Scanning recognition device and scanning recognition system for space boundary of mine vehicle

Abstract

The utility model discloses a scanning identification device and a scanning identification system for a space boundary of a mine vehicle. The scanning identification device comprises a rack and a radar driving and swinging structure, the rack is composed of a horizontal cross beam and two stand columns, and the horizontal cross beam obliquely spans above a recognized vehicle; the radar driving and swinging structure comprises a radar walking driving device and a radar swinging mechanism; the radar walking driving device is mounted on the horizontal cross beam; a scanning radar is assembled on the radar swing mechanism, the radar swing mechanism is connected with a radar walking driving device, and the radar walking driving device drives the radar swing mechanism and the scanning radar to do forward and reverse stroke bidirectional reciprocating motion on the horizontal cross beam; when the radar swing mechanism and the scanning radar move to the stroke end points of the two ends of the horizontal cross beam, the radar swing mechanism can drive the scanning radar to swing by 90 degrees between the direction perpendicular to and the direction parallel to the vehicle running line, longitudinal and transverse bidirectional non-blind area scanning of the boundary of the vehicle is achieved, and the accuracy of the scanning data result is improved.

Description

Technical Field

[0001] The utility model relates to a scanning and identifying device for the spatial boundary of a mine vehicle and a scanning and identifying system, belonging to the technical field of mine transportation safety. Background Art

[0002] Modern mines generally use mine cars, flatbed trucks or rubber-wheeled trucks (hereinafter collectively referred to as mine vehicles) to transport ore, waste rock, materials and equipment. If the spatial dimensions (length x width x height) and weight of mine vehicles and their loads exceed the normal size range of the mine transportation system, that is, the "four excesses" (overlength, overwidth, overheight, overweight) will occur, which will cause transportation safety accidents and seriously affect the normal production of mines.

[0003] At present, the mine transportation system mainly uses simple manual methods to identify vehicles that exceed the limit, such as visual inspection, measurement, and estimation of the loaded mine cars. This method is inefficient, inaccurate, and highly random. The "over-limit" problem is often discovered after the mine car enters the tank, and then it is processed, which is time-consuming and labor-intensive. Even when the "over-limit" is discovered, it is still forcibly lifted and transported, posing a safety hazard and, in severe cases, causing lifting and transportation safety accidents.

[0004] The existing vehicle oversize (overlength, overwidth, overheight) identification technology uses photoelectric devices to identify the vehicle. When the space size of the mine car exceeds the limit, the reflected light is blocked, thereby triggering an alarm. This method has simple identification devices and low technical content. It can only identify whether the space size of the mine car exceeds the limit, but cannot provide the specific outline and data of the oversize mine car. It still requires manual intervention and processing, and the level of automation and digital intelligence is low.

[0005] The latest over-limit vehicle identification technology uses a fixed-mounted laser radar to scan and identify moving mine cars. The disadvantage is that multiple laser radars need to be installed at different positions and angles for scanning. This method is difficult to avoid scanning blind spots, and it cannot scan and identify stationary mine cars. Utility Model Content

[0006] In view of the shortcomings of the prior art, the utility model provides a scanning and identification device and a scanning and identification system for the spatial boundaries of mining vehicles. A laser radar is arranged above the identified vehicle (mine car) and moves back and forth along a horizontal beam that obliquely spans the identification area. When the laser radar reaches the end points of the horizontal beam, it can automatically swing 90° to achieve vertical and horizontal bidirectional scanning and identification of the vehicle's boundaries (length, width and height) without blind spots, thereby improving the accuracy of the scanning data results.

[0007] The utility model is implemented according to the following technical solutions:

[0008] In a first aspect, the utility model provides a scanning and identifying device for a mining vehicle space boundary, comprising:

[0009] A frame, composed of a horizontal beam and two uprights, wherein the horizontal beam obliquely spans above the identified vehicle and is inclined at a preset angle to the driving route of the identified vehicle;

[0010] The radar driving and swinging structure comprises a radar travel driving device and a radar swinging mechanism; the radar travel driving device is installed on the horizontal beam of the frame; a scanning radar is mounted on the radar swinging mechanism, and the radar swinging mechanism is connected to the radar travel driving device, and the radar swinging mechanism and the scanning radar are driven by the radar travel driving device to perform forward and reverse bidirectional reciprocating motion on the horizontal beam; when the radar swinging mechanism and the scanning radar move to the end points of the travel at both ends of the horizontal beam, the radar swinging mechanism can drive the scanning radar to perform a 90° swing between the two directions perpendicular and parallel to the vehicle's driving line, so as to realize the vertical and horizontal bidirectional non-blind-spot scanning of the vehicle's boundaries.

[0011] In some embodiments, the radar swing mechanism includes:

[0012] The mounting seat is provided with a rotating shaft penetrating through the top and bottom surfaces thereof and arranged vertically;

[0013] A mounting frame, fixed to a portion of the rotating shaft protruding from the bottom surface of the mounting seat, wherein a scanning radar is mounted on the mounting frame;

[0014] A swing rod is installed in a radial mounting hole provided on a portion of the rotating shaft protruding from the top surface of the mounting seat. When the radar swing mechanism moves to the end points of the travel at both ends of the horizontal beam, the swing rod drives the rotating shaft and the scanning radar to swing 90°.

[0015] A connecting bracket is fixed on the mounting seat, and the connecting bracket is connected to the radar travel drive device.

[0016] In some embodiments, the rocker arm is a 90° bending rod, and the horizontal portion of the bending rod is fixedly installed in the radial mounting hole of the rotating shaft; a positioning block is fixed at each of the two lateral ends of the horizontal beam, and the vertical portion of the bending rod is vertically upward; when the rocker arm runs to the end of the stroke on one of the horizontal beams, the vertical portion of the bending rod touches the positioning block and drives the rotating shaft and the scanning radar to swing 90°.

[0017] In some embodiments, two spaced-apart stoppers are provided on the top surface of the mounting seat near the rotating shaft, the horizontal portion of the bending rod is located between the two stoppers, and the horizontal portion of the bending rod can swing 0°-90° between the two stoppers.

[0018] In some embodiments, the mounting bracket has a "冂"-shaped structure, and the scanning radar is fixedly installed at the opening of the mounting bracket; the rotating shaft is inserted into the top flat plate of the mounting bracket, and a thread is provided on the outer circumferential surface of the part of the rotating shaft extending from the top flat plate of the mounting bracket. The mounting bracket and the mounting base are fixed together by screwing a fastening nut onto the thread of the rotating shaft.

[0019] In some embodiments, the connecting bracket has a "𠃍"-shaped structure, and two connecting brackets are symmetrically arranged on the mounting base; the horizontal part of the connecting bracket is fixed to the slide table in the radar traveling driving device by at least one screw, and the vertical part of the connecting bracket is fixed to the mounting base by at least one screw.

[0020] In some embodiments, the radar traveling driving device adopts a linear module composed of a slideway, a slide table, and a driving motor.

[0021] In a second aspect, the present utility model provides a scanning and recognition system for the spatial boundary of a mining vehicle, including:

[0022] The above-mentioned scanning and recognition device for the spatial boundary of a mining vehicle;

[0023] A processor, installed on the column of the frame, electrically connected to the scanning radar, and used for processing the scanning data of the vehicle to be recognized and its loaded goods obtained by the scanning radar.

[0024] An alarm, installed on the column of the frame, electrically connected to the processor, and used for alarming when the scanning data of the vehicle to be recognized and its loaded goods obtained by the scanning radar exceed a preset range.

[0025] In some embodiments, a limit switch is installed at each end of the travel end of the horizontal cross beam. The two limit switches are respectively electrically connected to the processor, and the processor is electrically connected to the driving motor in the radar traveling driving device; when the radar swing mechanism and the scanning radar run and touch the limit switch, the processor controls the driving motor to stop running.

[0026] In some embodiments, a cable tray device for dragging cable lines is installed on the horizontal cross beam of the frame; the cable tray device includes a cable tray bracket and a drag chain. The cable tray bracket is fixed to the slide table in the radar traveling driving device, and the drag chain is arranged on the horizontal cross beam and connected to the cable tray bracket.

[0027] Advantages of the present utility model:

[0028] The utility model adopts a composite motion structure in which the radar travel drive device and the radar swing mechanism are linked, combined with a horizontal beam diagonal straddle frame design, to achieve vertical and horizontal bidirectional blind-spot scanning of the vehicle boundaries. The longitudinal track coverage is completed by the bidirectional reciprocating motion of the travel drive, and the directional scanning of the 90° lateral swing at the end of the stroke is combined to effectively eliminate the roof and side blind spots of the vehicle that exist in traditional fixed scanning. The linkage mechanism enables a single radar device to complete biaxial scanning path planning within a limited stroke, significantly reducing hardware costs compared to multi-radar array layout solutions.

[0029] The scanning and identification device and scanning and identification system provided by the utility model are particularly suitable for blind-spot scanning and identification of the outer contour dimensions of mining vehicles (including mining vehicles, flatbed trucks, rubber-wheeled trucks, etc.) and their loads. They have a simple structure and are reliable to use, greatly improving the efficiency of vehicle boundary identification and transportation safety. They are widely applicable to mine shaft hoisting and transportation systems, inclined shaft transportation systems, and open-pit mining vehicle transportation systems, and can also be used in road transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation on the present invention. Obviously, the accompanying drawings described below are only some embodiments. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0031] In the attached picture:

[0032] Figure 1 This is a schematic diagram of the overall layout of a scanning and identifying device for the spatial boundaries of a mining vehicle according to the utility model;

[0033] Figure 2 A partial schematic diagram of a scanning and identifying device for the spatial boundary of a mining vehicle according to the utility model Figure 1 ;

[0034] Figure 3 A partial schematic diagram of a scanning and identifying device for the spatial boundary of a mining vehicle according to the utility model Figure 2 ;

[0035] Figure 4 It is a structural schematic diagram of the radar swing mechanism of the utility model.

[0036] Figure symbols: 1. frame, 101. horizontal beam, 102. column, 2. scanning radar, 3. radar travel drive device, 301. slide, 302. slide, 303. drive motor, 304. positioning block, 4. radar swing mechanism, 401. mounting seat, 402. mounting frame, 403. rotating shaft, 404. rocker arm, 405. connecting bracket, 406. fastening nut, 5. limit switch, 6. cable supporting device, 601. cable supporting bracket, 602. drag chain, 7. alarm, 8. processor, 9. vehicle, 10. track, 11. ground.

[0037] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.

[0039] In the description of the present invention, it should be noted that the terms "upper", "lower", "vertical", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] like Figure 2 , Figure 3As shown, a scanning and identifying device for the spatial boundary of a mining vehicle comprises a frame 1 and a radar drive and swing structure; the frame 1 is composed of a horizontal beam 101 and two columns 102, the horizontal beam 101 is obliquely spanned above the identified vehicle and is inclined at a preset angle to the driving route of the identified vehicle; the radar drive and swing structure comprises a radar travel drive device 3 and a radar swing mechanism 4; the radar travel drive device 3 is installed on the horizontal beam 101 of the frame 1; the radar swing mechanism 4 is equipped with a scanning radar 2, the radar swing mechanism 4 is connected to the radar travel drive device 3, and the radar swing mechanism 4 and the scanning radar 2 are driven by the radar travel drive device 3 to perform forward and reverse bidirectional reciprocating motion on the horizontal beam 101; when the radar swing mechanism 4 and the scanning radar 2 move to the end points of the travel at both ends of the horizontal beam 101, the radar swing mechanism 4 can drive the scanning radar 2 to swing 90 degrees between the two directions perpendicular and parallel to the driving route of the vehicle, so as to realize the vertical and horizontal bidirectional non-blind-spot scanning of the boundary (length, width and height) of the vehicle.

[0042] It should be noted that the horizontal beam 101 is obliquely across the top of the identified vehicle and is inclined at a certain angle to the driving route of the identified vehicle. The length and inclination angle of the horizontal beam 101 match the outer contour size of the identified vehicle, so that the scanning range fully covers the outer contour boundary of the identified vehicle; the scanning radar 2 preferably uses a laser radar.

[0043] After the scanning radar 2 swings 90° at the end points of the travel at both ends, the direction of its scanning beam is parallel or perpendicular to the vehicle's travel route, and the return motion scanning can begin; when the scanning radar 2 moves in the forward travel direction, it scans the vehicle parallel (or perpendicular) to the track direction, and when it moves in the reverse travel direction, it scans perpendicular (or parallel) to the track direction; after the round-trip scanning, two sets of complementary scanning data in the vertical and horizontal directions can be obtained to form a blind-spot-free holographic scanning data of the identified mining car.

[0044] The specific structure of the above-mentioned radar swing mechanism is further described below.

[0045] like Figure 2 , Figure 3 , Figure 4 As shown, the radar swing mechanism 4 includes a mounting seat 401, a mounting frame 402, a swing rod 404 and a connecting bracket 405; the mounting seat 401 is provided with a rotating shaft 403 that passes through its top and bottom surfaces and is arranged vertically; the mounting frame 402 is fixed to the portion of the rotating shaft 403 that protrudes from the bottom surface of the mounting seat 401, and the scanning radar 2 is installed on the mounting frame 402; the swing rod 404 is installed in a radial mounting hole opened on the portion of the rotating shaft 403 that protrudes from the top surface of the mounting seat 401, and when the radar swing mechanism 4 moves to the end points of the travel at both ends of the horizontal beam 101, the swing rod 404 drives the rotating shaft 403 and the scanning radar 2 to swing 90°; the connecting bracket 405 is fixed on the mounting seat 401, and the connecting bracket 405 is connected to the radar travel drive device 3.

[0046] Further solutions, such as Figure 3 , Figure 4 shown in the figure, the swing rod 404 is a bent rod with an angle of 90°. The horizontal part of the bent rod is fixedly installed in the radial mounting hole of the rotating shaft 403; two positioning blocks 304 are respectively fixed at the two transverse ends of the horizontal cross beam 101, and the vertical part of the bent rod faces vertically upward; when the swing rod 404 runs to the end point of the stroke on one of the horizontal cross beams 101, the vertical part of the bent rod touches the positioning block 304 and then drives the rotating shaft 403 and the scanning radar 2 to swing 90°.

[0047] It should be noted that the horizontal part of the bent rod is fixed to the radial mounting hole of the rotating shaft 403 by means of threaded connection or welding, riveting, etc.

[0048] Further solutions, such as Figure 4 shown in the figure, two spaced-apart stoppers are provided on the top surface of the mounting seat 401 near the rotating shaft 403. The horizontal part of the bent rod is located between the two stoppers, and the horizontal part of the bent rod can swing between 0° and 90° between the two stoppers.

[0049] Further solutions, such as Figure 4 shown in the figure, the mounting bracket 402 has a "冂" - shaped structure. The scanning radar 2 is snapped into the mounting bracket 402, and the two side vertical plates of the mounting bracket 402 are fixed to the scanning radar 2 by fasteners; the rotating shaft 403 is inserted into the top flat plate of the mounting bracket 402. A thread is provided on the outer circumferential surface of the part where the rotating shaft 403 extends from the top flat plate of the mounting bracket 402. The mounting bracket 402 is fixed to the mounting seat 401 by screwing a fastening nut 406 onto the thread of the rotating shaft 403.

[0050] Further solutions, such as Figure 4 shown in the figure, the connecting bracket 405 has a "𠃍" - shaped structure. Two connecting brackets 405 are symmetrically arranged on the mounting seat 401; the horizontal part of the connecting bracket 405 is fixed to the slide 302 in the radar traveling driving device 3 by at least one screw, and the vertical part of the connecting bracket 405 is fixed to the mounting seat 401 by at least one screw.

[0051] It should be noted that the above - mentioned embodiments give the radar swing mechanism using a mechanical drive method. The mechanical drive is convenient for application in occasions with explosion - proof requirements. Of course, in actual design, it is not limited to the above - mentioned mechanical drive method, and it can also adopt motor drive, electric push rod or the drive method自带 by the radar. However, the electric drive method requires the use of explosion - proof electrical components. Therefore, as long as the drive method that drives the rotating shaft 403 and the scanning radar 2 to swing 90° after touching the positioning block 304 falls within the protection scope of the present utility model.

[0052] The specific structure of the above-mentioned radar travel drive device is further described below.

[0053] like Figure 2 , Figure 3 As shown, the radar travel drive device 3 adopts a linear module composed of a slide 301, a slide 302 and a drive motor 303. The linear module is an existing product and is not described in detail here. The slide 301 is inverted under the horizontal beam 101, and a scanning radar 2 is hoisted under the slide 302 of the linear module. Driven by the slide 302, it can perform forward and reverse bidirectional reciprocating motion.

[0054] The following is an application example of the above-mentioned scanning and identifying device for the spatial boundary of a mining vehicle.

[0055] like Figure 1 As shown, a scanning and identifying system for the spatial boundaries of mining vehicles includes the above-mentioned scanning and identifying device for the spatial boundaries of mining vehicles, a processor 8 and an alarm 7; the processor 8 is installed on the column 102 of the frame 1, and the processor 8 is electrically connected to the scanning radar 2, and is used to process the scanning data of the identified vehicle and its loaded cargo obtained by the scanning radar 2; the alarm 7 is installed on the column 102 of the frame 1, and is electrically connected to the processor 8, and is used to alarm when the scanning data of the identified vehicle and its loaded cargo obtained by the scanning radar 2 exceeds a preset range.

[0056] Further solutions, such as Figure 2 As shown, a limit switch 5 is installed at each end of the travel end of the horizontal beam 101, and the two limit switches 5 are electrically connected to the processor 8 respectively, and the processor 8 is electrically connected to the drive motor 303 in the radar travel drive device 3; when the radar swing mechanism 4 and the scanning radar 2 touch the limit switch 5 during operation, the processor 8 controls the drive motor 303 to stop running.

[0057] Further solutions, such as Figure 1 , Figure 2 Figure 3 As shown, a cable-supporting device 6 for dragging a cable line is installed on the horizontal beam 101 of the frame 1; the cable-supporting device 6 includes a cable-supporting bracket 601 and a drag chain 602, the cable-supporting bracket 601 is fixed together with the slide 302 in the radar travel drive device 3, and the drag chain 602 is arranged on the horizontal beam 101 and connected to the cable-supporting bracket 601.

[0058] The working process is: Figure 1As shown, two columns 102 are fixed on the ground 11, and a horizontal beam 101 is fixed on the two columns 102. The horizontal beam 101 is obliquely across the top of the identified vehicle and is inclined at a certain angle to the driving route of the identified vehicle. The length and inclination angle of the horizontal beam 101 meet the scanning range covering the outer contour limit of the identified vehicle. The slideway 301 of the radar travel drive device 3 (using a linear module) is inverted under the horizontal beam 101; a scanning radar 2 (using a laser radar) is hoisted under the slide 302 of the linear module, and driven by the slide 302, it can perform forward and reverse bidirectional reciprocating motion; the scanning radar 2 can be in contact with the vehicle at the end points of the travel at both ends. The scanning radar 2 makes a 90° swing between the vertical and parallel directions of the vehicle's travel route; when the scanning radar 2 moves in the forward stroke, it scans the vehicle 9 in the direction parallel (or vertical) to the track 10, and scans in the direction perpendicular (or parallel) to the track 10 in the reverse stroke; after the reciprocating motion scanning, two sets of complementary scanning data are obtained, forming a blind-spot scanning and recognition of the outer contour dimensions of the identified vehicle and its load, accurately obtaining the three-dimensional space cross-sectional contour morphology and boundary information data of the mine car, and realizing intelligent recognition, judgment and early warning of the identified vehicle and its loaded cargo boundaries through the processor 8, and the processing results can be output to the comprehensive data platform to realize intelligent safety interlocking control with the vehicle operation system.

[0059] In summary, the utility model provides a scanning and identification device and a scanning and identification system for the spatial boundaries of mining vehicles. A laser radar is arranged above the identified vehicle (mine car), and moves back and forth along a horizontal beam that obliquely spans the identification area. When the laser radar reaches the end points of the horizontal beam, it can automatically swing 90° to achieve vertical and horizontal bidirectional scanning of the vehicle's boundaries (length, width and height) without blind spots, greatly improving the efficiency of vehicle boundary identification and transportation safety. It is widely applicable to mine shaft hoisting transportation systems, inclined shaft transportation systems and open-pit mining vehicle transportation systems, and can also be used in road transportation.

[0060] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0061] In addition, those skilled in the art will understand that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments also means being within the scope of protection of the present utility model and forming different embodiments. For example, in the above embodiments, those skilled in the art can use them in combination according to the known technical solutions and the technical problems to be solved by the present application.

[0062] The above is only a preferred embodiment of the present invention, and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the present invention can make some changes or modify the technical contents suggested above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the solution of the present invention.

Claims

1. A scanning and identifying device for the spatial boundary of a mining vehicle, characterized in that: Comprising: A frame, composed of a horizontal crossbeam and two columns, wherein the horizontal crossbeam obliquely spans above the vehicle to be identified, and is inclined at a preset angle with respect to the driving route of the vehicle to be identified; A radar driving and swinging structure, including: A radar traveling driving device, installed on the horizontal crossbeam of the frame; A radar swinging mechanism, on which a scanning radar is assembled, and the radar swinging mechanism is connected to the radar traveling driving device, and drives the radar swinging mechanism and the scanning radar to perform bidirectional reciprocating motion in the forward and reverse strokes on the horizontal crossbeam; when the radar swinging mechanism and the scanning radar move to the end points of the two ends of the horizontal crossbeam, the radar swinging mechanism can drive the scanning radar to swing 90° between two directions perpendicular and parallel to the vehicle driving route, so as to realize non-blind-zone scanning in both the vertical and horizontal directions of the vehicle boundary.

2. A scanning and identifying device for the spatial boundary of a mining vehicle according to claim 1, characterized in that: The radar swinging mechanism includes: A mounting seat, provided with a vertical rotating shaft penetrating through its top surface and bottom surface; A mounting frame, fixed on the part where the rotating shaft protrudes from the bottom surface of the mounting seat, and the scanning radar is installed on the mounting frame; A swing rod, installed in a radial mounting hole opened on the part where the rotating shaft protrudes from the top surface of the mounting seat. When the radar swinging mechanism moves to the end points of the two ends of the horizontal crossbeam, the swing rod drives the rotating shaft and the scanning radar to swing 90°; A connecting bracket, fixed on the mounting seat, and the connecting bracket is connected to the radar traveling driving device.

3. A scanning and identifying device for the spatial boundary of a mining vehicle according to claim 2, characterized in that: The swing rod is a bent rod with an angle of 90°, and the horizontal part of the bent rod is fixedly installed in the radial mounting hole of the rotating shaft; At each of the two transverse ends of the horizontal crossbeam, a positioning block is fixed, and the vertical part of the bent rod faces upwards vertically; when the swing rod runs to the end point of one of the horizontal crossbeams, the vertical part of the bent rod touches the positioning block and then drives the rotating shaft and the scanning radar to swing 90°.

4. The scanning and identifying device for the spatial boundary of a mining vehicle according to claim 3, characterized in that: At the top surface of the mounting seat near the rotating shaft, two spaced blocks are provided, the horizontal part of the bent rod is located between the two blocks, and the horizontal part of the bent rod can swing between 0° and 90° between the two blocks.

5. The scanning and identifying device for the spatial boundary of a mining vehicle according to claim 2, characterized in that: The mounting frame is in a "冂” shape structure, and the scanning radar is fixedly installed at the opening of the mounting frame; The rotating shaft is inserted into the top flat plate of the mounting frame, and a thread is provided on the outer circumferential surface of the part where the rotating shaft extends out of the top flat plate of the mounting frame. The mounting frame and the mounting seat are fixed together by screwing a fastening nut onto the thread of the rotating shaft.

6. The scanning and identifying device for the spatial boundary of a mining vehicle according to claim 2, characterized in that: The connecting bracket is in a "𠃍” shape structure, and two connecting brackets are symmetrically arranged on the mounting seat; The horizontal part of the connecting bracket is fixed to the slide of the radar traveling driving device by at least one screw, and the vertical part of the connecting bracket is fixed to the mounting seat by at least one screw.

7. The scanning and identifying device for the spatial boundary of a mining vehicle according to claim 1, characterized in that: The radar traveling driving device adopts a linear module composed of a slideway, a slide and a driving motor.

8. A scanning and recognition system for the spatial boundaries of mining vehicles, characterized in that: Comprising: The scanning and identifying device for the spatial boundary of a mining vehicle according to any one of claims 1 to 7; A processor, installed on the column of the frame, and the processor is electrically connected to the scanning radar, and is used for processing the scanning data of the vehicle to be identified and its loaded goods obtained by the scanning radar. An alarm is installed on the column of the frame and is electrically connected to the processor, and is used to give an alarm when the scanning data of the identified vehicle and its loaded cargo obtained by the scanning radar exceeds a preset range.

9. A scanning and identifying system for spatial boundaries of mining vehicles according to claim 8, characterized in that: A limit switch is installed at each end of the travel end of the two ends of the horizontal beam, and the two limit switches are electrically connected to the processor respectively, and the processor is electrically connected to the drive motor in the radar travel drive device; when the radar swing mechanism and the scanning radar touch the limit switch, the processor controls the drive motor to stop running.

10. A scanning and identifying system for spatial boundaries of mining vehicles according to claim 8, characterized in that: A cable-supporting device for dragging the cable line is installed on the horizontal crossbeam of the frame; the cable-supporting device includes a cable-supporting bracket and a tow chain, the cable-supporting bracket is fixed together with the slide in the radar travel drive device, and the tow chain is arranged on the horizontal crossbeam and connected to the cable-supporting bracket.

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