CN219133988U - Unmanned vehicle-mounted image system and mining dump truck - Google Patents
Unmanned vehicle-mounted image system and mining dump truck Download PDFInfo
- Publication number
- CN219133988U CN219133988U CN202320080965.0U CN202320080965U CN219133988U CN 219133988 U CN219133988 U CN 219133988U CN 202320080965 U CN202320080965 U CN 202320080965U CN 219133988 U CN219133988 U CN 219133988U
- Authority
- CN
- China
- Prior art keywords
- camera
- vehicle
- emergency
- video
- video transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The utility model discloses an unmanned vehicle-mounted image system and a mining dump truck, wherein a vehicle-mounted camera is arranged outside a vehicle; the video transmission control equipment is connected with the vehicle-mounted camera and is used for sending real-time video of the vehicle-mounted camera; the control room video receiving equipment is communicated with the video transmission control equipment and is used for receiving real-time video of the vehicle-mounted camera sent back by the video transmission equipment; the control console display screen is connected with the control room video receiving equipment and is used for displaying the vehicle-mounted camera video in real time; the whole vehicle controller is connected with the video transmission control equipment and is used for receiving fault camera information sent by the video transmission control equipment; the emergency camera is connected with the whole vehicle controller, and the emergency camera is controlled by the whole vehicle controller to be used for replacing the fault camera to shoot videos. The unmanned vehicle-mounted image system disclosed by the utility model is convenient for operators to remotely control the vehicle to run through videos transmitted back in real time.
Description
Technical Field
The utility model belongs to the field of mining dumpers, and particularly relates to a vehicle-mounted image system of a cab-free unmanned mining dumper.
Background
With the development of new generation information technology, the mining dump truck is continuously developed towards the direction of intellectualization, networking, sharing and dynamization, and the unmanned technology is also started to be used for the mining dump truck. Because the mining area working environment is bad and a large amount of noise and dust are accompanied for a long time, the physical health of a driver is greatly influenced, and therefore, the unmanned mining dump truck is carried out, the labor cost can be saved, and the mining area working efficiency is improved. The unmanned mining dump truck without the cab is a further upgrade of unmanned mining dump trucks with the cab, and the unmanned mining dump truck without the cab is an intelligent mining dump truck which acquires road information by means of a vehicle-mounted sensor system and autonomously carries out driving planning. When the unmanned mode fails, the unmanned mining dump truck without the cab can be switched into remote manual control, namely, a driver remotely drives the mining dump truck through the control console. In the unmanned vehicle-mounted image system of the mining dump truck, the vehicle-mounted camera can replace eyes of a driver in a control room to return road condition images around the vehicle in real time, so that the driver in the control room can conveniently perform remote control.
Therefore, the utility model aims to relate to a vehicle-mounted image system of a cab-free unmanned mining dump truck, which is used for completely displaying road condition information around a vehicle required by an operator in real time between operations.
Disclosure of Invention
In order to solve the technical problems, the utility model aims to provide an unmanned vehicle-mounted image system which is convenient for operators to remotely control the vehicle to run through videos transmitted back in real time.
The utility model is realized according to the following technical scheme:
the utility model discloses an unmanned vehicle-mounted image system, which comprises a vehicle-mounted camera video transmission module and an emergency camera control module;
the vehicle-mounted camera video transmission module comprises:
the vehicle-mounted camera is arranged outside the vehicle;
the video transmission control equipment is connected with the vehicle-mounted camera and used for sending real-time video of the vehicle-mounted camera;
the control room video receiving device is communicated with the video transmission control device and is used for receiving real-time video of the vehicle-mounted camera sent back by the video transmission device;
the control console display screen is connected with the control room video receiving equipment and used for displaying the video of the vehicle-mounted camera in real time;
the emergency camera control module comprises:
the whole vehicle controller is connected with the video transmission control equipment and is used for receiving fault camera information sent by the video transmission control equipment;
the emergency camera is connected with the whole vehicle controller and used for replacing the fault camera to shoot videos by controlling the emergency camera through the whole vehicle controller.
In some embodiments, the in-vehicle camera includes:
the front camera is arranged in front of the vehicle and used for providing real-time images of the front road of the vehicle;
the left rearview mirror camera and the right rearview mirror camera are respectively arranged on a left rearview mirror and a right rearview mirror of the vehicle and are used for providing real-time images on the left side and the right side of the vehicle;
the reversing camera is arranged at the rear of the vehicle and is used for providing real-time images of the rear part of the vehicle during reversing.
In some embodiments, the emergency camera comprises:
the emergency reversing camera is arranged at the rear of the vehicle and used for shooting video instead of the failed reversing camera.
In some embodiments, the emergency camera comprises:
the deck emergency camera is arranged on a vehicle deck and used for replacing a front camera and left and right rearview mirror cameras of faults to shoot videos.
In some embodiments, the deck emergency camera is mounted on the vehicle deck through an emergency camera control rod, and the emergency camera control rod is controlled to perform telescopic and steering actions through a whole vehicle controller.
In some embodiments, the emergency camera control lever is composed of an electronic telescopic lever and a rotating motor; the bottom of electron telescopic link is installed on the deck, the rotating electrical machines is installed at electron telescopic link top, deck emergency camera is installed on the rotating electrical machines.
In some embodiments, the front of the vehicle is provided with two front cameras which are positioned at the same horizontal position.
In some embodiments, the whole vehicle controller is connected with the video device controller through a CAN bus.
The utility model discloses a mining dump truck, which is provided with the unmanned vehicle-mounted image system.
The utility model has the beneficial effects that:
the utility model is used for the unmanned mining dump truck without the cab, and the unmanned mining dump truck without the cab is divided into an unmanned mode and a remote control mode.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. It is evident that the drawings in the following description are only examples, from which other drawings can be obtained by a person skilled in the art without the inventive effort.
In the drawings:
FIG. 1 is a schematic diagram of an unmanned vehicle-mounted imaging system of the present utility model;
FIG. 2 is a schematic view of a console display screen according to the present utility model;
FIG. 3 is a schematic diagram of the distribution of the vehicle-mounted cameras of the present utility model;
fig. 4 is a flowchart of video transmission of the vehicle-mounted camera according to the present utility model;
fig. 5 is a control flow chart of the emergency camera of the present utility model.
The attached drawings are identified: 10-vehicle-mounted camera, 20-video transmission control equipment, 30-control room video receiving equipment, 40-control desk display screen, 50-whole car controller, 60-emergency camera, 101-front camera, 102-left rearview mirror camera, 103-right rearview mirror camera, 104-reversing camera, 105-emergency reversing camera and 106-emergency camera.
It should be noted that these drawings and the written description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to the specific embodiments.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model, and the following embodiments are used to illustrate the present utility model, but are not intended to limit the scope of the present utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, an unmanned vehicle-mounted image system includes a vehicle-mounted camera video transmission module and an emergency camera control module. The vehicle-mounted camera video transmission module comprises a vehicle-mounted camera 10, video transmission control equipment 20, control room video receiving equipment 30 and a control desk display screen 40, wherein the vehicle-mounted camera 10 is arranged outside a vehicle; the video transmission control device 20 is connected with the vehicle-mounted camera 10 and is used for sending real-time video of the vehicle-mounted camera to the background; the inter-control video receiving device 30 communicates with the video transmission control device 20, and is used for receiving real-time video of the vehicle-mounted camera 10 sent back by the video transmission device; the console display screen 40 is connected with the inter-console video receiving device 30, and displays the video of the vehicle-mounted camera 10 in real time; the emergency camera control module comprises a whole vehicle controller 50 and an emergency camera 60, wherein the whole vehicle controller 50 is connected with the video transmission control equipment 20 and is used for receiving fault camera information sent by the video transmission control equipment 20; the emergency camera 60 is connected with the whole vehicle controller 50, and the emergency camera 60 is controlled by the whole vehicle controller 50 to be used for shooting video instead of a fault camera.
The arrangement of the in-vehicle camera is further described below.
As shown in fig. 4, the vehicle-mounted camera is used for shooting real-time images of the road around the vehicle, the video transmission device is used for sending real-time video of the vehicle-mounted camera to the background, the control room video receiving device is used for receiving the real-time video of the vehicle-mounted camera sent back by the video transmission device and transmitting the real-time video to the control desk display screen, and the control desk display screen displays the real-time video of the vehicle-mounted camera.
The visual range of the vehicle-mounted camera of the unmanned mining dump truck without the cab comprises the visual range of human eyes of a driver of the unmanned mining dump truck without the cab and the reversing image. The visual range of the eyes of the driver comprises the visual range of the left rearview mirror and the right rearview mirror on the front road and the two sides of the vehicle head. The vehicle-mounted camera arrangement of the unmanned mining dump truck without the cab comprises the following components: a front camera 101, a left rear view mirror camera 102, a right rear view mirror camera 103, a back-up camera 104, an emergency back-up camera 105 and an emergency camera 106, as shown in fig. 3.
Two cameras are required to be installed in front of a vehicle, and the angle and the position of each camera are determined by the video maximum visual field range of the camera worn by the driver in the cab of the mining dump truck with the same type of manned type. The method comprises the following steps: the visual angle of the common vehicle-mounted camera is 50 degrees, the two cameras are positioned at the same horizontal position to complement each other in visual field, and the specific height and angle pass the field adjustment test. By comparing the cab-type unmanned mining dump truck with the same specification, a driver is arranged to sit in the cab of the cab-type unmanned mining dump truck, and the camera is worn and is flush with eyes of the driver. And arranging the driver to perform left-turning and right-turning related actions of the head, and recording the front view range required by the driver to drive the vehicle through the head-mounted camera. And adjusting the height and the angle of the front camera according to the measured front visual field range, so that the visual field range shot by the front vehicle-mounted camera is consistent with the visual field range measured by the head-mounted camera of the driver. Finally, the height of the mounting position of the vehicle-mounted camera is 1.3 meters, the left and right cameras are respectively 0.8 meter away from the left and right sides, and the angle is deflected downwards by 15 degrees.
The left side and the right side of the vehicle are respectively provided with a rearview mirror camera used for replacing the left rearview mirror and the right rearview mirror of the vehicle, and the position and the angle of each camera are respectively determined by the maximum visual field range seen by a driver in the cab of the manned mining dump truck through the left rearview mirror and the right rearview mirror. The method comprises the following steps: the two rearview mirror cameras are positioned at the same horizontal height, and the specific height and the specific angle are subjected to field adjustment test. The driver is arranged to sit in the cab of the cab-type unmanned mining dump truck by taking the cab-type unmanned mining dump truck with the same specification as the unmanned mining dump truck with the same specification, and the up-down left-right visual field boundaries seen by the driver through the left rearview mirror are marked, so that the visual field range required to be shot by the left rearview mirror camera is obtained, and the height and the angle of the left rearview mirror camera are calibrated. The right camera is also calibrated in this way. Finally, the heights of the cameras of the left rearview mirror and the right rearview mirror are 1.5 meters, and the angle is deflected inwards by 10 degrees.
The rear part of the vehicle is provided with a reversing camera which is used for providing reversing images required during reversing. The position and the angle of the reversing camera are determined by the reversing camera of the manned mining dump truck. The method comprises the following steps: the height and the angle of the cab-type unmanned mining dump truck are consistent with those of the reversing camera on the cab-type unmanned mining dump truck by taking the cab-type unmanned mining dump truck with the same specification as the front-side camera, the height is 1 meter, and the angle is deflected downwards by 30 degrees.
The vehicle also needs two emergency cameras to prevent the remote operation from being blocked due to the sudden fault of one camera. The front vehicle-mounted camera and the left and right rearview mirror cameras are positioned on the front deck of the automobile and used for replacing sudden faults. The other is positioned at the tail of the vehicle and is used for replacing the reversing camera with sudden faults. The deck emergency camera can be realized through an emergency camera control rod, and can replace a front vehicle-mounted camera and a left rearview mirror camera and a right rearview mirror camera.
And the control room background CPU is used for splicing and fusing the video images of the different vehicle-mounted cameras in the front of the automobile to obtain a front panoramic video image, and displaying the front panoramic video image and the left and right rearview mirror video images on a control desk display screen when a controller remotely drives. When the reversing operation is performed, the background CPU controls the control console display screen to be automatically switched into the reversing camera video image, as shown in fig. 2.
The working principle of the emergency camera control module is further described below.
As shown in fig. 5, the video transmission control device is connected with all the vehicle-mounted cameras, determines the position of the faulty camera and sends corresponding information to the whole vehicle controller through the CAN bus, and the whole vehicle controller is used for receiving the information of the faulty camera on the CAN bus and determining the position of the faulty camera according to the information, so that corresponding instructions are sent to the emergency camera control rod, and after the emergency camera control rod receives the corresponding instructions sent by the whole vehicle controller, the electronic telescopic rod and the rotating motor are used for controlling the deck emergency camera to stretch and steer.
The video transmission control equipment is connected through a video network cable, the whole vehicle controller is connected with the video transmission control equipment through a CAN bus, and meanwhile, the whole vehicle controller is connected with the emergency camera control rod. When a certain vehicle-mounted camera fails, no signal is input to a corresponding input port of the video transmission control equipment, the video transmission control equipment identifies the failed vehicle-mounted camera mark number, if the reversing camera fails, the video transmission control equipment directly starts the emergency reversing camera, and if the non-reversing camera fails, the video transmission control equipment sends a corresponding message to the CAN bus to the vehicle controller. After the vehicle control unit receives the fault message, according to the fault camera information provided in the message, a signal is output to the control end of the emergency camera control rod, and the electronic telescopic rod and the rotating motor of the emergency camera control rod are driven to work, so that the emergency camera control rod correspondingly moves and deflects in angle to replace the fault camera.
The deck emergency camera is provided with four fault replacing positions which are used for replacing the front two cameras and the left rearview mirror camera and the right rearview mirror camera respectively, the four replacing positions of the emergency camera are determined according to the positions and the angles of the four cameras during debugging and are associated with fault camera information, and when the whole car controller sends the fault camera information, the control end of the support rod of the emergency camera immediately drives the motor to be changed into the associated replacing position, so that the camera is replaced.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the utility model may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features contained in other embodiments, but not others, combinations of features of different embodiments are equally meant to be within the scope of the utility model and form different embodiments. For example, in the above embodiments, those skilled in the art can use the above embodiments in combination according to known technical solutions and technical problems to be solved by the present application.
The foregoing description is only illustrative of the preferred embodiment of the present utility model, and is not to be construed as limiting the utility model, but is to be construed as limiting the utility model to any simple modification, equivalent variation and variation of the above embodiments according to the technical matter of the present utility model without departing from the scope of the utility model.
Claims (9)
1. The unmanned vehicle-mounted image system is characterized by comprising a vehicle-mounted camera video transmission module and an emergency camera control module;
the vehicle-mounted camera video transmission module comprises:
the vehicle-mounted camera is arranged outside the vehicle;
the video transmission control equipment is connected with the vehicle-mounted camera and used for sending real-time video of the vehicle-mounted camera;
the control room video receiving device is communicated with the video transmission control device and is used for receiving real-time video of the vehicle-mounted camera sent back by the video transmission device;
the control console display screen is connected with the control room video receiving equipment and used for displaying the video of the vehicle-mounted camera in real time;
the emergency camera control module comprises:
the whole vehicle controller is connected with the video transmission control equipment and is used for receiving fault camera information sent by the video transmission control equipment;
the emergency camera is connected with the whole vehicle controller and used for replacing the fault camera to shoot videos by controlling the emergency camera through the whole vehicle controller.
2. The unmanned vehicle-mounted imaging system of claim 1, wherein the vehicle-mounted camera comprises:
the front camera is arranged in front of the vehicle and used for providing real-time images of the front road of the vehicle;
the left rearview mirror camera and the right rearview mirror camera are respectively arranged on a left rearview mirror and a right rearview mirror of the vehicle and are used for providing real-time images on the left side and the right side of the vehicle;
the reversing camera is arranged at the rear of the vehicle and is used for providing real-time images of the rear part of the vehicle during reversing.
3. The unmanned vehicle-mounted imaging system of claim 2, wherein the emergency camera comprises:
the emergency reversing camera is arranged at the rear of the vehicle and used for shooting video instead of the failed reversing camera.
4. The unmanned vehicle-mounted imaging system of claim 2, wherein the emergency camera comprises:
the deck emergency camera is arranged on a vehicle deck and used for replacing a front camera and left and right rearview mirror cameras of faults to shoot videos.
5. The unmanned vehicle-mounted imaging system of claim 4, wherein:
the deck emergency camera is installed on a vehicle deck through an emergency camera control rod, and the emergency camera control rod is controlled to stretch out and draw back and turn to through the whole vehicle controller.
6. The unmanned vehicle-mounted imaging system of claim 5, wherein:
the emergency camera control rod consists of an electronic telescopic rod and a rotating motor;
the bottom of electron telescopic link is installed on the deck, the rotating electrical machines is installed at electron telescopic link top, deck emergency camera is installed on the rotating electrical machines.
7. An unmanned vehicle-mounted imaging system according to claim 2, wherein:
two front cameras positioned at the same horizontal position are arranged in front of the vehicle.
8. An unmanned vehicle-mounted imaging system according to claim 1, wherein:
and the whole vehicle controller is connected with the video equipment controller through a CAN bus.
9. The mining dump truck is characterized in that:
an unmanned vehicle-mounted imaging system according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320080965.0U CN219133988U (en) | 2023-01-13 | 2023-01-13 | Unmanned vehicle-mounted image system and mining dump truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320080965.0U CN219133988U (en) | 2023-01-13 | 2023-01-13 | Unmanned vehicle-mounted image system and mining dump truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219133988U true CN219133988U (en) | 2023-06-06 |
Family
ID=86564715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320080965.0U Active CN219133988U (en) | 2023-01-13 | 2023-01-13 | Unmanned vehicle-mounted image system and mining dump truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219133988U (en) |
-
2023
- 2023-01-13 CN CN202320080965.0U patent/CN219133988U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102055956B (en) | Vehicle-mounted three-dimensional video system and method for monitoring vehicle surrounding environment by using same | |
| US6970184B2 (en) | Image display method and apparatus for rearview system | |
| US20140111648A1 (en) | Device For Monitoring Area Around Working Machine | |
| WO2016013686A1 (en) | Display system for work machine, display device for work machine, and display method for work machine | |
| JP2013520363A (en) | Device for securing left and right rear vision of automobile | |
| CN104584540A (en) | Environment monitoring device for operating machinery | |
| AU2012257053A1 (en) | Device for monitoring area around working machine | |
| CN210139816U (en) | Vehicle vision blind area monitoring system and vehicle | |
| JP5410327B2 (en) | Construction machine rear view display system and method | |
| WO2017022042A1 (en) | Display system of work machine, and display method of work machine | |
| CN102692215B (en) | Wireless video repairing device | |
| CN219133988U (en) | Unmanned vehicle-mounted image system and mining dump truck | |
| CN112479037B (en) | Wearing formula monitored control system, hoist and engineering machine tool | |
| CN114666382A (en) | Parallel driving system for automatic driving semi-mounted collecting card | |
| CN114281074A (en) | Beyond-the-horizon unmanned vehicle remote control system and unmanned vehicle | |
| JP5261832B2 (en) | Rear view display system for transport vehicles | |
| JP5778796B2 (en) | Rear view display system for transport vehicles | |
| CN117459708A (en) | Vehicle-mounted image system of unmanned mine car and fault detection control method | |
| US20220072997A1 (en) | Method for adapting an image displayed on a monitor in a vehicle cab to a vehicle configuration | |
| KR100774647B1 (en) | A camera system for watching none visible area | |
| CN109927643A (en) | A kind of vehicle intelligent robot architecture | |
| CN211139168U (en) | Intelligent streaming media rearview mirror system | |
| CN220298392U (en) | Control console, control device and vehicle | |
| CN216670554U (en) | Pumping control system and vehicle-mounted concrete pump | |
| CN217455832U (en) | Electronic rearview mirror host device for passenger car or truck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |