Portable high-precision map acquisition device for underground coal mine

Abstract

The utility model relates to the technical field of mining map acquisition, in particular to a coal mine underground portable high-precision map acquisition device, which comprises a supporting platform, a first radar seat arranged on the supporting platform, a first radar device arranged on the upper end face of the first radar seat, an accommodating cavity arranged in the first radar seat, an inertial navigation device arranged in the accommodating cavity, and a second radar device arranged on the upper end face of the first radar seat. A plurality of cameras are arranged on the periphery of the first radar base, and a UWB identification card is further arranged on one side of the first radar base and located on the supporting platform. According to the portable high-precision map acquisition device for the underground coal mine, accurate positioning of high-precision map acquisition equipment in the underground coal mine lacking GNSS signals is realized by adopting the UWB and the laser inertial odometer, the precision of a built map is ensured, all the equipment are fixedly connected, the size of the acquisition equipment is reduced, map acquisition work can be carried out on multiple carriers, and the cost is reduced. And the relative positions of the sensors are stable, so that repeated calibration is avoided, and the workload of map acquisition personnel is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mining map collection, in particular to a portable high-precision map collection device for underground coal mines. Background Art

[0002] At present, it is difficult for coal mining enterprises to recruit workers, the automation level of underground auxiliary transportation is low, the number of employees is large, and safety accidents occur frequently. Therefore, coal mines need to develop in the direction of intelligence and unmanned operation. Autonomous driving technology can greatly reduce the number of employees in the auxiliary transportation link and improve the intelligence level of underground coal mines. As one of the important components of autonomous driving technology, high-precision maps can assist autonomous driving vehicles in perceiving the external environment and complement other sensor data. High-precision maps need to be obtained through map acquisition devices, but the current high-precision map acquisition devices are only suitable for open-air environments with unobstructed GNSS signals. They cannot receive satellite signals in coal mines and cannot locate the current position, which will affect the accuracy of the map; the existing high-precision map acquisition devices are large in size, difficult to disassemble, complex in wiring, and inconvenient to carry; the installation positions of various sensors are relatively scattered, and the relative positions of the sensors in the bumpy sections underground are prone to change, affecting the quality of subsequent sensor data fusion. Utility Model Content

[0003] The technical problem to be solved by the utility model is: to solve the technical problems that the map collection device in the prior art cannot be used in mines because it receives GNSS signals, the existing map collection device is difficult to disassemble and inconvenient to carry, and the bumpy roads in mines affect the accuracy of the map collection device. The utility model provides a portable high-precision map collection device for underground coal mines. A laser inertial odometer is constructed through data coupling between a laser radar and an inertial navigation sensor, which can obtain high-precision position and attitude information of the device. Combined with UWB technology, the high-precision map collection equipment can be accurately positioned in underground coal mines that lack GNSS signals, ensuring the accuracy of the constructed map. The various devices are fixedly connected to reduce the size of the collection equipment, and map collection work can be carried out on multiple carriers, which is easy to carry and load and unload. The relative positions of the sensors are stable, avoiding multiple calibrations, and reducing the workload of map collection personnel. The technical solution adopted by the utility model to solve its technical problems is: a portable high-precision map collection device for underground coal mines, comprising:

[0004] A supporting platform, wherein a first radar seat is provided on the supporting platform, a first radar device is provided on the upper end surface of the first radar seat, a receiving cavity is provided in the first radar seat, an inertial navigation device is provided in the receiving cavity, a plurality of cameras are provided on the periphery of the first radar seat, and a UWB identification card is also provided on one side of the first radar seat and located on the supporting platform.

[0005] Furthermore, the portable high-precision map acquisition device for underground coal mines also includes:

[0006] The second radar device is located in front of the first radar device, and the second radar device is arranged on a supporting platform through a second radar seat, and the height of the second radar seat is lower than that of the first radar seat.

[0007] Furthermore, the second radar seat is a right triangle, the slope of the right triangle faces upward, the height increases from front to back, and the second radar device is arranged on the slope.

[0008] Furthermore, the first radar seat is a square frame, and the side wall surface and the upper end surface can be detachably connected.

[0009] Furthermore, a camera is provided on each side wall.

[0010] Furthermore, the portable high-precision map acquisition device for underground coal mines also includes:

[0011] A satellite signal receiving device is arranged on the supporting platform.

[0012] Furthermore, support feet are fixedly provided around the supporting platform.

[0013] Furthermore, a shock-absorbing washer is provided below the supporting foot.

[0014] The beneficial effect of the utility model is that the portable high-precision map acquisition device for underground coal mines of the utility model adopts UWB and laser inertial odometer to realize the precise positioning of high-precision map acquisition equipment in underground coal mines lacking GNSS signals, thereby ensuring the accuracy of the constructed map, and fixing the devices to reduce the volume of the acquisition equipment. Map acquisition work can be carried out on multiple carriers, which is convenient for carrying and loading and unloading. The relative positions of the sensors are stable, thus avoiding multiple calibrations and reducing the workload of map acquisition personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is a structural schematic diagram of a portable high-precision map acquisition device for underground coal mines of the utility model;

[0017] Figure 2 It is a schematic diagram of the first radar base and the inertial navigation device of the portable high-precision map acquisition device for underground coal mines of the utility model;

[0018] Figure 3 It is a structural schematic diagram of the second radar base of the utility model of the portable high-precision map acquisition device for underground coal mines.

[0019] Reference numerals:

[0020] 1. Support platform; 2. First radar seat; 3. First radar device; 4. Inertial navigation device; 5. Camera; 6. UWB identification card; 7. Second radar device; 8. Second radar seat; 9. Satellite signal receiving device; 10. Support foot; 11. Shock-absorbing gasket. DETAILED DESCRIPTION

[0021] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0022] In the description of the present utility model, it is necessary to understand that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model 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 utility model. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" 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 it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] like Figures 1 to 3 The figure shows the best embodiment of the utility model, a portable high-precision map acquisition device for underground coal mines, comprising:

[0025] A supporting platform 1 is provided with a first radar seat 2, a first radar device 3 is provided on the upper end surface of the first radar seat 2, the first radar seat 2 has a accommodating cavity, an inertial navigation device 4 is provided in the accommodating cavity, a plurality of cameras 5 are provided on the periphery of the first radar seat 2, and a UWB identification card 6 is also provided on one side of the first radar seat 2 and located on the supporting platform 1.

[0026] It should be noted that, due to the explosion-proof and intrinsic safety requirements in the mine, the devices used are all intrinsic safety products. The portable high-precision map acquisition device for coal mines of the utility model can accurately reflect the tunnel information and obtain the tunnel road width, traffic light height and some other information through the first radar device 3 to collect point cloud data. The UWB identification card 6 is used to interact with the underground UWB positioning base station for data, and at the same time, combined with the inertial navigation data, it provides accurate positioning information for the acquisition device, records the coordinates of the current acquisition point, and makes up for the defect of no GNSS signal underground. The camera 5 is mainly used to collect the signs on both sides of the tunnel, road surface information, etc. Because the image has more pixel information and the position information is not very accurate, the camera 5 is used to identify some signs of the tunnel, etc. The inertial navigation device 4 is an IMU, which can capture the angle and acceleration information of the map acquisition vehicle to correct the position and angle of the vehicle. The first radar device 3, the inertial navigation device 4, the camera 5 and the UWB identification card 6 are used to achieve accurate positioning of the map, make up for the defect of no GNSS signal underground, and realize the acquisition of high-precision maps underground.

[0027] The portable high-precision map acquisition device for underground coal mines of the utility model also includes: a second radar device 7, which is located in front of the first radar device 3, and is arranged on the supporting platform 1 through a second radar seat 8, and the height of the second radar seat 8 is lower than the first radar seat 2. The second radar device 7 is arranged in front of the first radar device 2, and the height is lower than the first radar device 2. The two radar devices are arranged one in front and one in the back, which can collect the tunnel information in the front and back and up and down directions, increase the information collection and increase the accuracy of the information collection.

[0028] The second radar seat 8 is a right triangle, the slope of the right triangle faces upward, and the height increases from front to back. The second radar device 7 is arranged on the slope. The slope is inclined at an angle of 30-45 degrees. The second radar device 7 is tilted forward to collect lane information at more angles.

[0029] The first radar seat 2 is a square frame, and the side wall surface and the upper end surface can be detachably connected, so it is easy to carry and load and unload.

[0030] Cameras 5 are provided on the walls on either side, which can collect signs on both sides of the lane, road surface information, etc. from multiple directions, thereby increasing the accuracy of map collection.

[0031] The portable high-precision map collection device for underground coal mines of the utility model also includes: a satellite signal receiving device 9, which is arranged on the supporting platform 1. The satellite signal receiving device 9 is arranged on the supporting platform 1 for standby. When leaving the mine environment, the GNSS signal is not blocked, and the distance information is obtained by receiving the GNSS signal, so as to locate the map collection vehicle.

[0032] Support legs 10 are fixedly provided around the support platform 1, and shock-absorbing washers 11 are provided below the support legs 10. When the device is set on a mine car, the shaking is reduced by the shock-absorbing washers 11. The shock-absorbing washers 11 can be rubber rings, which are fixedly provided at the bottom of the support legs 10. According to the anti-skid and buffering characteristics of the rubber rings, when the device vibrates on a bumpy road, the vibration of the entire device can be reduced, the relative position of the internal parts of the device is ensured not to be offset, the inaccurate measurement results caused by the bumpy road are reduced, and the accuracy of the map acquisition device is increased.

[0033] The utility model provides a portable high-precision map acquisition device for underground coal mines. It adopts UWB technology to realize the precise positioning of high-precision map acquisition equipment in coal mines lacking GNSS signals, thereby ensuring the accuracy of the constructed maps. The devices are fixedly connected to reduce the size of the acquisition equipment. Map acquisition work can be carried out on multiple carriers, which is convenient for carrying and loading and unloading. The relative positions of the sensors are stable, thus avoiding multiple calibrations and reducing the workload of map acquisition personnel.

[0034] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without departing from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A portable high-precision map collection device for underground coal mines, characterized in that: include: A support platform (1), wherein a first radar seat (2) is provided on the support platform (1), a first radar device (3) is provided on the upper end surface of the first radar seat (2), the first radar seat (2) has a receiving cavity, an inertial navigation device (4) is provided in the receiving cavity, a plurality of cameras (5) are provided on the outer periphery of the first radar seat (2), and a UWB identification card (6) is also provided on one side of the first radar seat (2) and located on the support platform (1).

2. The portable high-precision map acquisition device for underground coal mines according to claim 1, characterized in that: Also includes: A second radar device (7), the second radar device (7) is located in front of the first radar device (3), the second radar device (7) is arranged on the supporting platform (1) via a second radar seat (8), and the height of the second radar seat (8) is lower than that of the first radar seat (2).

3. The portable high-precision map acquisition device for underground coal mines according to claim 2, characterized in that: The second radar seat (8) is a right triangle, the slope of the right triangle faces upward, and the height increases from front to back, and the second radar device (7) is arranged on the slope.

4. The portable high-precision map acquisition device for underground coal mines according to claim 1, characterized in that: The first radar seat (2) is a square frame, and the side wall surface and the upper end surface can be detachably connected.

5. The portable high-precision map acquisition device for underground coal mines according to claim 4, characterized in that: A camera (5) is arranged on each side wall.

6. The portable high-precision map acquisition device for underground coal mines according to claim 1, characterized in that: Also includes: A satellite signal receiving device (9), wherein the satellite signal receiving device (9) is arranged on the supporting platform (1).

7. The portable high-precision map acquisition device for underground coal mines according to claim 1, characterized in that: Support legs (10) are fixedly provided around the supporting platform (1).

8. The portable high-precision map acquisition device for underground coal mines according to claim 7, characterized in that: A shock-absorbing washer (11) is provided below the supporting foot (10).

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