CN215669752U - Unmanned excavator sensing system and excavator - Google Patents
Unmanned excavator sensing system and excavator Download PDFInfo
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- CN215669752U CN215669752U CN202121954409.9U CN202121954409U CN215669752U CN 215669752 U CN215669752 U CN 215669752U CN 202121954409 U CN202121954409 U CN 202121954409U CN 215669752 U CN215669752 U CN 215669752U
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Abstract
The utility model belongs to the technical field of sensing equipment, and relates to a sensing system of an unmanned excavator and the excavator. The unmanned excavator perception system comprises a multi-line laser radar, a first 16-line laser radar, four single-line laser radars and a vehicle-mounted computing unit, wherein the multi-line laser radar, the first 16-line laser radar and the four single-line laser radars are respectively connected with the vehicle-mounted computing unit. The multi-line laser radar is horizontally arranged at the top of the cab of the excavator, so that the scanning of the multi-line laser radar in the horizontal direction is ensured to have no blind area; the first 16-line laser radar is vertically arranged on the right front of the excavator body and the right side of the excavator arm, so that a perception blind area formed by the vision of the multi-line laser radar under the shielding of the excavator arm is made up; four single-line laser radars horizontally arranged on the front side, the rear side, the left side and the right side of the excavator body respectively acquire the information of targets near the excavator body, so that potential collision risks are effectively avoided.
Description
Technical Field
The utility model belongs to the technical field of sensing equipment, and relates to a sensing system suitable for an unmanned excavator and the excavator.
Background
The excavator is indispensable mechanical equipment in large-scale mechanical engineering projects. The unmanned modification of the excavator is an important content of the unmanned mine.
The unmanned excavator comprises two aspects: unmanned driving and unmanned operation. For unmanned driving, the surrounding environment of the excavator is sensed through various sensors, including sensing of obstacle positions, travelable areas, road boundaries and the like. For unmanned operation, the position of an operation surface, material information, the position of a discharging point and the like of the excavator are accurately sensed through various sensors. Therefore, it is necessary to reasonably design hardware of the unmanned excavator to ensure that the unmanned excavator can smoothly and stably perform unmanned operation at the operation point while unmanned driving to the operation point.
At present, related companies and research institutions strive to research and develop unmanned driving technology, and more attention is focused on passenger vehicles and other vehicle types. Sensor installation is mainly selected based on the following environmental objects: urban roads, expressways or garden roads, etc. The main obstacle objects are pedestrians, vehicles, etc. in the road. For example: patent application CN201710160870.9 discloses an environmental sensing system for a vehicle and a vehicle, and mainly describes an automatic driving sensor layout for a passenger vehicle. For example: patent application CN201710969796.5 discloses a sensing hardware solution based on sensors such as ultrasonic radar, laser radar, millimeter wave radar, visible light camera, infrared light camera, etc. Although there is a sensor layout design for the unmanned sensing system of the passenger vehicle in the prior art, the unmanned sensing system of the passenger vehicle cannot be directly applied to the excavator due to the large structural difference between the passenger vehicle and the excavator and the different application scenes and functions, that is, different vehicle types have great difference in the requirements of the sensor, and there is no solution for the working environment and the working requirements of the excavator at present, and the requirements of the unmanned engineering machine for driving and working are met.
SUMMERY OF THE UTILITY MODEL
In view of the above, the present invention has been made to provide an unmanned excavator sensing system and excavator that overcomes or at least partially solves the above problems.
According to an aspect of the present invention, there is provided an unmanned excavator sensing system, which includes a multi-line lidar, a first 16-line lidar, four single-line lidar and an on-vehicle computing unit, wherein the multi-line lidar, the first 16-line lidar and the four single-line lidar are respectively connected to the on-vehicle computing unit:
the multi-line laser radar is horizontally arranged at the top of the cab of the excavator and used for acquiring target information in a circular area around the excavator, wherein the radius of the circular area is a first preset distance;
the first 16-line laser radar is vertically arranged at the right front of the excavator body and the right side of the excavator arm and used for acquiring target information in front of the excavator;
the four single-line laser radars are horizontally arranged on the front side, the rear side, the left side and the right side of the excavator body and are used for acquiring target information in a circular area around the excavator, wherein the radius of the circular area is a second preset distance, and the second preset distance is smaller than the first preset distance;
the vehicle-mounted computing unit is arranged in a cab of the excavator and used for receiving data acquired by the multi-line laser radar, the first 16-line laser radar and the four single-line laser radars and outputting obstacle information, travelable area information and road boundary information around the excavator to a mining area comprehensive management cloud platform.
Preferably, the first preset distance has a value in a range of greater than or equal to 60 meters, and the second preset distance has a value in a range of 0 to 10 meters.
Preferably, the unmanned excavator sensing system further comprises two first millimeter wave radars and two second millimeter wave radars, and the two first millimeter wave radars and the two second millimeter wave radars are respectively connected with the vehicle-mounted computing unit;
the two first millimeter wave radars are respectively arranged on the front side and the rear side of the excavator body and used for acquiring target information within a third preset distance of the front side and the rear side of the excavator;
the two second millimeter wave radars are respectively arranged on the left front side and the right front side of the excavator body and are used for acquiring target information of a fourth preset distance from the front left side to the front right side of the excavator, wherein the fourth preset distance is smaller than the third preset distance;
the vehicle-mounted computing unit is further used for receiving data obtained by the two first millimeter wave radars and the two second millimeter wave radars and outputting obstacle information, travelable area information, road boundary information and working face information around the excavator.
Preferably, the first millimeter wave radar is a long-range millimeter wave radar, and the second millimeter wave radar is a short-range millimeter wave radar.
Preferably, the third preset distance has a value ranging from 100 meters to 200 meters, and the fourth preset distance has a value ranging from 50 meters to 100 meters.
Preferably, the third preset distance is 150 meters, and the fourth preset distance is 70 meters.
Preferably, the unmanned excavator perception system further comprises a second 16-line laser radar, and the second 16-line laser radar is connected with the vehicle-mounted computing unit;
the second 16-line laser radar is arranged on the excavator arm, the scanning surface of the second 16-line laser radar is parallel to the side surface of the excavator arm, and the scanning line of the second 16-line laser radar is opposite to the bucket, so that the second 16-line laser radar is used for acquiring material information in the bucket;
and the vehicle-mounted computing unit is also used for receiving data acquired by the second 16-line laser radar and outputting the volume information of the materials in the bucket to a mining area comprehensive management cloud platform.
Preferably, the unmanned excavator sensing system further comprises an inertial navigation device, two GPS antennas and an RTK signal receiver, the inertial navigation device is connected with the vehicle-mounted computing unit, and the two GPS antennas and the RTK signal receiver are respectively connected with the inertial navigation device;
the inertial navigation equipment is arranged in a cab of the excavator and is used for receiving the position and attitude information of the excavator, which is acquired by the GPS antenna and the RTK signal receiver, and outputting the position and attitude information of the excavator;
the two GPS antennas are respectively arranged on the left side and the right side above the cab of the excavator and used for acquiring pose information of the excavator;
the RTK signal receiver is arranged on a deck on the right side of the excavator and used for acquiring pose information of the excavator;
the vehicle-mounted computing unit is further used for receiving the position and posture information of the excavator output by the inertial navigation equipment and sending the position and posture information of the excavator to the mining area comprehensive management cloud platform.
Preferably, the multiline lidar comprises a 32-line lidar, a 64-line lidar or a 128-line lidar.
According to another aspect of the utility model, there is provided an excavator comprising an unmanned excavator sensing system as described above.
The utility model has the following beneficial technical effects: the top of the excavator cockpit is provided with the horizontally arranged multi-line laser radar, so that the excavator cockpit can be ensured to scan in the horizontal direction without blind areas; the first 16-line laser radar is vertically arranged on the right front of the excavator body and the right side of the excavator arm, so that a perception blind area formed by the vision of the multi-line laser radar under the shielding of the excavator arm is made up; four single-line laser radars horizontally arranged on the front side, the rear side, the left side and the right side of the excavator body respectively acquire the information of targets near the excavator body, so that potential collision risks are effectively avoided. Therefore, according to the technical scheme, the laser radars with the different wire harnesses are arranged at different positions, the sensing blind area of the large engineering mechanical excavator is effectively eliminated, the detection of the distance obstacles and the near obstacles of the excavator body is realized, and the potential collision risk is effectively avoided.
Drawings
Fig. 1 is a schematic structural diagram of a sensing system of an unmanned excavator according to an embodiment of the present invention;
FIG. 2 is a schematic view of an installation position of a sensing system of an unmanned excavator on the excavator according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an excavator according to an embodiment of the present invention.
Detailed Description
In order to facilitate an understanding of the utility model, the utility model is described in more detail below with reference to the accompanying drawings and specific examples. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Example one
Fig. 1 is a schematic structural diagram of a sensing system of an unmanned excavator according to an embodiment of the present invention, and fig. 2 is a schematic mounting position diagram of the sensing system of the unmanned excavator according to the embodiment of the present invention on the excavator, and as shown in fig. 1 and fig. 2, the sensing system of the unmanned excavator includes: multi-line laser radar 1, first 16 line laser radar 2, 4 single line laser radar 4 and on-vehicle calculating unit 10, multi-line laser radar 1, first 16 line laser radar 2, 4 single line laser radar 4 are connected with on-vehicle calculating unit 10 respectively. The multi-line laser radar 1 is horizontally arranged at the top of a cab of the excavator and used for acquiring target information in a circular area around the excavator, wherein the circular area takes a first preset distance as a radius; for example, the first preset distance has a value range of 60 meters or more. It should be noted that the horizontal scanning view angle of the multi-line laser radar is 360 degrees, which covers 360 degrees around the excavator and ensures that no blind area exists in the horizontal direction. Preferably, the multiline lidar 1 is selected from any one of a 32-line, 64-line, 128-line lidar. The multiline laser radar with the effective detection range larger than or equal to 60 meters is within the protection range of the application. The effective detection range of the multi-line laser radar is large, so that the detection of the obstacle far away from the vehicle body is ensured.
The first 16-line laser radar 2 is vertically arranged at the right front of the excavator body and the right side of the excavator arm, and preferably, the first 16-line laser radar 2 is arranged on a right side deck and is used for acquiring target information in front of the excavator; it should be noted that the excavator arm is located right ahead of the vehicle body and higher than the cockpit, and a blind area is formed under the shelter of the excavator arm due to the field of view of the multi-line laser radar 1. The typical vertical viewing angle of the first 16-line laser radar is 25 degrees, which just makes up the perception blind area of the multi-line laser radar caused by the excavator arm. The effective detection range of the first 16-line lidar 2 is 40 meters in some embodiments of the present invention.
The four single-line laser radars 4 are horizontally arranged on the front side, the rear side, the left side and the right side of the excavator body and are used for acquiring target information in a circular area around the excavator, wherein the radius of the circular area is a second preset distance, and the second preset distance is smaller than the first preset distance; for example, the second predetermined distance may range from 0 meter to 10 meters. Through the matching with the multi-line laser radar 1, the horizontal installation of 4 single-line laser radars is ensured. The combination of the 4 single-line laser radars ensures that the vehicle body is near to 360 degrees and has no blind area, ensures the detection of obstacles near the vehicle body, and effectively avoids potential collision risks for the relatively complex working environment of the excavator.
The vehicle-mounted computing unit 10 is arranged in a cockpit of the excavator and used for receiving data acquired by the multi-line laser radar 1, the first 16-line laser radar 2 and the four single-line laser radars 4 and outputting obstacle information, travelable area information and road boundary information around the excavator to a mining area comprehensive management cloud platform.
Therefore, according to the technical scheme, the laser radars with the different wire harnesses are arranged at different positions, the sensing blind area of the large engineering mechanical excavator is effectively eliminated, the detection of the distance obstacles and the near obstacles of the excavator body is realized, and the potential collision risk is effectively avoided.
Further, as shown in fig. 1 and 2, the unmanned excavator sensing system further includes two first millimeter-wave radars 5 and two second millimeter-wave radars 6, and the two first millimeter-wave radars 5 and the two second millimeter-wave radars 6 are respectively connected to the vehicle-mounted computing unit; preferably, the first millimeter wave radar 5 is a long-range millimeter wave radar, and the second millimeter wave radar 6 is a short-range millimeter wave radar.
The two first millimeter wave radars 5 are respectively arranged on the front side and the rear side of the excavator body and are used for acquiring target information within a third preset distance of the front side and the rear side of the excavator; preferably, the third preset distance ranges from 100 meters to 200 meters, and specifically, the third preset distance is 150 meters. Therefore, the first millimeter wave radar 5 is used for stably detecting and tracking long-distance targets in front of and behind the excavator body, and is fused with the laser radar, so that the reliability and the redundancy of remote obstacle detection are improved.
The two second millimeter wave radars 6 are respectively arranged on the left front side and the right front side of the excavator body and are used for acquiring target information of a fourth preset distance from the front left side to the front right side of the excavator, wherein the fourth preset distance is smaller than the third preset distance; preferably, the fourth preset distance has a value in a range of 50 meters to 100 meters, and specifically, the fourth preset distance is 70 meters. Therefore, the second millimeter wave radar 6 is used for stably detecting and tracking the front and rear close-distance targets of the excavator body, and is fused with the laser radar, so that the reliability and the redundancy of the detection of the close-distance obstacles are improved.
The vehicle-mounted computing unit 10 is further configured to receive data acquired by the two first millimeter wave radars 5 and the two second millimeter wave radars 6, and output obstacle information, travelable area information, road boundary information, and work surface information around the excavator.
Therefore, according to the technical scheme, the accuracy and the stability of sensing of the environment around the excavator body are further improved and the unmanned safety and the comfort of the excavator are improved by additionally arranging the plurality of millimeter wave radars; and through setting up the first millimeter wave radar in excavator automobile body front side and setting up two second millimeter wave radars in the left front side and the right front side of excavator automobile body, improved the detectability to the excavator operation face, help promoting the operation precision and the efficiency of excavator.
Further, as also shown in fig. 1 and 2, the unmanned excavator sensing system further includes a second 16-line lidar 3, and the second 16-line lidar 3 is connected to the vehicle-mounted computing unit 10;
the second 16-line laser radar 3 is arranged on the excavator arm, and a scanning surface of the second 16-line laser radar 3 is parallel to the side surface of the excavator arm, and a scanning line of the second 16-line laser radar is opposite to the bucket, so that material information in the bucket can be acquired;
the vehicle-mounted computing unit 10 is further configured to receive data acquired by the second 16-line laser radar 3, and output volume information of the materials in the bucket to a mining area comprehensive management cloud platform.
Therefore, according to the design scheme, the second 16-line laser radar is arranged on the excavator arm, so that the material state in the bucket can be effectively detected, and the excavator is beneficial to accurate operation.
Further, as shown in fig. 1 and fig. 2, the unmanned excavator sensing system further includes an inertial navigation device 7, two GPS antennas 9 and an RTK signal receiver 8, the inertial navigation device 7 is connected with the vehicle-mounted computing unit 10, and the two GPS antennas 9 and the RTK signal receiver 8 are respectively connected with the inertial navigation device 7;
the inertial navigation equipment 7 is arranged in a cab of the excavator and is used for receiving the pose information of the excavator, which is acquired by the GPS antenna 9 and the RTK signal receiver 8, and outputting the pose information of the excavator;
the two GPS antennas 9 are respectively arranged on the left side and the right side above the cab of the excavator and used for acquiring pose information of the excavator;
the RTK signal receiver 8 is arranged on a deck on the right side of the excavator and used for acquiring pose information of the excavator;
the vehicle-mounted computing unit 10 is further configured to receive the pose information of the excavator output by the inertial navigation device 7, and send the pose information of the excavator to the mining area comprehensive management cloud platform.
Therefore, according to the design scheme, the inertial navigation equipment, the two GPS antennas and the RTK signal receiver are arranged to obtain the current pose information of the excavator, and the pose information is uploaded to the comprehensive mining area management platform through the vehicle-mounted computing unit, so that the comprehensive mining area management platform can plan the running path of the excavator to achieve the dispatching of the excavator.
In this embodiment, the multi-line lidar 1, the first 16-line lidar 2, the second 16-line lidar 3, and the 4 single-line lidar 4 are respectively connected with the vehicle-mounted computing unit 10 through ethernet ports, and the long-range and short-range millimeter-wave radars and the inertial navigation device 7 are connected with the vehicle-mounted computing unit 10 through CAN ports. The RTK signal receiver 8 and the GPS antenna 9 are connected with the inertial navigation device 7. In other embodiments, the sensors and the on-board computing unit 10 may communicate data in a wired manner or in a wireless manner; the RTK signal receiver 8, the GPS antenna 9 and the inertial navigation device 7 may communicate with each other in a wired or wireless manner, and the communication method between the sensors is not further limited to the communication method between the sensors and the vehicle-mounted computing unit.
Example two
Fig. 3 is a schematic structural diagram of an excavator according to an embodiment of the present invention, and as shown in fig. 3, the excavator 100 includes an unmanned excavator sensing system 200 according to a first embodiment. It should be noted that the configuration, the installation position, and the technical effects of the unmanned excavator sensing system 200 are described in detail in the first embodiment and are not repeated herein.
In summary, in the technical scheme of the utility model, the laser radars with different wire harnesses are arranged at different positions, so that the sensing blind area of the large-scale engineering machinery excavator is effectively eliminated, the detection of the far and near obstacles of the excavator body is realized, and the potential collision risk is effectively avoided.
In addition, according to the technical scheme, the plurality of millimeter wave radars are additionally arranged, so that the accuracy and the stability of sensing the environment around the excavator body are further improved, and the unmanned safety and the comfort of the excavator are improved; and through setting up the first millimeter wave radar in excavator automobile body front side and setting up two second millimeter wave radars in the left front side and the right front side of excavator automobile body, improved the detectability to the excavator operation face, help promoting the operation precision and the efficiency of excavator.
In addition, according to the design scheme of the utility model, the second 16-line laser radar is arranged on the excavator arm, so that the material state in the bucket can be effectively detected, and the excavator is beneficial to the accurate operation.
Finally, the design scheme of the utility model obtains the current pose information of the excavator by arranging the inertial navigation equipment, the two GPS antennas and the RTK signal receiver, and uploads the pose information to the comprehensive management platform of the mining area by the vehicle-mounted computing unit, so that the comprehensive management platform of the mining area can plan the running path of the excavator to realize the dispatching of the excavator.
The above description is only for the preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.
Claims (10)
1. The utility model provides an unmanned excavator perception system, its characterized in that, unmanned excavator perception system includes multi-line lidar, first 16 lines lidar, four single line lidar and on-vehicle computational unit, multi-line lidar, first 16 lines lidar and four single line lidar respectively with on-vehicle computational unit is connected:
the multi-line laser radar is horizontally arranged at the top of the cab of the excavator and used for acquiring target information in a circular area around the excavator, wherein the radius of the circular area is a first preset distance;
the first 16-line laser radar is vertically arranged at the right front of the excavator body and the right side of the excavator arm and used for acquiring target information in front of the excavator;
the four single-line laser radars are horizontally arranged on the front side, the rear side, the left side and the right side of the excavator body and are used for acquiring target information in a circular area around the excavator, wherein the radius of the circular area is a second preset distance, and the second preset distance is smaller than the first preset distance;
the vehicle-mounted computing unit is arranged in a cab of the excavator and used for receiving data acquired by the multi-line laser radar, the first 16-line laser radar and the four single-line laser radars and outputting obstacle information, travelable area information and road boundary information around the excavator to a mining area comprehensive management cloud platform.
2. The unmanned excavator sensing system of claim 1 wherein the first predetermined distance is a distance of 60 meters or more and the second predetermined distance is a distance of 0 to 10 meters.
3. The unmanned excavator sensing system of claim 1 further comprising two first millimeter wave radars and two second millimeter wave radars, the two first millimeter wave radars and the two second millimeter wave radars being respectively connected to the on-board computing unit;
the two first millimeter wave radars are respectively arranged on the front side and the rear side of the excavator body and used for acquiring target information within a third preset distance of the front side and the rear side of the excavator;
the two second millimeter wave radars are respectively arranged on the left front side and the right front side of the excavator body and are used for acquiring target information of a fourth preset distance from the front left side to the front right side of the excavator, wherein the fourth preset distance is smaller than the third preset distance;
the vehicle-mounted computing unit is further used for receiving data obtained by the two first millimeter wave radars and the two second millimeter wave radars and outputting obstacle information, travelable area information, road boundary information and working face information around the excavator.
4. The unmanned excavator sensing system of claim 3 wherein the first millimeter wave radar is a long range millimeter wave radar and the second millimeter wave radar is a short range millimeter wave radar.
5. The unmanned excavator sensing system of claim 3 wherein the third predetermined distance is between 100 and 200 meters and the fourth predetermined distance is between 50 and 100 meters.
6. The unmanned excavator sensing system of claim 5 wherein the third predetermined distance is 150 meters and the fourth predetermined distance is 70 meters.
7. The unmanned excavator sensing system of claim 1 further comprising a second 16 line lidar, the second 16 line lidar coupled to the onboard computing unit;
the second 16-line laser radar is arranged on the excavator arm, the scanning surface of the second 16-line laser radar is parallel to the side surface of the excavator arm, and the scanning line of the second 16-line laser radar is opposite to the bucket, so that the second 16-line laser radar is used for acquiring material information in the bucket;
and the vehicle-mounted computing unit is also used for receiving data acquired by the second 16-line laser radar and outputting the volume information of the materials in the bucket to a mining area comprehensive management cloud platform.
8. The unmanned excavator sensing system of claim 1 further comprising an inertial navigation device, two GPS antennas and an RTK signal receiver, the inertial navigation device being connected to the on-board computing unit, the two GPS antennas and the RTK signal receiver being connected to the inertial navigation device respectively;
the inertial navigation equipment is arranged in a cab of the excavator and is used for receiving the position and attitude information of the excavator, which is acquired by the GPS antenna and the RTK signal receiver, and outputting the position and attitude information of the excavator;
the two GPS antennas are respectively arranged on the left side and the right side above the cab of the excavator and used for acquiring pose information of the excavator;
the RTK signal receiver is arranged on a deck on the right side of the excavator and used for acquiring pose information of the excavator;
the vehicle-mounted computing unit is further used for receiving the position and posture information of the excavator output by the inertial navigation equipment and sending the position and posture information of the excavator to the mining area comprehensive management cloud platform.
9. The unmanned excavator sensing system of claim 1 wherein the multiline lidar comprises a 32-line lidar, a 64-line lidar or a 128-line lidar.
10. An excavator, wherein the excavator comprises an unmanned excavator sensing system as claimed in any one of claims 1 to 9.
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| CN202121954409.9U CN215669752U (en) | 2021-08-19 | 2021-08-19 | Unmanned excavator sensing system and excavator |
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| CN202121954409.9U CN215669752U (en) | 2021-08-19 | 2021-08-19 | Unmanned excavator sensing system and excavator |
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