CN217085583U - Automatic vision obstacle avoidance system for unmanned mine card - Google Patents
Automatic vision obstacle avoidance system for unmanned mine card Download PDFInfo
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- CN217085583U CN217085583U CN202220987545.6U CN202220987545U CN217085583U CN 217085583 U CN217085583 U CN 217085583U CN 202220987545 U CN202220987545 U CN 202220987545U CN 217085583 U CN217085583 U CN 217085583U
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Abstract
The application relates to an automatic visual obstacle avoidance system for an unmanned mine card, which relates to the technical field of the unmanned mine card, wherein the unmanned mine card comprises a cab, a camera module, an identification module, a prompt module, an obstacle breaking module and a controller; the shooting module and the prompting module are both installed at the top of the cab, the recognition module is arranged in the shooting module, the obstacle breaking module is installed at the bottom of the cab, and the shooting module, the recognition module, the prompting module and the obstacle breaking module are all electrically connected with the controller; the shooting module is used for shooting the environment of a driving road, the recognition module is used for recognizing obstacles in front of the unmanned mine card, and the obstacle breaking module is used for removing the obstacles in front of the unmanned mine card. This application has the effect of the automatic clear barrier of realization unmanned ore deposit card.
Description
Technical Field
The application relates to the technical field of unmanned mine cards, in particular to an automatic visual obstacle avoidance system for an unmanned mine card.
Background
Production and transportation of a mining area are always a part of frequent accidents in a mining process, so that a driver is difficult to recruit and the management and operation cost is high, but the mining area is strictly controlled in an industry-specific production and transportation area, is forbidden to enter by external personnel, and has the characteristic of closed personnel without idle personnel.
Therefore, the unmanned mine card is particularly suitable for realizing ore transportation by applying the unmanned mine card, but because the road on the mine is relatively complex, workers or ore falling from a mine car often appear on the driving road of the unmanned mine card, and when the workers appear on the road, the unmanned mine card possibly has no time to react and damages the workers; when the ore appears on the road, the ore can damage the unmanned ore card, resulting in the shortened service life of the unmanned ore card.
SUMMERY OF THE UTILITY MODEL
In order to realize automatic obstacle clearing of the unmanned mine card, the application provides an automatic visual obstacle avoiding system of the unmanned mine card.
The application provides a pair of automatic vision of unmanned ore deposit card keeps away barrier system adopts following technical scheme:
an automatic vision obstacle avoidance system for an unmanned mine card comprises a cab, a camera module, an identification module, a prompt module, an obstacle breaking module and a controller, wherein the cab comprises a shooting module, an identification module, a prompt module, an obstacle breaking module and a controller; the shooting module and the prompting module are both installed at the top of the cab, the recognition module is arranged in the shooting module, the obstacle breaking module is installed at the bottom of the cab, and the shooting module, the recognition module, the prompting module and the obstacle breaking module are all electrically connected with the controller; the shooting module is used for shooting the environment of a driving road, the recognition module is used for recognizing obstacles in front of the unmanned mine card, and the obstacle breaking module is used for removing the obstacles in front of the unmanned mine card. Through adopting above-mentioned technical scheme, when shooting the module and detecting the barrier before the unmanned mine card, identification module detects the barrier, when identification module detects out the barrier and is the human body, controller control suggestion module output to indicate the barrier, when identification module detects out the barrier and is the ore, controller control breaks barrier module output, thereby clear up the ore, and then reduce the damage of ore to unmanned mine card, indirectly prolong the life of unmanned mine card.
Optionally, the shooting module includes the binocular camera, integrated positioner in the binocular camera, the binocular camera with driver's cabin fixed connection, the binocular camera with the controller electricity is connected, the binocular camera is used for shooing the picture before the unmanned mine card and realizes the location of unmanned mine card.
By adopting the technical scheme, the binocular camera can shoot a road in front of the unmanned mine card, then the shot picture is transmitted to the identification module, and the identification module identifies the content in the shot picture, so that the content is clearer; meanwhile, a positioning device is integrated in the binocular camera, so that the unmanned mine card can be accurately positioned, and the positioning device is more convenient.
Optionally, the shooting module comprises an infrared camera, the infrared camera is fixedly connected with the cab, the infrared camera is electrically connected with the controller, and the infrared camera is used for shooting pictures in front of the unmanned mine card.
Through adopting above-mentioned technical scheme, when needing unmanned ore deposit card to carry out the during operation night, can be more clear that shoots at night through infrared camera, guarantee that unmanned ore deposit card also can work smoothly at night.
Optionally, the unmanned aerial vehicle further comprises a millimeter wave radar, the millimeter wave radar is electrically connected with the controller, and the millimeter wave radar is used for detecting the environment around the unmanned aerial vehicle.
By adopting the technical scheme, when raised dust or foggy days occur, the millimeter wave radar can detect the surrounding situation of the unmanned mine card, so that the detection of obstacles around the unmanned mine card is completed, and the service life of the unmanned mine card is further prolonged.
Optionally, the prompt module includes a speaker, and the speaker is electrically connected to the controller.
By adopting the technical scheme, when the barrier in front of the unmanned mine card is a person, the controller controls the output of the loudspeaker, so that the loudspeaker broadcasts, and the person is prompted.
Optionally, the obstacle breaking module includes a telescopic unit, a driving unit and an obstacle breaking plate, the driving unit and the telescopic unit are fixedly connected to the bottom of the cab, the driving unit and the telescopic unit are electrically connected to the controller, the driving unit is used for driving the obstacle breaking plate to move, and the telescopic unit is used for controlling the driving unit to stretch.
By adopting the technical scheme, when the obstacle in front of the unmanned ore card is ore, the controller controls the telescopic unit to extend out, and then the controller controls the driving unit to drive the obstacle breaking plate to move in front of the unmanned ore card, so that the obstacle breaking plate clears the obstacle in front of the unmanned ore card, and the service life of the unmanned ore card is prolonged.
Optionally, the telescopic unit is installed including the pneumatic cylinder of driver's cabin bottom, the piston rod fixedly connected with mounting panel of pneumatic cylinder, drive unit with mounting panel fixed connection, the broken baffle with mounting panel sliding connection, the pneumatic cylinder with the controller electricity is connected. By adopting the technical scheme, when the baffle plate needs to be stretched out, the controller controls the hydraulic cylinder to output, and then the hydraulic cylinder drives the mounting plate to move, so that the baffle plate protrudes out of the unmanned mine card.
Optionally, the driving unit includes a driving motor fixedly connected with the mounting plate, an output shaft of the driving motor is fixedly connected with a lead screw, one end of the lead screw, which is far away from the driving motor, is rotatably connected with the mounting plate, the baffle plate is sleeved on the lead screw, and the driving motor is electrically connected with the controller.
By adopting the technical scheme, when the obstacle breaking plate is used for cleaning the obstacle in front of the unmanned mine, the controller controls the driving motor to be started, the driving motor drives the screw rod to rotate, so that the obstacle breaking plate moves along the length direction of the mounting plate, and the obstacle breaking plate is used for cleaning the obstacle in front of the unmanned mine.
Optionally, the intelligent alarm further comprises an alarm, and the alarm is electrically connected with the controller.
Through adopting above-mentioned technical scheme, when the obstacle breaking module can't clear up the barrier, the controller control alarm exports to indicate maintenance personal.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when the shooting module detects that an obstacle appears before the unmanned mine card, the recognition module detects the obstacle, when the recognition module detects that the obstacle is a human body, the controller controls the output of the prompt module so as to prompt the obstacle, and when the recognition module detects that the obstacle is an ore, the controller controls the output of the obstacle breaking module so as to clean the ore, so that the damage of the ore to the unmanned mine card is reduced, and the service life of the unmanned mine card is indirectly prolonged;
2. when the unmanned mine card is required to work at night, the unmanned mine card can be shot more clearly at night through the infrared camera, and the unmanned mine card can work smoothly at night;
3. when the obstacle in front of the unmanned ore card is ore, the controller controls the telescopic unit to extend out, and then the controller controls the driving unit to drive the obstacle breaking plate to move in front of the unmanned ore card, so that the obstacle breaking plate clears the obstacle in front of the unmanned ore card, and the service life of the unmanned ore card is prolonged.
Drawings
Fig. 1 is a block diagram of the structure of an embodiment of the present application.
Fig. 2 is a schematic structural diagram of an embodiment of the present application.
Description of reference numerals: 1. a shooting module; 11. a binocular camera; 12. an infrared camera; 2. an identification module; 3. a prompt module; 31. a speaker; 4. a barrier breaking module; 41. a telescopic unit; 411. a hydraulic cylinder; 412. mounting a plate; 42. a drive unit; 421. a drive motor; 422. a lead screw; 5. a controller; 6. a millimeter wave radar; 7. an alarm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1-2 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
The embodiment of the application discloses an automatic vision obstacle avoidance system for an unmanned mine card. Referring to fig. 1 and 2, unmanned mine card includes the driver's cabin, the automatic vision of unmanned mine card keeps away barrier system is including shooting module 1, identification module 2, prompt module 3, broken barrier module 4 and controller 5, shoot module 1 and prompt module 3 all with the top fixed connection of driver's cabin, place in identification module 2 and shoot module 1, and be connected with shooting module 1 electricity, broken barrier module 4 installs the bottom at the driver's cabin, shoot module 1, identification module 2, prompt module 3 and broken barrier module 4 all are connected with controller 5 electricity.
In the embodiment, the shooting module 1 is used for shooting the environment of a driving road of the unmanned mine card, and the identification module 2 is used for identifying whether an obstacle exists in a picture shot by the shooting module 1, wherein the obstacle is a person or an ore; when the identification module 2 identifies that there is the barrier before the unmanned mine card, and the barrier is the man-hour, the controller 5 controls the output of the prompt module 3 to prompt the man, and when the identification module 2 identifies that there is the barrier before the unmanned mine card, and the barrier is the ore, the controller 5 controls the output of the barrier breaking module 4 to clear up the ore, and then prolong the service life of the unmanned mine card.
In this embodiment, the shooting module 1 includes binocular camera 11 and/or infrared camera 12, binocular camera 11 and/or infrared camera 12 all are connected with controller 5 electricity, wherein binocular camera 11 and/or infrared camera 12 all are used for shooing the road of traveling of unmanned mine card, when the unmanned mine card of needs is worked at night, adopt infrared camera 12 to shoot the road of traveling of unmanned mine card, compare with binocular camera 11, infrared camera 12 shoots more clearly.
As an optional implementation manner of this embodiment, the system further includes a millimeter wave radar 6, the millimeter wave radar 6 is embedded in the shooting module 1, and the millimeter wave radar 6 is electrically connected with the controller 5; the millimeter wave radar 6 is used to detect the environment around the unmanned mine card.
When the shooting of raise dust or fog day etc. appears in external environment and is hindered the condition, adopt millimeter wave radar 6 to detect the environment of unmanned mine card on the road of traveling, can shoot when being hindered at shooting module 1, whether have the barrier to detect around the unmanned mine card to be favorable to unmanned mine card to clear away or the suggestion to the barrier.
In the present alternative embodiment, the millimeter wave radar 6 is a 79GHZ millimeter wave radar 6.
In the present embodiment, the prompting module 3 includes a speaker 31, the speaker 31 is fixedly connected to the top of the cab, and the speaker 31 is electrically connected to the controller 5.
When the identification module 2 detects that the obstacle in front of the unmanned mine card is a person, the controller 5 sounds through the loudspeaker 31 of the blank space, so that the person is reminded to avoid.
As an optional implementation manner of this embodiment, the obstacle breaking module 4 includes a telescopic unit 41, a driving unit 42, and an obstacle breaking plate, the telescopic unit 41 is fixedly connected to the bottom of the cab, the telescopic unit 41 is fixedly connected to the driving unit 42, the obstacle breaking plate is mounted on the driving unit 42 and is slidably connected to the telescopic unit 41, and both the driving unit 42 and the telescopic unit 41 are electrically connected to the controller 5.
The telescopic unit 41 comprises a hydraulic cylinder 411 fixedly connected with the bottom of the cab, a mounting plate 412 is fixedly connected with a piston rod of the hydraulic cylinder 411, the driving unit 42 is fixedly connected with the mounting plate 412, the baffle plate is slidably connected with the mounting plate 412, and the hydraulic cylinder 411 is electrically connected with the controller 5.
When the identification module 2 detects that the obstacle is ore, the controller 5 controls the hydraulic cylinder 411 to output, so that the hydraulic cylinder 411 drives the mounting plate 412 to move along the output direction of the hydraulic cylinder 411, and the obstacle breaking plate protrudes out of the cab to clean the obstacle.
As an optional implementation manner of this embodiment, the driving unit 42 includes a driving motor 421 fixedly connected to the mounting plate 412, an output shaft of the driving motor 421 is fixedly connected to a lead screw 422, one end of the lead screw 422 far away from the driving motor 421 is rotatably connected to the mounting plate 412, the baffle plate is sleeved on the lead screw 422, and the driving motor 421 is electrically connected to the controller 5.
When the ore on the unmanned ore truck driving road needs to be cleaned, the controller 5 controls the driving motor 421 to be started, the driving motor 421 drives the screw 422 to rotate, and the baffle plate slides on the mounting plate 412 along the axial direction of the screw 422, so that the baffle plate can clean the ore. When the ore needs to be cleaned, the distance between the unmanned ore card and the ore is detected through the millimeter wave radar 6, and when the ore is located in the cleaning range of the obstacle breaking plate, the controller 5 controls the unmanned ore card to stop running until no ore exists in the cleaning range of the obstacle breaking plate.
In this embodiment, still include alarm 7, when because the ore volume is great, when the unable clearance ore of broken baffle, controller 5 control driving motor 421 stop operation, and the output of alarm 7 is controlled simultaneously, makes maintenance personal or road clearance personnel in time look over.
The implementation principle of the automatic vision obstacle avoidance system for the unmanned mine card in the embodiment of the application is as follows: the binocular camera 11 and/or the infrared camera 12 are/is used for shooting the driving road of the unmanned mine card, and when the driving road of the unmanned mine card has obstacles, the recognition module 2 recognizes the obstacles.
When the obstacle is a person, the controller 5 controls the loudspeaker 31 to output, so that the person who runs on the road on the unmanned mine card is reminded, and the possibility of injury to the person is reduced.
When the obstacle is ore, the distance between the unmanned ore card and the ore is detected through the millimeter wave radar 6, when the ore is completely located in the cleaning range of the obstacle breaking plate, the controller 5 controls the unmanned ore card to stop running, meanwhile, the controller 5 controls the output of the hydraulic cylinder 411, the hydraulic cylinder 411 drives the mounting plate 412 to move along the axial direction of the hydraulic cylinder 411, when the obstacle breaking plate completely protrudes out of the bottom of the cab, the controller 5 controls the driving motor 421 to start, the driving motor 421 drives the screw 422 to rotate, the obstacle breaking plate slides along the axial direction of the screw 422, the ore is cleaned to the left side and the right side of the unmanned ore card, the damage of the ore to the unmanned ore card is reduced, and the service life of the unmanned ore card is prolonged.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Claims (9)
1. An automatic vision obstacle avoidance system for an unmanned mine card, wherein the unmanned mine card comprises a cab and is characterized by comprising a shooting module (1), an identification module (2), a prompt module (3), an obstacle breaking module (4) and a controller (5); the shooting module (1) and the prompting module (3) are both installed at the top of the cab, the recognition module (2) is arranged in the shooting module (1), the obstacle breaking module (4) is installed at the bottom of the cab, and the shooting module (1), the recognition module (2), the prompting module (3) and the obstacle breaking module (4) are all electrically connected with the controller (5); the shooting module (1) is used for shooting the environment of a driving road, the recognition module (2) is used for recognizing the obstacle in front of the unmanned mine card, and the obstacle breaking module (4) is used for removing the obstacle in front of the unmanned mine card.
2. The automatic vision obstacle avoidance system for the unmanned mine card according to claim 1, wherein the shooting module (1) comprises a binocular camera (11), a positioning device is integrated in the binocular camera (11), the binocular camera (11) is fixedly connected with the cab, the binocular camera (11) is electrically connected with the controller (5), and the binocular camera (11) is used for shooting a picture in front of the unmanned mine card and realizing positioning of the unmanned mine card.
3. The automatic visual obstacle avoidance system for the unmanned mine card according to claim 1 or 2, wherein the shooting module (1) comprises an infrared camera (12), the infrared camera (12) is fixedly connected with the cab, the infrared camera (12) is electrically connected with the controller (5), and the infrared camera (12) is used for shooting a picture in front of the unmanned mine card.
4. The automatic visual obstacle avoidance system of the unmanned mine card as claimed in claim 3, further comprising a millimeter wave radar (6), wherein the millimeter wave radar (6) is electrically connected to the controller (5), and the millimeter wave radar (6) is used for detecting an environment around the unmanned mine card.
5. The unmanned mine card automatic visual obstacle avoidance system of claim 1, wherein the prompting module (3) comprises a speaker (31), the speaker (31) being electrically connected with the controller (5).
6. The unmanned mine card automatic visual obstacle avoidance system according to claim 1, wherein the obstacle breaking module (4) comprises a telescopic unit (41), a driving unit (42) and an obstacle breaking plate, the driving unit (42) and the telescopic unit (41) are fixedly connected with the bottom of the cab, the driving unit (42) and the telescopic unit (41) are electrically connected with the controller (5), the driving unit (42) is used for driving the obstacle breaking plate to move, and the telescopic unit (41) is used for controlling the driving unit (42) to stretch and retract.
7. The automatic visual obstacle avoidance system for the unmanned mine truck as claimed in claim 6, wherein the telescopic unit (41) comprises a hydraulic cylinder (411) installed at the bottom of the cab, a piston rod of the hydraulic cylinder (411) is fixedly connected with a mounting plate (412), the driving unit (42) is fixedly connected with the mounting plate (412), the obstacle breaking plate is slidably connected with the mounting plate (412), and the hydraulic cylinder (411) is electrically connected with the controller (5).
8. The automatic visual obstacle avoidance system for the unmanned mine card as claimed in claim 7, wherein the driving unit (42) comprises a driving motor (421) fixedly connected with the mounting plate (412), an output shaft of the driving motor (421) is fixedly connected with a lead screw (422), one end of the lead screw (422) far away from the driving motor (421) is rotatably connected with the mounting plate (412), the obstacle breaking plate is sleeved on the lead screw (422), and the driving motor (421) is electrically connected with the controller (5).
9. The unmanned mine card automatic visual obstacle avoidance system of claim 1, further comprising an alarm (7), wherein the alarm (7) is electrically connected with the controller (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220987545.6U CN217085583U (en) | 2022-04-25 | 2022-04-25 | Automatic vision obstacle avoidance system for unmanned mine card |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220987545.6U CN217085583U (en) | 2022-04-25 | 2022-04-25 | Automatic vision obstacle avoidance system for unmanned mine card |
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| Publication Number | Publication Date |
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| CN217085583U true CN217085583U (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202220987545.6U Active CN217085583U (en) | 2022-04-25 | 2022-04-25 | Automatic vision obstacle avoidance system for unmanned mine card |
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| CN (1) | CN217085583U (en) |
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- 2022-04-25 CN CN202220987545.6U patent/CN217085583U/en active Active
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