A collaborative loading operation system and method for an excavator and an autonomous driving mine car

Abstract

The present invention provides a method and system for collaborative loading operations between an excavator and an autonomous mine truck, relating to the technical field of mining machinery. An infrared marking module at the end of the excavator receives control signals from a positioning operation module at the end of the excavator, controlling the on / off and horizontal rotation of an infrared linear light source array, causing the infrared linear light source array to project a two-dimensional infrared mark on the ground. The excavator operator operates a button to send a control signal to the infrared marking module at the end of the excavator, causing it to mark the location and direction of the target loading point. A recognition control module at the end of the mine truck identifies the two-dimensional infrared mark on the ground, calculates the location and direction of the target loading point, and sends a mark recognition confirmation signal through the positioning operation module at the end of the excavator, enabling automatic path planning and controlling the autonomous mine truck to drive to the target loading point for operation. This collaborative operation method reduces waiting time for autonomous mine trucks, improves operational efficiency, and reduces unloaded travel distance.

Description

Technical Field

[0001] The present invention relates to the technical field of mining machinery, and in particular to a system and method for collaborative loading operations of an excavator and an autonomous driving mine truck. Background Art

[0002] Mining operations primarily include development and transportation systems, drilling and blasting, mining and loading systems, soil disposal systems, and waterproofing and drainage systems. Mining operations are often carried out using engineering machinery, which improves efficiency and reduces manual labor in harsh mining environments.

[0003] Since mining operations utilize a large number of construction machinery, such as excavators, the Internet of Things (IoT) is being integrated into open-pit mining areas to interconnect data between these machines, creating smart mines. These mines, comprised of excavators and autonomous mine carts, operate 24 / 7. Since loading points change with mining progress, excavator operators must specify the loading point and the direction of the autonomous mine cart's head at the loading point before each loading operation. Once loading is complete, the autonomous mine cart must be notified to leave the loading point.

[0004] Traditionally, mine car drivers and excavator operators communicate via intercoms, hand gestures, or horns. For autonomous mine cars, a method needs to be developed to efficiently coordinate with the excavator during loading operations at night in low light conditions. Excavator drivers typically use touchscreens to indicate loading points to the autonomous mine car, but this approach suffers from drawbacks such as limited reference points, inaccurate positioning, limited ability to locate points but not directions, poor reliability, and unavailability at night. Summary of the Invention

[0005] The present invention provides a collaborative loading operation system between an excavator and an autonomous mine car, which can enable the excavator operator to quickly, simply and efficiently indicate the loading point location and direction to the autonomous mine car and notify the autonomous mine car to leave the loading point under dim light conditions at night.

[0006] The system includes: infrared marking module at the end of the excavator, positioning operation module at the excavator end and identification control module at the mine car end;

[0007] The infrared marking module at the end of the excavator is installed on the excavator arm near the connection between the bucket and the excavator arm;

[0008] The infrared marking module at the end of the excavator is used to receive the control signal from the positioning operation module at the excavator end, control the switching and horizontal rotation of the infrared linear light source array, so that the two-dimensional infrared mark projected on the ground by the infrared linear light source array can correctly indicate the position and direction of the target loading point;

[0009] The excavator-side positioning operation module is installed in the excavator cab for the excavator operator to operate. After receiving the ready-to-load signal from the mine car-side identification control module, the excavator-side positioning operation module prompts the excavator operator of the ready-to-load status of the automatic driving mine car. The excavator operator operates the button to send a control signal to the infrared marking module at the end of the excavator, so that the infrared marking module at the end of the excavator marks the position and direction of the target loading point, and is also used to prompt the excavator operator to carry out the loading operation, complete the loading, or obtain a confirmation signal;

[0010] The mine car-side identification control module is installed on the autonomous mine car. The mine car-side identification control module is used to receive the mark adjustment confirmation signal sent by the excavator-side positioning operation module, identify the two-dimensional infrared mark on the ground, calculate the position and direction of the target loading point, and send a mark identification confirmation signal through the excavator-side positioning operation module to realize automatic path planning and control the autonomous mine car to enter the target loading point for operation.

[0011] It should be further explained that the excavator terminal infrared marking module includes: a Bluetooth communication unit a, a computing processing unit a, a pan-tilt attitude control unit, a pan-tilt, a light source array driving unit and an infrared linear light source array;

[0012] The Bluetooth communication unit a communicates with the Bluetooth communication unit b in the positioning operation module on the excavator side, receives the light source switch state control signal and the light source horizontal posture control signal, and transmits them to the calculation processing unit a;

[0013] The gimbal attitude control unit is used to drive and control the gimbal to adjust its attitude;

[0014] An infrared linear light source array is mounted on a pan-tilt platform, projecting a two-dimensional infrared marker on the ground;

[0015] The light source array driving unit controls the switching of the infrared linear light source array;

[0016] The computing processing unit a is used for signal processing and control logic implementation.

[0017] It should be further explained that the computing processing unit a is used to control the light source array driving unit to turn on the infrared linear light source array, and at the same time forward the light source turn-on signal to the gimbal attitude control unit. The gimbal attitude control unit controls the gimbal to turn on and make the infrared linear light source array installed on the gimbal project vertically onto the ground and maintain this state;

[0018] After receiving the light source horizontal attitude control signal, the computing processing unit a controls the pan / tilt to rotate clockwise / counterclockwise in the horizontal plane through the pan / tilt attitude control unit. The infrared linear light source array and the two-dimensional infrared marker projected on the ground rotate accordingly in the horizontal plane.

[0019] The computing processing unit a is also used to control the light source array driving unit to turn off the infrared linear light source array, and at the same time transmit the light source on signal to the gimbal attitude control unit, which drives the gimbal to turn off.

[0020] It should be further explained that the terminal positioning operation module is installed on the excavator arm near the connection between the excavator bucket and the excavator arm, and the terminal positioning operation module is installed inside a transparent shell that is anti-collision, dustproof and waterproof.

[0021] It should be further explained that the excavator-side positioning operation module includes: a button operation unit, a feedback prompt unit, a calculation processing unit b, and a Bluetooth communication unit b;

[0022] The button operation unit is equipped with a stepless cycle knob and two self-reset normally open buttons;

[0023] A stepless circular knob is used to control the clockwise / counterclockwise rotation of the infrared linear light source array in the horizontal plane, and two self-resetting normally open buttons are used to send a mark adjustment confirmation signal and a loading completion confirmation signal to the mine car end identification control module respectively;

[0024] The feedback prompt unit is composed of three LED lamp beads;

[0025] The Bluetooth communication unit b is used to communicate with the Bluetooth communication unit a in the infrared marking module at the end of the excavator and the Bluetooth communication unit c in the identification control module at the mine car end, and transmit the received signal to the calculation processing unit b, so that the calculation processing unit b sends a signal to the infrared marking module at the end of the excavator and the identification control module at the mine car end.

[0026] It should be further explained that the computing and processing unit b is used to receive and process the signal forwarded by the Bluetooth communication unit b, drive the feedback prompt unit to light up / off, and process the level input of the button operation unit to send corresponding signals to the infrared marking module at the end of the excavator and the identification control module at the mine car end through the Bluetooth communication unit b.

[0027] It should be further explained that the mine car identification control module includes: Bluetooth communication unit c, automatic driving domain controller, infrared binocular camera;

[0028] The Bluetooth communication unit c is used to communicate with the Bluetooth communication unit b of the excavator-side positioning operation module and transmit the received signal to the autonomous driving domain controller, so that the autonomous driving domain controller controls the sending of information to the excavator-side positioning operation module;

[0029] The autonomous driving domain controller is used to process the signals forwarded by the Bluetooth communication unit c, send signals to the excavator-side positioning operation module through the Bluetooth communication unit c, process the images collected by the infrared binocular camera, identify the position and direction of the target loading point through the parallax principle, and control the autonomous driving mine car to enter and exit the loading point.

[0030] It should be further explained that the infrared linear light source array is mounted on the light source array bracket; the infrared linear light source array includes six infrared linear light source units; five of which are straight infrared linear light sources and one is a cross infrared linear light source;

[0031] The single-line infrared linear light source uses KYL650N5-XK1250, and the cross infrared linear light source uses KYC650N5-XK1250. The wavelength of the emitted light is 650nm.

[0032] It should be further explained that the infrared linear light source unit includes: a position adjustment screw, a bracket slider, a posture adjustment screw, a connecting block, a connecting block, a light source fixing screw, an infrared linear light source and a posture adjustment screw;

[0033] The position adjustment screw is installed on the bracket slider to adjust the position of the infrared linear light source unit on the light source array bracket;

[0034] The support slider is mounted to one end of the connecting block via an attitude adjustment screw; the attitude adjustment screw adjusts the relative angle between the connecting block and the support slider;

[0035] The connecting block is mounted to the other end of the connecting block via an attitude adjustment screw; the attitude adjustment screw adjusts the relative angle between the connecting blocks;

[0036] The connecting block is fixed to the infrared linear light source through the light source fixing screws, and the light source fixing screws adjust the relative angle between the infrared linear light source and the connecting block.

[0037] The present invention also provides a method for collaborative loading operation between an excavator and an autonomous driving mine car, the method comprising:

[0038] (1) The autonomous driving domain controller controls the autonomous mining truck to enter the loading area and stop to wait. The identification control module on the mining truck sends a waiting signal to the positioning operation module on the excavator via Bluetooth communication;

[0039] (2) The waiting indicator light on the positioning operation module on the excavator side lights up;

[0040] (3) The excavator operator selects a target loading point, including the location point A and the direction ray A→B;

[0041] (4) The excavator operator rotates the light source horizontal rotation knob at will, and the excavator-side positioning operation module sends the light source start / stop status control signal to the excavator-side infrared marking module via Bluetooth communication, and the instruction is to turn on;

[0042] (5) After the infrared marking module at the end of the excavator receives the signal indicating that the light source start-stop state control command is on, the infrared linear light source array is turned on to project a two-dimensional infrared mark on the ground, and the pan / tilt is turned on to control the infrared linear light source array to be parallel to the ground;

[0043] (6) The excavator operator moves the two-dimensional infrared marker on the ground by operating the excavator arm so that the intersection of the cross mark centers in the two-dimensional infrared marker on the ground moves and coincides with point A;

[0044] (7) The excavator operator rotates the light source horizontal rotation button, and the excavator-side positioning operation module sends the light source horizontal attitude control signal to the excavator-side infrared marking module via Bluetooth communication;

[0045] (8) After the infrared marker module at the end of the excavator receives the light source horizontal attitude control signal, it controls the horizontal rotation of the pan / tilt platform according to the rotation direction, angular velocity, and angle in the signal. The infrared linear light source array rotates in the horizontal plane, and the two-dimensional infrared marker on the ground rotates accordingly;

[0046] (9) Repeat steps (7) and (8) until the line from the cross mark at the center of the two-dimensional infrared marker on the ground pointing to the front of the vehicle coincides with the direction ray A→B;

[0047] (10) The excavator operator presses the mark adjustment confirmation button, and the terminal positioning operation module sends a mark adjustment confirmation signal to the mine car identification control module via Bluetooth communication;

[0048] (11) After receiving the mark adjustment confirmation signal, the mine vehicle identification control module drives the infrared binocular camera to start collecting infrared images of the ground two-dimensional infrared mark. The autonomous driving domain controller processes the images of the ground two-dimensional infrared mark collected by the two infrared cameras, calculates the coordinates of the center of the crosshairs in the ground two-dimensional infrared mark relative to the vehicle and the direction of the crosshairs indicating the vehicle head through the parallax principle, and converts the coordinates and directions into the GNSS coordinates and directions of the target loading point through coordinate transformation;

[0049] (12) The mine car identification control module sends a mark identification confirmation signal to the excavator positioning operation module via Bluetooth communication;

[0050] (13) After the excavator-side positioning operation module receives the mark recognition confirmation signal, the mark recognition lamp bead lights up, and the excavator-side positioning operation module sends a light source start-stop state control signal to the excavator-side infrared marking module via Bluetooth communication, and the instruction is to turn off;

[0051] (14) After the infrared marking module at the end of the excavator receives the signal that the light source start-stop state control instruction is off, the infrared linear light source array is turned off and the pan-tilt head is turned off;

[0052] (15) The autonomous driving domain controller automatically plans the path and controls the mining truck to drive into the target loading point. The mining truck identification control module sends an entry mark confirmation signal to the excavator positioning operation module via Bluetooth communication;

[0053] (16) After the positioning operation module on the excavator side receives the entry mark confirmation signal, the mine truck has entered the prompt light bead lights up;

[0054] (17) The excavator operator starts loading after seeing the warning light on that the mining truck has entered;

[0055] (18) After the loading operation is completed, the excavator operator presses the loading completion confirmation button, and the excavator-side positioning operation module sends a loading completion confirmation signal to the mine car-side identification control module via Bluetooth communication;

[0056] (19) After the mine truck identification control module receives the loading completion confirmation signal, the autonomous driving domain controller automatically plans the path and controls the mine truck to drive out of the loading point for the next operation, completing the operation cycle.

[0057] It can be seen from the above technical solutions that the present invention has the following advantages:

[0058] The excavator and self-driving mine truck loading collaborative operation system involved in the present invention uses an infrared light source to indicate the position of the target loading point. Under the condition of cold light source illumination, the ground mark is easily recognized by the infrared camera; the infrared linear light source is formed into an array, and the two-dimensional infrared mark formed by projecting on the ground can indicate the direction of the target loading point; the infrared linear light source array is installed on the pan-tilt head, which can keep the plane where the infrared linear light source array is located parallel to the ground, ensuring that the two-dimensional mark projected on the ground is not distorted, and the positioning and orientation is more accurate; the excavator operator can complete the collaboration with the self-driving mine truck through two buttons and one knob, with low learning cost and high collaboration efficiency.

[0059] This invention improves the efficiency of nighttime coordinated loading operations between excavators and autonomous mining trucks, reducing the learning curve for excavator operators. Compared to touchscreen interactive solutions in the excavator cab, it offers lower retrofit costs and offers improved accuracy, stability, and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0061] Figure 1 Schematic diagram of the collaborative operation system for excavators and self-driving mining trucks;

[0062] Figure 2 This is the installation location diagram of the infrared marking module at the end of the excavator;

[0063] Figure 3 This is an installation example diagram of the infrared marking module at the end of the excavator;

[0064] Figure 4 This is a schematic diagram of the positioning operation module on the excavator side;

[0065] Figure 5 This is a schematic diagram of the marking adjustment process 0;

[0066] Figure 6 A schematic diagram of the marking adjustment process is provided;

[0067] Figure 7 A schematic diagram of the marking adjustment process is provided;

[0068] Figure 8 This is a schematic diagram of the working status of the infrared marking module at the end of the excavator;

[0069] Figure 9 This is the structural diagram of the infrared marking module at the end of the excavator;

[0070] Figure 10 This is the structure diagram of the pan / tilt platform;

[0071] Figure 11 This is an illustration of an infrared linear light source array;

[0072] Figure 12 This is the effect diagram of the infrared linear light source array;

[0073] Figure 13 This is a structural diagram of an infrared linear light source unit;

[0074] Figure 14 This is a side structural diagram of the infrared linear light source unit.

[0075] Description of reference numerals:

[0076] 1. End positioning communication module, 2. Excavator-end positioning operation module, 3. To-be-installed indicator light, 4. Mark recognized indicator light, 5. Mining truck has entered the indicator light, 6. Loading completed confirmation button, 7. Mark adjustment confirmation button, 8. Light source horizontal rotation knob, 9. PTZ mounting bracket, 10. PTZ, 11. Light source array bracket, 12. Infrared linear light source array, 13. Ground infrared two-dimensional marker, 14. Ground; 15. PTZ connecting rod, 16. PTZ connecting rod, 17. PTZ connecting rod, 18. Infrared linear light source unit, 19. Cross infrared linear light source, 20. Red line linear light source, 21. Infrared two-dimensional marker, 22. Position adjustment screw, 23. Bracket slider, 24. Attitude adjustment screw, 25. Connecting block, 26. Connecting block, 27. Light source fixing screw, 28. Infrared linear light source, 29. Attitude adjustment screw. DETAILED DESCRIPTION

[0077] like Figure 1 The diagrams provided in the collaborative operation system of excavator and self-driving mine truck loading provided by the present invention only illustrate the basic concept of the present invention in a schematic manner. Therefore, the diagrams only show modules related to the present invention rather than the number and functions of modules in actual implementation. In actual implementation, the functions, quantity and effects of each module may be changed at will, and the functions and uses of the modules may also be more complicated.

[0078] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0079] See also Figures 1 to 14 The figure shows a specific embodiment of an excavator and an autonomous driving mine car loading collaborative operation system, the system includes: an excavator end infrared marking module 1, an excavator end positioning operation module 2 and a mine car end identification control module.

[0080] The excavator's end-of-line infrared marking module 1 is mounted on the excavator's end arm near the connection between the bucket and the arm. For example, the end-of-line positioning and operation module is mounted on the excavator's end arm near the connection between the bucket and the arm. The end-of-line positioning and operation module is housed within a transparent, impact-resistant, dust-proof, and waterproof housing. The housing can be made of a transparent plastic material, and the excavator's end-of-line infrared marking module 1 is secured within the housing. Holes may be provided in the housing.

[0081] The infrared marking module 1 at the end of the excavator can receive the control signal sent by the positioning operation module 2 at the end of the excavator, control the switch and horizontal rotation of the infrared linear light source array, so that the two-dimensional infrared mark projected onto the ground by the infrared linear light source array can correctly indicate the position and direction of the target loading point.

[0082] Specifically, the excavator terminal infrared marking module 1 includes: a Bluetooth communication unit a, a computing processing unit a, a pan-tilt attitude control unit, a pan-tilt, a light source array driving unit and an infrared linear light source array.

[0083] The Bluetooth communication unit a communicates with the Bluetooth communication unit b in the excavator-side positioning operation module 2, receives the light source switch state control signal and the light source horizontal posture control signal, and transmits them to the calculation processing unit a.

[0084] The pan-tilt attitude control unit is used to drive and control the pan-tilt to adjust its attitude; the infrared linear light source array is installed on the pan-tilt to project a two-dimensional infrared mark on the ground; the light source array drive unit controls the switch of the infrared linear light source array; the computing processing unit a is used for signal processing and control logic implementation.

[0085] The computing processing unit a of the present invention is used to control the light source array driving unit to turn on the infrared linear light source array, and at the same time forward the light source turn-on signal to the gimbal attitude control unit. The gimbal attitude control unit controls the gimbal to turn on and makes the infrared linear light source array installed on the gimbal project vertically onto the ground and maintain this state.

[0086] After receiving the light source horizontal attitude control signal, the computing processing unit a controls the pan-tilt head to rotate clockwise / counterclockwise in the horizontal plane through the pan-tilt head attitude control unit, and the infrared linear light source array and the two-dimensional infrared marker projected on the ground rotate in the horizontal plane accordingly.

[0087] The computing processing unit a is also used to control the light source array driving unit to turn off the infrared linear light source array, and at the same time transmit the light source on signal to the gimbal attitude control unit, which drives the gimbal to turn off.

[0088] For the various components in the excavator terminal infrared marking module 1, the Bluetooth communication unit a uses the E72-2G4M05S1A module, which supports the Bluetooth 5.0 protocol and has a communication distance of 120m.

[0089] The computing processing unit a uses an STM32F407ZGT6 microprocessor with an operating frequency of 168MHz.

[0090] The gimbal attitude control unit uses the STM32F103VET6 microprocessor with an operating frequency of 72MHz.

[0091] For example, the structure of the pan / tilt platform 10 is as follows: Figure 10 As shown, it consists of a pan-tilt connecting rod 15, a pan-tilt connecting rod 16, and a pan-tilt connecting rod 17. The driving motor uses an EBF-MSD4805 driver to drive a 42mm stepper motor. The light source array drive unit uses a 6-way 24V relay module. The infrared linear light source array 12 is as shown in FIG. Figure 8 、 Figure 9 As shown, Figure 11 As shown, the infrared linear light source array consists of 6 infrared linear light source units 18, which are installed on the light source array bracket 11. Among them, 5 are straight infrared linear light sources 20 and 1 is a cross infrared linear light source 19. The straight infrared linear light source uses KYL650N5-XK1250 and the cross infrared linear light source uses KYC650N5-XK1250. The wavelength of the emitted light is 650nm. Figure 13 As shown, the infrared linear light source unit 18 is composed of a position adjustment screw 22, a bracket slider 23, a posture adjustment screw 24, a connecting block 25, a connecting block 26, a light source fixing screw 27, an infrared linear light source 28, and a posture adjustment screw 29; the position adjustment screw 22 is connected to the bracket slider 23 by a thread, and after loosening, the position of the infrared linear light source unit 18 on the light source array bracket 11 can be adjusted; the posture adjustment screw 24 is connected to the bracket slider 23 by a thread, fixing the connecting block 25 to the bracket slider 23, and after loosening the posture adjustment screw 24, the relative angle between the connecting block 25 and the bracket slider 23 can be adjusted; the posture adjustment screw 29 is connected to the connecting block 26 by a thread, fixing the connecting block 25 to the connecting block 26, and after loosening the posture adjustment screw 29, the relative angle between the connecting block 25 and the connecting block 26 can be adjusted; the light source fixing screw 27 is connected to the connecting block 26 by a thread, fixing the infrared linear light source 28 to the connecting block 26, and after loosening the light source fixing screw 27, the relative angle between the infrared linear light source 28 and the connecting block 26 can be adjusted. Figure 12 As shown, the infrared linear light source array is installed in the position shown in the figure, and the shape is an infrared two-dimensional marker 21. The image projected on the ground is the ground infrared two-dimensional marker 13. The size of the ground two-dimensional infrared marker 13 projected on the ground can be adjusted by the position adjustment screw 22, attitude adjustment screw 24, attitude adjustment screw 29, and light source fixing screw 27. Figure 8 As shown, the pan-tilt head 10 is connected to the excavator through the pan-tilt head mounting bracket 9 , and the infrared linear light source array 12 is connected to the pan-tilt head 10 through the light source array bracket 11 .

[0092] In the present invention, the excavator-end positioning operation module 2 is located in the excavator cab and is operated by the excavator operator. It has a human-computer interaction function. After receiving the ready-to-load signal from the mine car-end identification control module, the excavator-end positioning operation module 2 prompts the excavator operator of the ready-to-load status of the automatic driving mine truck. The excavator operator operates the button to send a control signal to the excavator-end infrared marking module 1, so that the excavator-end infrared marking module 1 marks the position and direction of the target loading point.

[0093] After the operation is completed, the excavator operator can press the button to send a mark adjustment confirmation signal to the mine car end identification control module. After the excavator end positioning operation module 2 receives the mark recognition confirmation signal from the mine car end identification control module, it prompts the excavator operator that the mark has been recognized.

[0094] After receiving the entry mark confirmation signal from the mine car identification control module, the excavator-side positioning operation module 2 prompts the excavator operator to perform loading operations.

[0095] After loading is completed, the excavator operator presses a button to send a loading completion confirmation signal to the mine car end identification control module.

[0096] Specifically, the excavator-side positioning operation module 2 includes: a button operation unit, a feedback prompt unit, a calculation processing unit b, and a Bluetooth communication unit b.

[0097] The positioning and orientation operation module is installed in the excavator's cab, conveniently located for the operator to touch and observe. The push-button operation unit consists of a stepless rotary knob that controls the clockwise and counterclockwise rotation of the infrared linear light array within the horizontal plane, and two self-reset, normally open buttons that respectively send a mark adjustment confirmation signal and a loading completion confirmation signal to the mine car identification control module.

[0098] The feedback prompt unit consists of three LED lamp beads, which are used to prompt the excavator operator of the three information: the waiting status of the automatic driving mine car, the identification mark of the mine car end identification control module, and the entry mark of the automatic driving mine car; the Bluetooth communication unit b is used to communicate with the Bluetooth communication unit a in the infrared marking module 1 at the end of the excavator and the Bluetooth communication unit c in the identification control module at the end of the mine car, and transmit the received signal to the calculation processing unit b, and receive the control of the calculation processing unit b to send a signal to the infrared marking module 1 at the end of the excavator and the identification control module at the end of the mine car.

[0099] The computing and processing unit b is used to receive and process the signal forwarded by the Bluetooth communication unit b, drive the feedback prompt unit to light up / off, and process the level input of the button operation unit to send corresponding signals to the infrared marking module 1 at the end of the excavator and the identification control module at the mine car end through the Bluetooth communication unit b.

[0100] After receiving the ready-to-load signal from the mine car identification control module, the Bluetooth communication unit b transmits it to the calculation processing unit b, which drives the feedback prompt unit to light up the LED lamp beads corresponding to the ready-to-load state of the automatic driving mine car; the calculation processing unit b processes the level change of the stepless cycle knob in the button operation unit, and parses the three variables of the clockwise / counterclockwise direction, rotation angle, and rotation speed of the knob turned by the excavator operator. The three variables are used as the horizontal posture control signal of the light source, and together with the opening instruction of the light source start-stop state control signal, are sent to the infrared marking module 1 at the end of the excavator through the Bluetooth communication unit; the calculation processing unit b processes the voltage of the self-reset normally open button After the button corresponding to the mark adjustment confirmation signal is pressed, the computing and processing unit b sends a mark adjustment confirmation signal to the mine car end identification control module through the Bluetooth communication unit b, and the computing and processing unit b drives the feedback prompt unit to turn off the LED lamp beads corresponding to the waiting state of the automatic driving mine car; after receiving the mark recognition confirmation signal sent by the mine car end identification control module, the Bluetooth communication unit b transmits it to the computing and processing unit b, and the computing and processing unit b drives the feedback prompt unit to turn on the LED lamp beads that prompt the automatic driving mine car that the mark has been recognized, and sends a light source start and stop state control signal to the excavator end infrared marking module 1 through the Bluetooth communication unit b, and the instruction is to turn off.

[0101] After receiving the entry mark confirmation signal, the Bluetooth communication unit b transmits it to the calculation processing unit b, and the calculation processing unit b drives the feedback prompt unit to light up the LED lamp bead that indicates that the autonomous driving mine car has entered the mark, and to turn off the LED lamp bead that indicates that the autonomous driving mine car has recognized the mark; the calculation processing unit b processes the level of the self-reset normally open button.

[0102] After the button corresponding to the loading completion confirmation signal is pressed, the computing and processing unit b sends a loading completion confirmation signal to the mine car end identification control module through the Bluetooth communication unit b, and the computing and processing unit b drives the feedback prompt unit to turn off the LED lamp bead corresponding to the automatic driving mine car entering the mark.

[0103] For example, the positioning and orientation operation module looks like Figure 4 Of course, the positioning and orientation operation module can also be embedded in the vehicle's dashboard, or set in a position that is convenient for the driver to operate.

[0104] Among them, such as Figure 4 As shown, the knob in the button operation unit uses a WXD3-13 2W multi-turn potentiometer knob, which is the light source horizontal rotation knob 8, and the self-reset button uses a LA16-J-11dBN rectangular self-reset lockless inching switch, which are respectively the mark adjustment confirmation button 7 and the loading completion confirmation button 6; the feedback prompt unit uses a 5mm LED light-emitting diode lamp bead with a driving voltage of 3.2-3.4V and a driving current of 20mA. It is green when it lights up, as shown in the figure. Figure 4As shown, they are respectively the waiting installation prompt lamp bead 3, the mark recognition prompt lamp bead 4, and the mining truck has entered the prompt lamp bead 5; the Bluetooth processing unit b also uses the E72-2G4M05S1A module; the computing processing unit b uses the STM32F103C8T6 microprocessor with an operating frequency of 72MHz.

[0105] The mine car end identification control module of the present invention is located on the automatic driving mine car. After the automatic driving mine car enters the waiting area, the mine car end identification control module sends a waiting signal to the excavator end positioning operation module 2. After the mine car end identification control module receives the mark adjustment confirmation signal sent by the excavator end positioning operation module 2, it identifies the two-dimensional infrared mark on the ground, calculates the position and direction of the target loading point, and then the mine car end identification control module sends a mark identification confirmation signal to the excavator end positioning operation module 2.

[0106] After the mine car-side identification control module automatically plans the path and controls the automatic driving mine car to enter the target loading point, the mine car-side identification control module sends an entry mark confirmation signal to the excavator-side positioning operation module 2. After the mine car-side identification control module receives the loading completion confirmation signal sent by the excavator-side positioning operation module 2, it automatically plans the path and controls the automatic driving mine car to leave the target loading point for the next operation.

[0107] In an exemplary embodiment, the mine car-side identification control module includes: a Bluetooth communication unit c, an automatic driving domain controller, and an infrared binocular camera.

[0108] The mine car identification control module is installed in the cab of the autonomous mine car. Bluetooth communication unit c is used to communicate with Bluetooth communication unit b of the excavator positioning operation module 2, transmitting received signals to the autonomous driving domain controller. Under the control of the autonomous driving domain controller, information is sent to the excavator positioning operation module 2. The infrared binocular camera is composed of two infrared monocular cameras positioned in a certain relationship and can image light within a specific wavelength range. The wavelength of light emitted by the infrared linear light source array falls within the wavelength range of infrared binocular camera imaging. The autonomous driving domain controller processes the signals forwarded by Bluetooth communication unit c, sends signals to the excavator positioning operation module 2 through Bluetooth communication unit c, processes the images captured by the infrared binocular camera, identifies the position and direction of the target loading point through the principle of parallax, and controls the autonomous mine car to enter and exit the loading point.

[0109] After the autonomous driving mine car enters the loading area, the autonomous driving domain controller sends a loading signal to the excavator-side positioning operation module 2 through the Bluetooth communication unit c; after receiving the mark adjustment confirmation signal, the Bluetooth communication unit c transmits it to the autonomous driving domain controller, and the autonomous driving domain controller drives the infrared binocular camera to start collecting images of the two-dimensional infrared marks on the ground, identifies the position and direction of the target loading point relative to the vehicle coordinate system, and converts the position and direction of the target loading point relative to the vehicle coordinate system into GNSS absolute position and direction through coordinate transformation. The autonomous driving domain controller sends a mark recognition confirmation signal to the excavator-side positioning operation module 2 through the Bluetooth communication unit c; after the autonomous driving domain controller automatically plans the path and controls the autonomous driving mine car to enter the target loading point, it sends an entry mark confirmation signal to the excavator-side positioning operation module 2 through the Bluetooth communication unit c; after receiving the loading completion confirmation signal, the Bluetooth communication unit c transmits it to the autonomous driving domain controller, and the autonomous driving domain controller automatically plans the path and controls the autonomous driving mine car to leave the loading point for the next operation.

[0110] In order to enable the mine car-side identification control module to meet the needs of on-site use, the Bluetooth communication unit c can use the E72-2G4M05S1A module; the autonomous driving domain controller uses the MDC 300 with a main frequency of 2.0GHz; the infrared binocular camera is composed of two MV-CA016-10GM industrial camera sensors, paired with a customized 8-megapixel narrow-band 650nm wavelength lens, which only allows light with a wavelength of about 650nm to pass through.

[0111] In this way, based on the above-mentioned excavator and autonomous mining truck loading collaborative operation system, an infrared light source can be used to indicate the location of the target loading point. Under the condition of cold light source illumination, the ground mark can be easily recognized by the infrared camera; the infrared linear light source is formed into an array, and the two-dimensional infrared mark formed by projecting on the ground can indicate the direction of the target loading point; the infrared linear light source array is installed on the pan-tilt head, and the plane where the infrared linear light source array is located can be kept parallel to the ground, ensuring that the two-dimensional mark projected on the ground is not distorted and the positioning and orientation is more accurate; the excavator operator can complete the collaboration with the autonomous mining truck through 2 buttons and 1 knob, with low learning cost and high collaboration efficiency.

[0112] The following is an embodiment of the method for collaborative loading operation of an excavator and an autonomous driving mine car provided by the embodiments of the present disclosure. This method and the collaborative loading operation system of an excavator and an autonomous driving mine car in the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiment of the method for collaborative loading operation of an excavator and an autonomous driving mine car, please refer to the embodiment of the collaborative loading operation system of an excavator and an autonomous driving mine car mentioned above.

[0113] Methods include:

[0114] (1) The autonomous driving domain controller controls the autonomous driving mining truck to enter the loading area and stop to wait. The mining truck identification control module sends a waiting signal to the excavator positioning operation module 22 via Bluetooth communication;

[0115] (2) After the positioning operation module 22 on the excavator side receives the waiting signal from the autonomous driving mining truck, the waiting indicator lamp 3 lights up;

[0116] (3) After the excavator operator sees the loading indicator light 3 light up, he selects a target loading point, including the position point A and the direction ray A→B, such as Figure 5 As shown;

[0117] (4) The excavator operator rotates the light source horizontal rotation knob 8 at will, and the excavator-side positioning operation module 22 sends a light source start / stop state control signal to the excavator-side infrared marking module 11 via Bluetooth communication, and the instruction is to turn on;

[0118] (5) After the infrared marking module 11 at the end of the excavator receives the signal that the light source start-stop state control instruction is turned on, the infrared linear light source array 12 is turned on and begins to project the ground two-dimensional infrared mark 13 on the ground 14. The pan-tilt head 10 is turned on and controls the infrared linear light source array 12 to be parallel to the ground, such as Figure 5 As shown;

[0119] (6) The excavator operator moves the ground two-dimensional infrared marker 13 by operating the excavator arm so that the intersection of the cross mark center in the ground two-dimensional infrared marker 13 moves and coincides with point A, as shown in FIG. Figure 6 As shown;

[0120] (7) The excavator operator rotates the light source horizontal rotation button 8, and the excavator-side positioning operation module 22 sends a light source horizontal posture control signal to the excavator-side infrared marking module 11 via Bluetooth communication;

[0121] (8) After receiving the light source horizontal attitude control signal, the infrared marker module 11 at the end of the excavator controls the horizontal rotation of the pan / tilt platform 10 according to the rotation direction, angular velocity, and angle in the signal. The infrared linear light source array 12 rotates in the horizontal plane, and the two-dimensional infrared marker 13 on the ground rotates accordingly.

[0122] (9) Repeat the operations (7) and (8) until the line from the cross mark at the center of the two-dimensional infrared marker 13 on the ground pointing to the front of the vehicle coincides with the direction ray A→B, as shown in the following example: Figure 7 As shown;

[0123] (10) The excavator operator presses the mark adjustment confirmation button 7, and the terminal positioning operation module 2 sends a mark adjustment confirmation signal to the mine car end identification control module through Bluetooth communication;

[0124] (11) After receiving the mark adjustment confirmation signal, the mine vehicle identification control module drives the infrared binocular camera to start collecting infrared images of the ground two-dimensional infrared mark 13. The autonomous driving domain controller processes the images of the ground two-dimensional infrared mark 13 collected by the two infrared cameras, calculates the coordinates of the center of the crosshairs in the ground two-dimensional infrared mark 13 relative to the vehicle and the direction of the crosshairs indicating the vehicle head through the parallax principle, and converts the coordinates and directions into the GNSS coordinates and directions of the target loading point through coordinate transformation;

[0125] (12) The mine car identification control module sends a mark identification confirmation signal to the excavator positioning operation module 22 via Bluetooth communication;

[0126] (13) After the excavator-side positioning operation module 22 receives the mark recognition confirmation signal, the mark recognition lamp bead 4 lights up, and the excavator-side positioning operation module 22 sends a light source start / stop state control signal to the excavator-side infrared marking module 11 via Bluetooth communication, and the instruction is to turn off;

[0127] (14) After the infrared marking module 11 at the end of the excavator receives the signal that the light source start-stop state control instruction is off, the infrared linear light source array 12 is turned off and the pan-tilt head 10 is turned off;

[0128] (15) The autonomous driving domain controller automatically plans the path and controls the mining truck to drive into the target loading point. The mining truck identification control module sends an entry mark confirmation signal to the excavator positioning operation module 22 via Bluetooth communication;

[0129] (16) After the positioning operation module 22 on the excavator side receives the entry mark confirmation signal, the mine truck has entered the prompt lamp bead 5 lights up;

[0130] (17) The excavator operator starts loading after seeing that the mining truck has entered and the indicator lamp 5 is on;

[0131] (18) After the loading operation is completed, the excavator operator presses the loading completion confirmation button 6, and the excavator-side positioning operation module 22 sends a loading completion confirmation signal to the mine car-side identification control module via Bluetooth communication;

[0132] (19) After the mine truck identification control module receives the loading completion confirmation signal, the autonomous driving domain controller automatically plans the path and controls the mine truck to drive out of the loading point for the next operation, completing the operation cycle.

[0133] Among the above components / modules / algorithms / operations, in order to solve the technical problems described in the present invention, the following have never been disclosed and their working methods are different from any existing literature records: the excavator end infrared marking module 1, the mine car end identification control module, and the working method of the above device.

[0134] After specific actual experiments, under the specific environmental settings of rated working conditions, the above-mentioned device / method was started / operated at a speed of 15km / h to 20km / h for autonomous mining trucks. The experimental data obtained were: the average waiting time for loading of autonomous mining trucks was reduced by 18%, and the fuel consumption of autonomous mining trucks from waiting to loading was reduced by 6%.

[0135] Compared with the existing technology, the performance indicators of this device / method have been improved in the following aspects: it can operate at night, increasing the working time; the efficient collaborative operation mode reduces the waiting time of the self-driving mining truck and improves the working efficiency; the positioning is more accurate, reducing the empty driving distance; the operation is simple, the learning cost for the excavator operator is low, and it is easy to promote; the stability and reliability are better.

[0136] The units and algorithm steps of each example described in the disclosed embodiments of the method and system for collaborative loading of an excavator and an autonomous driving mine car provided by the present invention can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0137] The flowcharts and block diagrams in the accompanying drawings of the method and system illustrate the possible architecture, functions and operations of the devices, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0138] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method based on a collaborative loading system of an excavator and an autonomous driving mine car, characterized in that: The method comprises: (1) The autonomous driving domain controller controls the autonomous mining truck to enter the loading area and stop to wait. The identification control module on the mining truck sends a waiting signal to the positioning operation module on the excavator through Bluetooth communication; (2) The waiting-for-installation indicator light on the positioning operation module on the excavator side lights up; (3) The excavator operator selects a target loading point, including the location point A and the direction ray A→B; (4) The excavator operator rotates the light source horizontal rotation knob at will, and the excavator-side positioning operation module sends the light source start / stop status control signal to the excavator-side infrared marking module via Bluetooth communication, and the instruction is to turn on; (5) After the infrared marking module at the end of the excavator receives the signal that the light source start-stop state control command is on, the infrared linear light source array is turned on and a two-dimensional infrared mark is projected on the ground. The pan-tilt head is turned on and the infrared linear light source array is controlled to be parallel to the ground. (6) The excavator operator moves the ground two-dimensional infrared marker by operating the excavator arm so that the intersection of the cross mark centers in the ground two-dimensional infrared marker moves and coincides with point A; (7) The excavator operator rotates the light source horizontal rotation button, and the excavator-side positioning operation module sends the light source horizontal attitude control signal to the excavator-side infrared marking module via Bluetooth communication; (8) After the infrared marker module at the end of the excavator receives the horizontal attitude control signal of the light source, it controls the horizontal rotation of the pan / tilt platform according to the rotation direction, angular velocity and angle in the signal. The infrared linear light source array rotates in the horizontal plane, and the two-dimensional infrared marker on the ground rotates accordingly; (9) Repeat steps (7) and (8) until the line from the cross mark at the center of the two-dimensional infrared marker on the ground pointing to the front of the vehicle coincides with the direction ray A→B; (10) The excavator operator presses the mark adjustment confirmation button, and the terminal positioning operation module sends a mark adjustment confirmation signal to the mine car identification control module through Bluetooth communication; (11) After receiving the mark adjustment confirmation signal, the mine vehicle identification control module drives the infrared binocular camera to start collecting infrared images of the ground two-dimensional infrared mark. The autonomous driving domain controller processes the images of the ground two-dimensional infrared mark collected by the two infrared cameras, and calculates the coordinates of the center of the crosshairs in the ground two-dimensional infrared mark relative to the vehicle and the direction of the crosshairs indicating the vehicle head through the parallax principle, and converts the coordinates and directions into the GNSS coordinates and directions of the target loading point through coordinate transformation; (12) The mine car identification control module sends a mark identification confirmation signal to the excavator positioning operation module via Bluetooth communication; (13) After the excavator-side positioning operation module receives the mark recognition confirmation signal, the mark recognition lamp bead lights up, and the excavator-side positioning operation module sends a light source start-stop state control signal to the excavator-side infrared marking module via Bluetooth communication, and the instruction is to turn off; (14) After the infrared marking module at the end of the excavator receives the signal that the light source start-stop state control command is off, the infrared linear light source array is turned off and the pan-tilt head is turned off; (15) The autonomous driving domain controller automatically plans the path and controls the mining truck to drive into the target loading point. The mining truck identification control module sends an entry mark confirmation signal to the excavator positioning operation module via Bluetooth communication; (16) After the positioning operation module on the excavator side receives the entry mark confirmation signal, the mine truck has entered the prompt light bead lights up; (17) The excavator operator starts loading after seeing the indicator light on that the mining truck has entered; (18) After the loading operation is completed, the excavator operator presses the loading completion confirmation button, and the excavator-side positioning operation module sends a loading completion confirmation signal to the mine car-side identification control module through Bluetooth communication; (19) After the mine truck identification control module receives the loading completion confirmation signal, the autonomous driving domain controller automatically plans the path and controls the mine truck to drive out of the loading point for the next operation, completing the operation cycle.

2. The method based on the collaborative operation system of excavator and self-driving mine car loading according to claim 1 is characterized in that: The system includes: an infrared marking module at the end of the excavator, a positioning operation module at the excavator end, and an identification control module at the mine car end; The infrared marking module at the end of the excavator is installed on the excavator arm near the connection between the bucket and the excavator arm; The infrared marking module at the end of the excavator is used to receive the control signal from the positioning operation module at the excavator end, control the switching and horizontal rotation of the infrared linear light source array, so that the two-dimensional infrared mark projected on the ground by the infrared linear light source array can correctly indicate the position and direction of the target loading point; The excavator-side positioning operation module is installed in the excavator cab for the excavator operator to operate. After receiving the ready-to-load signal from the mine car-side identification control module, the excavator-side positioning operation module prompts the excavator operator of the ready-to-load status of the automatic driving mine car. The excavator operator operates the button to send a control signal to the infrared marking module at the end of the excavator, so that the infrared marking module at the end of the excavator marks the position and direction of the target loading point. It is also used to prompt the excavator operator to perform the loading operation and obtain the loading completion confirmation signal; The mine car identification control module is installed on the autonomous mine car. After receiving the mark adjustment confirmation signal from the excavator positioning operation module, the mine car identification control module is used to identify the two-dimensional infrared marker on the ground, calculate the position and direction of the target loading point, and send a mark recognition confirmation signal through the excavator positioning operation module to realize automatic path planning and control the autonomous mine car to enter the target loading point for operation; The excavator terminal infrared marking module includes: a Bluetooth communication unit a, a computing processing unit a, a pan-tilt attitude control unit, a pan-tilt, a light source array drive unit, and an infrared linear light source array; The Bluetooth communication unit a communicates with the Bluetooth communication unit b in the positioning operation module on the excavator side, receives the light source switch state control signal and the light source horizontal posture control signal, and transmits them to the calculation processing unit a; The gimbal attitude control unit is used to drive and control the gimbal to adjust its attitude; An infrared linear light source array is mounted on a pan-tilt platform, projecting a two-dimensional infrared marker on the ground; The light source array driving unit controls the switching of the infrared linear light source array; The computing processing unit a is used for signal processing and control logic implementation.

3. The method based on the collaborative operation system of excavator and self-driving mine car loading according to claim 2 is characterized in that: The computing processing unit a is used to control the light source array driving unit to turn on the infrared linear light source array, and at the same time forward the light source turn-on signal to the gimbal attitude control unit. The gimbal attitude control unit controls the gimbal to turn on and make the infrared linear light source array installed on the gimbal project vertically onto the ground and maintain this state; After receiving the light source horizontal attitude control signal, the computing processing unit a controls the pan / tilt to rotate clockwise / counterclockwise in the horizontal plane through the pan / tilt attitude control unit. The infrared linear light source array and the two-dimensional infrared marker projected on the ground rotate accordingly in the horizontal plane. The computing processing unit a is also used to control the light source array driving unit to turn off the infrared linear light source array, and at the same time transmit the light source off signal to the gimbal attitude control unit, which drives the gimbal to turn off.

4. The method based on the collaborative operation system of excavator and self-driving mine car loading according to claim 2, characterized in that: The terminal positioning operation module is installed on the excavator arm near the connection between the excavator bucket and the excavator arm. The terminal positioning operation module is installed inside a transparent shell that is anti-collision, dustproof and waterproof.

5. The method based on the collaborative operation system of excavator and self-driving mine car loading according to claim 2, characterized in that: The excavator-side positioning operation module includes: a button operation unit, a feedback prompt unit, a calculation processing unit b, and a Bluetooth communication unit b; The button operation unit is equipped with a stepless cycle knob and two self-reset normally open buttons; A stepless circular knob is used to control the clockwise / counterclockwise rotation of the infrared linear light source array in the horizontal plane, and two self-resetting normally open buttons are used to send a mark adjustment confirmation signal and a loading completion confirmation signal to the mine car end identification control module respectively; The feedback prompt unit consists of three LED lamp beads; The Bluetooth communication unit b is used to communicate with the Bluetooth communication unit a in the infrared marking module at the end of the excavator and the Bluetooth communication unit c in the identification control module at the mine car end, and transmit the received signal to the calculation processing unit b, so that the calculation processing unit b sends a signal to the infrared marking module at the end of the excavator and the identification control module at the mine car end.

6. The method based on the collaborative operation system of excavator and self-driving mine car loading according to claim 5 is characterized in that: The computing and processing unit b is used to receive and process the signal forwarded by the Bluetooth communication unit b, drive the feedback prompt unit to light up / off, process the level input of the button operation unit, and send corresponding signals to the infrared marking module at the end of the excavator and the identification control module at the end of the mine car through the Bluetooth communication unit b.

7. The method according to claim 1, wherein: The mine car identification control module includes: Bluetooth communication unit c, automatic driving domain controller, infrared binocular camera; The Bluetooth communication unit c is used to communicate with the Bluetooth communication unit b of the excavator-side positioning operation module and transmit the received signal to the autonomous driving domain controller, so that the autonomous driving domain controller controls the sending of information to the excavator-side positioning operation module; The autonomous driving domain controller is used to process the signals forwarded by the Bluetooth communication unit c, send signals to the excavator-side positioning operation module through the Bluetooth communication unit c, process the images collected by the infrared binocular camera, identify the position and direction of the target loading point through the parallax principle, and control the autonomous driving mine car to enter and exit the loading point.

8. The method based on the collaborative operation system of excavator and self-driving mine car loading according to claim 1, characterized in that: The infrared linear light source array is mounted on a light source array bracket; the infrared linear light source array includes six infrared linear light source units; five of which are straight infrared linear light sources and one is a cross infrared linear light source; The single-line infrared linear light source uses KYL650N5-XK1250, and the cross infrared linear light source uses KYC650N5-XK1250. The wavelength of the emitted light is 650nm.

9. The method based on the collaborative operation system of excavator and self-driving mine car loading according to claim 8, characterized in that: The infrared linear light source unit includes: a position adjustment screw, a bracket slider, a first posture adjustment screw, a first connecting block, a second connecting block, a light source fixing screw, an infrared linear light source and a second posture adjustment screw; The position adjustment screw is installed on the bracket slider to adjust the position of the infrared linear light source unit on the light source array bracket; The support slider is mounted to one end of the first connecting block via a first posture adjusting screw; the first posture adjusting screw adjusts the relative angle between the first connecting block and the support slider; The second connecting block is mounted to the other end of the first connecting block via a second posture adjusting screw; the second posture adjusting screw adjusts the relative angle between the first connecting block and the second connecting block; The second connecting block is fixed to the infrared linear light source through a light source fixing screw, and the light source fixing screw adjusts the relative angle between the infrared linear light source and the second connecting block.

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