle recognition mechanism through a vehicle-mounted network terminal.
The utility model discloses an in the embodiment, the server loop through basic station, on-vehicle network terminal with communication connection between on-vehicle barrier recognition mechanism, the on-vehicle controller.
In an embodiment of the present invention, the sensor is a radar sensor.
In an embodiment of the present invention, the main controller includes a single chip.
In an embodiment of the present invention, the vehicle-mounted controller includes a single chip microcomputer.
As above, the utility model discloses a mine barrier identification system has following beneficial effect:
the utility model discloses a mine barrier identification system includes on-vehicle barrier identification mechanism, on-vehicle controller and server, the utility model discloses greatly increased the scope of barrier discernment, moreover the utility model discloses a cost is lower, and communication effect is better, can be applied to in the colliery operational environment in the pit by the wide range.
The utility model discloses a mine barrier identification system greatly reduced the mobile unit's consumption, improved the stability and the reliability of system greatly, improved the security of colliery operation in the pit greatly.
Drawings
Fig. 1 is a block diagram of a mine obstacle recognition system according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram of a mine obstacle recognition system applied to a locomotive according to an embodiment of the present application.
Fig. 3 is a block diagram of a structure of a vehicle-mounted obstacle recognition mechanism of a mine obstacle recognition system according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a mine obstacle recognition system with a camera and a sensor mounted on a locomotive according to an embodiment of the present application.
Fig. 5 is a schematic view of mine roadways and cameras of a mine obstacle recognition system according to an embodiment of the present application.
Description of the element reference numerals
1 locomotive
2 track
3 obstacle
10 server
20 vehicle-mounted obstacle recognition mechanism
21 first camera
22 second camera
23 third camera
24 sensor
25 master controller
40 vehicle network terminal
50 base station
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
Referring to fig. 1 and 2, fig. 1 is a block diagram of a mine obstacle recognition system according to an embodiment of the present disclosure. Fig. 2 is a schematic diagram of a mine obstacle recognition system applied to a locomotive according to an embodiment of the present application. The utility model provides a mine barrier identification system, mine barrier identification system includes but not limited to on-vehicle barrier recognition mechanism 20, on-vehicle controller 30 and server 10. The vehicle-mounted obstacle recognition mechanism 20 may be disposed on the locomotive 1, the vehicle-mounted controller 30 and the vehicle-mounted obstacle recognition mechanism 20 may be in communication connection through, but not limited to, a vehicle-mounted network terminal 40, and the server 10 is in communication connection with the vehicle-mounted obstacle recognition mechanism 20 and the vehicle-mounted controller 30 through a base station 50 and the vehicle-mounted network terminal 40 in sequence. Specifically, at least one server 10 is provided, the server 10 may be disposed on the ground, the vehicle-mounted obstacle recognition mechanism 20, the vehicle-mounted controller 30, the vehicle-mounted network terminal 40, and the base station 50 may be disposed under a mine, and the vehicle-mounted controller 30 and the vehicle-mounted network terminal 40 may be disposed on the locomotive 1, but not limited thereto. The vehicle-mounted controller 30 comprises a single chip microcomputer, the vehicle-mounted network terminal 40 can be a vehicle-mounted 5G terminal, the base station 50 can be a 5G base station, and the base station 50 can be in wireless communication connection with the server 10 through an optical fiber network and a 5G core network. The utility model discloses a mine barrier identification system can be widely applied to in the colliery operational environment in the pit.
Referring to fig. 3 and 4, fig. 3 is a block diagram of a vehicle-mounted obstacle recognition mechanism of a mine obstacle recognition system according to an embodiment of the present disclosure. Fig. 4 is a schematic diagram of a mine obstacle recognition system with a camera and a sensor mounted on a locomotive according to an embodiment of the present application. The vehicle-mounted obstacle recognition mechanism 20 includes, but is not limited to, a main controller 25, at least two cameras, and a sensor 24. The main controller 25 is in communication connection with the server 10 and the vehicle-mounted controller 30, the camera is in communication connection with the main controller 25, and the sensor 24 is in communication connection with the main controller 25. Specifically, the main controller 25 may include a single chip microcomputer. The at least two cameras may include, but are not limited to, a first camera 21 and a second camera 22, the first camera 21 may be a far focus camera, the second camera 22 may be a near focus camera, and the far focus camera and the near focus camera are communicatively connected to the master controller 25, and the far focus camera and the near focus camera are horizontally mounted on the locomotive 1. The far-focus camera is used for identifying long-distance obstacles, and the near-focus camera is used for identifying short-distance wide-angle obstacles. The at least two cameras may include, but are not limited to, a first camera 21, a second camera 22 and a third camera 23, the third camera 23 may be a base camera, the far-focus camera, the near-focus camera and the base camera are communicatively connected to the main controller 25, angles of the first camera 21, the second camera 22 and the third camera 23 with respect to the locomotive 1 may be adjustable, the base camera is mounted on the locomotive 1, a mounting angle between the base camera and the locomotive 1 is 30 ° to 60 °, a mounting angle between the base camera and the locomotive 1 is 30 °, 40 °, 45 °, 50 °, 55 °, 60 °, and the like, a mounting angle between the base camera and the locomotive 1 is related to a configuration of the locomotive 1 and a mounting position of the base camera, can set up according to actual application, adjust the bottom camera with installation angle between the locomotive 1 to the adjustment the utility model discloses a range of obstacle discernment has further increased the utility model discloses a range of obstacle discernment. The floor camera is used to identify a floor obstacle in front of the locomotive 1. The sensor 24 may be, but is not limited to, a radar sensor for scanning a scene in front of the locomotive 1 by a predetermined range. The server 10 has the capability of high-speed complex arithmetic processing, can simultaneously process the data reported by 50 locomotives 1, and has the advantages of calculation processing time controlled within 100 milliseconds and high signal processing speed.
Referring to fig. 1 to 5, fig. 5 is a schematic view of a mine roadway and a camera of a mine obstacle recognition system according to an embodiment of the present application. It is further right to say that the technical scheme of the utility model discloses a mine obstacle identification system understands, it is right below the utility model discloses a working process further explains, mine obstacle identification system's working process does not belong to the utility model discloses a scope of protection, mine obstacle identification system's working process is as follows: the vehicle-mounted obstacle recognition mechanism 20 collects a front high-definition video image by the first camera 21, the second camera 22 and the third camera 23, and transmits the video image to the main controller 25, a scene within a preset range in front of the locomotive 1 is scanned by the sensor 24, to acquire scanned radar data, and to transmit the radar data to the main controller 25, the preset range can be configured, the preset range is stored in the sensor 24, the main controller 25 uploads the video image and radar data to the server 10 in real time through a 5G network, the server 10 performs comprehensive judgment on the video image and the radar data, feeds back the analysis result to the corresponding vehicle-mounted controller 30 through the 5G network, and the vehicle-mounted controller 30 controls the operation state of the locomotive 1 according to the feedback result. The 5G transmission delay of the whole mine obstacle identification system can reach 1 millisecond, the time of ground obstacle identification processing is controlled within 100 milliseconds, and the total delay is about 100 milliseconds. The maximum running speed of the locomotive 1 under a mine is 5 m/s, and the 100-millisecond delay error only causes the locomotive 1 to run for 0.5 m more. As shown in fig. 3, the roadway under the mine is generally about 5 meters in width, so that the closest distance between the two cameras in the horizontal direction, namely the image recognition of the first camera 21 and the second camera 22, is about 3 meters, and the running distance of the locomotive 1 generated by time delay is smaller than the shortest obstacle recognition distance, so that the safety requirement of the unmanned system of the locomotive 1 is met. The utility model discloses a mine obstacle identification system make full use of wireless network's characteristic places complicated operation processing on ground high performance go on server 10, on-vehicle obstacle identification mechanism 20 need not carry out complicated operation, has both increased the scope of obstacle discernment, has improved the stability and the reliability of system again.
To sum up, the utility model discloses a mine barrier identification system includes on-vehicle barrier recognition mechanism 20, on-vehicle controller 30 and server 10, on-vehicle barrier recognition mechanism 20 sets up on electric locomotive 1, on-vehicle controller 30 with communication connection between the on-vehicle barrier recognition mechanism 20, server 10 with communication connection between on-vehicle barrier recognition mechanism 20, the on-vehicle controller 30. The utility model discloses greatly increased the scope of barrier discernment, moreover the utility model discloses a cost is lower, and communication effect is better, can be applied to in the colliery operational environment extensively.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A mine obstacle recognition system, comprising:
a vehicle-mounted obstacle recognition mechanism provided on the locomotive;
the vehicle-mounted controller is in communication connection with the vehicle-mounted obstacle identification mechanism; and
the server is in communication connection with the vehicle-mounted obstacle identification mechanism and the vehicle-mounted controller;
the vehicle-mounted obstacle recognition mechanism includes:
the main controller is in communication connection with the server and the vehicle-mounted controller;
the at least two cameras are in communication connection with the main controller;
and the sensor is in communication connection with the main controller.
2. The mine obstacle identification system of claim 1, wherein at least two of the cameras comprise:
the system comprises a first camera and a second camera, wherein the first camera and the second camera are in communication connection with the main controller.
3. The mine obstacle identification system of claim 1, wherein at least two of the cameras comprise:
the system comprises a first camera, a second camera and a third camera, wherein the first camera, the second camera and the third camera are in communication connection with the main controller.
4. The mine obstacle identification system of claim 2, wherein: the first camera and the second camera are horizontally arranged on the locomotive.
5. A mine obstacle identification system as defined in claim 3, wherein: the installation angle between the third camera and the locomotive is 0-90 degrees.
6. The mine obstacle identification system of claim 1, wherein: the vehicle-mounted controller is in communication connection with the vehicle-mounted obstacle recognition mechanism through a vehicle-mounted network terminal.
7. The mine obstacle identification system of claim 1, wherein: the server is in communication connection with the vehicle-mounted barrier recognition mechanism and the vehicle-mounted controller sequentially through the base station and the vehicle-mounted network terminal.
8. The mine obstacle identification system of claim 1, wherein: the sensor is a radar sensor.
9. The mine obstacle identification system of claim 1, wherein: the main controller comprises a single chip microcomputer.
10. The mine obstacle identification system of claim 1, wherein: the vehicle-mounted controller comprises a single chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922446492.8U CN211567936U (en) | 2019-12-30 | 2019-12-30 | Mine obstacle identification system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922446492.8U CN211567936U (en) | 2019-12-30 | 2019-12-30 | Mine obstacle identification system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211567936U true CN211567936U (en) | 2020-09-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922446492.8U Active CN211567936U (en) | 2019-12-30 | 2019-12-30 | Mine obstacle identification system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211567936U (en) |
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2019
- 2019-12-30 CN CN201922446492.8U patent/CN211567936U/en active Active
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