Mining area map acquisition device

Abstract

The utility model belongs to the technical field of map acquisition, and particularly relates to a mining area map acquisition device, which comprises a mounting bottom plate, and a laser radar, a camera component, a positioning navigation module, an information transmission module, a host and a power supply module which are arranged on the mounting bottom plate, the position of the laser radar on the mounting bottom plate is higher than that of the camera shooting assembly, the positioning navigation module, the information transmission module, the host and the power supply module, and the host is used for processing data information collected by the laser radar, the camera shooting assembly and the positioning navigation module; the information transmission module is used for transmitting the data information processed by the host to the mining area unmanned driving management and control platform; a shock absorber is arranged at the bottom of the mounting bottom plate and used for being fixed to the top of a vehicle. The device can be installed on any vehicle in a mining area for use, the dominable freedom degree of the vehicle in the mining area and the flexibility of map acquisition are greatly improved, and the influence of road bumping in the mining area on map acquisition is also reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of map collection, and in particular relates to a mining area map collection device. Background Art

[0002] Currently, for unmanned operations in mining areas, the first thing that is necessary is to obtain a map of the mining area's operating environment. Currently, this is generally done by obtaining ground information through laser radar, cameras, and inertial navigation positioning equipment to draw maps. The existing technology includes map collection vehicles specifically designed for urban unmanned driving. However, compared to urban areas, the mining environment is significantly harsher, with poor road surface smoothness. The instantaneous impact caused by bumpy driving can easily damage some modules in the collection system. Furthermore, due to the continuous operation of the mining area, the map information will constantly change. Therefore, general vehicles used for urban map collection are not suitable for mining environments. In addition, although there are currently unmanned map collection solutions for mining, they generally directly integrate the collection system into specific mining engineering vehicles, such as the patent with announcement number CN111443360B. Although this type of solution can obtain updated map data in real time, since mining engineering vehicles usually only travel between a loading area and an unloading area during a certain working period, the range of maps that can be collected is limited. If mining engineering vehicles collect maps under non-operating conditions, it will result in a waste of vehicle resources. If the collection system is integrated on all mining engineering vehicles, the cost of map collection will increase. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a mining map collection device which can reduce the influence of mining road bumps on map collection and can be installed on any vehicle in the mining area for use and has high flexibility.

[0004] The content of the utility model includes a mounting base plate and a laser radar, a camera assembly, a positioning and navigation module, an information transmission module, a host, and a power supply module arranged on the mounting base plate;

[0005] The laser radar is installed at a higher position on the base plate than the camera assembly, positioning and navigation module, information transmission module, host and power module. The host is used to process the data information collected by the laser radar, camera assembly and positioning and navigation module. The information transmission module is used to transmit the data information processed by the host to the unmanned driving control platform of the mining area.

[0006] A shock absorber is provided at the bottom of the mounting base plate, and the shock absorber is used to be fixed to the top of the vehicle.

[0007] Furthermore, an elevated bracket is provided on the mounting base plate, and the laser radar is provided on top of the elevated bracket.

[0008] Furthermore, it also includes a nozzle, which is obliquely arranged on the mounting base or the elevated bracket and is used to spray gas or liquid toward the side of the laser radar.

[0009] Furthermore, the nozzle is used to spray gas toward the side of the laser radar, and an air pump is also provided on the mounting base, and the air pump is connected to the nozzle through an air pipe.

[0010] Furthermore, there are more than three nozzles, and the more than three nozzles are all tilted and arranged on the elevated bracket, and are equidistantly spaced around the side of the laser radar.

[0011] Furthermore, it also includes a touch display screen, which is used to be placed inside the vehicle.

[0012] Furthermore, four shock absorbers are provided, and the four shock absorbers are correspondingly provided at the four corners of the bottom of the installation base plate.

[0013] Furthermore, the camera assembly includes three cameras, which are respectively arranged at positions on the front, left and right sides of the mounting plate corresponding to the vehicle's driving direction.

[0014] Furthermore, the positioning and navigation module includes an inertial navigation system and two antennas, and the inertial navigation system and the two antennas are spaced apart on a mounting base plate, and the interval between the two antennas is greater than or equal to 1 m.

[0015] Furthermore, the information transmission module includes 4G-CPE and 5G-CPE, and the interval between 4G-CPE and 5G-CPE is greater than or equal to 0.5m.

[0016] The beneficial effects of the present invention are as follows: when in use, the shock absorber can be fixed to the top of the vehicle, the processing and transmission of map collection information do not need to rely on the vehicle, and after being installed on the vehicle, it does not affect the function of the vehicle itself. It can be installed on any vehicle in the mining area for use, and it gets rid of the current dilemma that mining area map collection mostly relies on large-scale transportation or collaborative working vehicles for map collection. When the vehicle originally equipped with the collection device cannot continue to work due to maintenance, suspension of operation or other reasons, or when the map area to be collected is an inaccessible area for current engineering vehicles, the collection device can be transferred as a whole to other applicable vehicles to complete the map collection. There is no need to integrate the collection system on all mining area vehicles, which can reduce the cost of map collection.

[0017] By enabling mining area map collection, the flexibility of mine vehicle control and map collection is greatly improved, while also reducing the requirements for map collection personnel. Furthermore, thanks to the shock absorber configuration, the acquisition device, when used on various mining vehicles, effectively dampens the vibrations of the components mounted on the mounting base. This reduces mechanical damage to the components and the reduction in detection sensitivity caused by the instantaneous impact of vehicles traveling on bumpy roads in the mining area, thereby increasing the service life of the components and improving the accuracy of the collected maps. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a top view of the mining area map collection device of the present invention.

[0019] Figure 2 This is a schematic diagram of the mining area map collection device of the present invention being installed on a vehicle.

[0020] In the figure: 1. Installation base plate; 2. Shock absorber; 3. LiDAR; 4. Camera; 5. Inertial navigation; 6. Antenna; 7. Host; 8. Power module; 9. 4G-CPE; 10. 5G-CPE; 11. Elevated bracket; 12. Nozzle; 13. Air pump; 100. Vehicle. DETAILED DESCRIPTION

[0021] like Figure 1 and Figure 2 As shown, the utility model provides a mining area map acquisition device, including a mounting base 1, a laser radar 3, a camera assembly, a positioning and navigation module, an information transmission module, a host 7 and a power module 8. The laser radar 3, the camera assembly, the positioning and navigation module, and the information transmission module are all electrically connected to the host 7 and the power module 8. The laser radar 3, the camera assembly, the positioning and navigation module, the information transmission module, the host 7 and the power module 8 are all arranged on the mounting base 1. The laser radar 3 is specifically a surround-view laser radar 3. The position of the laser radar 3 on the mounting base 1 is higher than the camera assembly, the positioning and navigation module, the information transmission module, the host 7 and the power module 8, that is, the laser radar 3 is elevated to ensure that it can cover a 360° field of view. A shock absorber 2 is provided at the bottom of the mounting base 1. The shock absorber 2 is used to be fixed to the top of the vehicle 100, so that the mounting base 1 is fixed as a whole on the top of the vehicle 100, and is used to reduce the shock of the components on the mounting base 1.

[0022] Among them, the laser radar 3 and camera 4 components are used to collect image information of the road environment around the vehicle 100 carried by the acquisition device. Using the laser radar 3 and camera components to simultaneously collect map image information can effectively reduce the loss of image acquisition information caused by damage to one of the components during the acquisition process. The positioning and navigation module is used to locate the current position of the acquisition device and to map the position of the vehicle 100 carried by the acquisition device in the running map. The host 7 is specifically an integrated host with integrated data processing and control functions, which can process the data information collected by the laser radar 3, camera components, and positioning and navigation modules. The information transmission module is used to transmit the data information processed by the host 7 to the mine area unmanned driving control platform so that the mine area unmanned driving control platform can update the current mine area map information. The power supply module 8 is used to provide power for the operation of the acquisition device.

[0023] The mining area map acquisition device provided by the present invention can be used by fixing the shock absorber 2 to the top of the vehicle 100. The processing and transmission of map acquisition information do not need to rely on a specific vehicle 100, and after being installed on the vehicle 100, it does not affect the function of the vehicle 100 itself. Therefore, it can be installed on any vehicle 100 in the mining area for use, getting rid of the current dilemma that mining area map acquisition relies mostly on large-scale transportation or collaborative working vehicles 100 for map acquisition. When the vehicle 100 originally equipped with the acquisition device cannot continue to operate due to maintenance, suspension of operation or other reasons, or when the map area to be collected is an inaccessible area for the current engineering vehicle 100, the acquisition device can be transferred as a whole to other applicable vehicles 100 to continue map acquisition. There is no need to integrate the acquisition system on all mining area vehicles 100, which can reduce the cost of map acquisition.

[0024] Based on the setting of the mining area map collection device, on the basis of realizing mining area map collection, the degree of freedom of the mining area vehicle 100 and the flexibility of map collection are greatly improved, and the requirements for map collection personnel can be reduced. Specifically, if the collection system is integrated into a mining truck, only the truck driver can drive the vehicle 100 to collect maps, while the collection device of the present invention can be used with any vehicle 100 and is not limited to a specific model. The vehicle 100 used for map collection has a high selectivity, so it is only necessary for personnel to hold a driver's license and have the qualifications to go to the mine. At the same time, based on the setting of the shock absorber 2, when the collection device is used with different vehicles 100 in the mining area, it can play a good shock-absorbing role on the components installed on the base plate 1, reduce the mechanical damage to the components caused by the instantaneous impact of the vehicle 100 on the bumpy road surface in the mining area, and reduce the reduction in detection sensitivity, thereby increasing the service life of the components and improving the accuracy of the collected maps.

[0025] In the present utility model, an elevated bracket 11 is also provided on the mounting base plate 1, and the laser radar 3 is specifically arranged on the top of the elevated bracket 11, so that the position of the laser radar 3 on the mounting base plate 1 is higher than the camera assembly, positioning and navigation module, information transmission module, host 7 and power module 8.

[0026] The present invention also includes a nozzle 12, which is obliquely arranged on the mounting base 1 or the elevated bracket 11. It can spray gas or liquid toward the side of the laser radar 3 without blocking the detection area of ​​the laser radar 3, so as to clean the side of the laser radar 3, reduce the decline in detection range and detection accuracy caused by sand and dust adhering to the side of the laser radar 3, ensure the detection effectiveness and accuracy of the laser radar 3, and better adapt to the dusty and windy environment of the open-pit mine area.

[0027] Preferably, the nozzle 12 adopts a jet method, that is, it is used to spray gas toward the side of the laser radar 3 for cleaning. Compared with the method of spraying liquid for cleaning, the mechanism required for the method of spraying gas for cleaning is simpler, and only the air pump 13 is needed. Specifically, an air pump 13 is also provided on the mounting base plate 1, and the air pump 13 is connected to the nozzle 12 through an air pipe. The air pump 13 is electrically connected to the power module 8 and is provided with electrical energy by the power module 8. In one embodiment of the present invention, a switch is provided on the air pump 13, and the air pump 13 is turned on or off by manually pressing the switch. In another embodiment of the present invention, the air pump 13 is electrically connected to the host 7, and the opening or closing of the air pump 13 can be controlled by the host 7.

[0028] It is further preferred that there are three or more nozzles 12, all of which are arranged on the elevated bracket 11 and located outside the bottom of the laser radar 3, so as not to block the detection area of ​​the laser radar 3. They are also arranged at equal intervals around the side of the laser radar 3. The three or more nozzles 12 are all arranged at an angle and are connected to the air pump 13 through an air pipe. They are all used to spray gas toward the side of the laser radar, reducing the blind spot of cleaning the side of the laser radar 3. The air pump 13 is preferably located on the mounting base 1 specifically on the inner side of the bottom of the elevated bracket 11, so as not to occupy other space on the mounting base 1. At the same time, the distance between the nozzles 12 is shorter, and the length of the air pipe required for connection is shorter.

[0029] The present invention also includes a touch screen, which is electrically connected to the host 7 and the power module 8. The touch screen is used to be placed inside the vehicle 100 to provide a human-computer interaction interface for people in the vehicle 100, so that they can view relevant information, such as the current time, collected images, etc., and for the driver in the vehicle to open and close the corresponding modules. For example, when the air pump 13 is electrically connected to the host 7, the opening and closing of the air pump 13 is controlled by the corresponding preset key position on the touch screen.

[0030] In the present invention, one end of the shock absorber 2 is fixed to the mounting base plate 1, for example, by bolts. The other end of the shock absorber 2 is used to be fixed to the top of the vehicle 100. The edge of the end of the shock absorber 2 that is fixed to the top of the vehicle 100 has mounting holes for the passage of bolts, that is, the shock absorber 2 is also fixed to the top of the vehicle 100 by bolts. If the vehicle 100 is of a different model, it is only necessary to weld a fixing block with a mounting hole at the corresponding position on the roof. The fixing block and the end of the shock absorber 2 facing away from the base plate are connected by bolts to achieve the installation of the shock absorber 2 and complete the fixing of the mounting base plate 1 to the top of the vehicle 100.

[0031] Preferably, there are four shock absorbers 2, which are correspondingly arranged at the four corners of the bottom of the mounting base 1. While ensuring the shock absorption effect and the stability of the mounting base 1 set on the top of the vehicle 100, a single shock absorber 2 can use a smaller size.

[0032] The camera assembly includes three cameras 4, which are respectively arranged at the front, left and right sides of the mounting base 1 corresponding to the direction of travel of the vehicle 100. Figure 1 and Figure 2 Taking perspective as an example, Figure 1 and Figure 2 The left portion of the mounting base 1 is the position of the mounting base 1 in the front side of the vehicle 100 in the direction of travel. Figure 1 The upper portion of the mounting base 1 in the viewing angle is the position of the mounting base 1 on the right side of the vehicle 100 in the direction of travel. Figure 1 The lower part of the mounting base 1 in the viewing angle is the position of the mounting base 1 on the left side of the driving direction of the vehicle 100. This ensures that the vehicle 100 equipped with the acquisition device can obtain complete environmental image data information within the driving range when driving in the mining area.

[0033] The positioning and navigation module includes an inertial navigation system 5 and two antennas 6. The two antennas 6 are used to receive signals. The inertial navigation system 5 and the two antennas 6 are spaced apart on the mounting base 1, and the interval between the two antennas 6 is greater than or equal to 1m to avoid interference between the antennas 6 and ensure the accuracy of positioning direction and angle.

[0034] In the utility model, the preferred information transmission modules include 4G-CPE9 and 5G-CPE10. This means that the data collection device uses both 4G-CPE9 and 5G-CPE10 to transmit data to the mine's unmanned driving control platform. This not only enhances the data transmission capabilities of the collection device but also avoids data transmission losses caused by the loss of a single signal network. Furthermore, the spacing between 4G-CPE9 and 5G-CPE10 is preferably greater than or equal to 0.5m to avoid interference between the two and improve signal coverage.

[0035] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0036] The one or more embodiments of this application are intended to encompass all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this application should be included in the scope of protection of this application.

Claims

1. A mining area map collection device, characterized in that: It comprises a mounting base plate (1), a laser radar (3) arranged on the mounting base plate (1), a camera assembly, a positioning and navigation module, an information transmission module, a host (7), and a power supply module (8); The laser radar (3) is positioned on the mounting base plate (1) higher than the camera assembly, the positioning and navigation module, the information transmission module, the host (7) and the power module (8); the host (7) is used to process data information collected by the laser radar (3), the camera assembly and the positioning and navigation module; and the information transmission module is used to transmit the data information processed by the host (7) to the unmanned driving control platform of the mining area; A shock absorber (2) is provided at the bottom of the mounting base plate (1), and the shock absorber (2) is used to be fixed to the top of the vehicle (100).

2. The mining area map collection device according to claim 1, characterized in that: An elevated bracket (11) is provided on the installation base plate (1), and the laser radar (3) is provided on top of the elevated bracket (11).

3. The mining area map collection device according to claim 2, characterized in that: It also includes a nozzle (12), which is obliquely arranged on the mounting base plate (1) or the elevated bracket (11) and is used to spray gas or liquid toward the side of the laser radar (3).

4. The mining area map collection device according to claim 3, characterized in that: The nozzle (12) is used to spray gas toward the side of the laser radar (3), and an air pump (13) is also provided on the mounting base plate (1), and the air pump (13) is connected to the nozzle (12) through an air pipe.

5. The mining area map collection device according to claim 4, characterized in that: There are more than three nozzles (12), and the more than three nozzles (12) are all arranged obliquely on the elevated bracket (11) and are arranged at equal intervals around the side of the laser radar (3).

6. The mining area map collection device according to any one of claims 1 to 5, characterized in that: Also included is a touch display screen, which is used to be placed inside the vehicle (100).

7. The mining area map collection device according to any one of claims 1 to 5, characterized in that: Four shock absorbers (2) are provided, and the four shock absorbers (2) are correspondingly provided at the four corners of the bottom of the installation base plate (1).

8. The mining area map collection device according to any one of claims 1 to 5, characterized in that: The camera assembly comprises three cameras (4), which are respectively arranged at positions of the mounting base plate (1) corresponding to the front side, the left side and the right side of the vehicle (100) in the direction of travel.

9. The mining area map collection device according to any one of claims 1 to 5, characterized in that: The positioning and navigation module comprises an inertial navigation system (5) and two antennas (6); the inertial navigation system (5) and the two antennas (6) are arranged on a mounting base plate (1) at intervals, and the interval between the two antennas (6) is greater than or equal to 1 m.

10. The mining area map collection device according to any one of claims 1 to 5, characterized in that: The information transmission module includes a 4G-CPE (9) and a 5G-CPE (10), and the interval between the 4G-CPE (9) and the 5G-CPE (10) is greater than or equal to 0.5 m.

Images