Dumper

Abstract

The utility model provides a dumper, which comprises a dumper body and a plurality of sensing modules arranged on the dumper body, the plurality of sensing modules comprise a roof sensing module, a left lateral sensing module, a right lateral sensing module, a forward sensing module and a backward sensing module, and each sensing module is provided with a radar device and a camera device; the car roof sensing module is arranged at the top of the car head and can rotate relative to the car head; the left lateral sensing module and the right lateral sensing module are arranged on the left side and the right side of the headstock respectively, the forward sensing module is arranged on the front portion of the headstock, and the backward sensing module is arranged on the rear portion of the tailstock. The dumper can reduce or eliminate the view field blind area of the sensing module, and the driving safety of the dumper is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of dump trucks, in particular to a dump truck. Background Art

[0002] Compared to other locations like public roads, ports, and industrial parks, mining areas present a relatively harsh operating environment, require lower speeds, and operate in a relatively closed environment. Mining areas have become the first segment to implement autonomous driving technology, and major OEMs are actively promoting the development and application of autonomous dump trucks.

[0003] To assist autonomous driving, unmanned dump trucks are typically equipped with multiple sensing modules, including radar and cameras, to detect and identify their surroundings during autonomous driving. However, current sensing modules on unmanned dump trucks are typically fixed and cannot dynamically adjust to changes in the environment or the vehicle's motion. This means the sensing modules have a fixed field of view, which can easily create blind spots and prevent real-time perception of changes in the complex mining environment. This can result in some areas being ineffectively monitored, impacting the safety of the unmanned dump truck. Utility Model Content

[0004] The purpose of the present utility model is to provide a dump truck, aiming to solve or at least partially solve the deficiencies of the above-mentioned background technology, which can reduce or eliminate the blind spots of the field of view of the perception module and improve the driving safety of the dump truck.

[0005] The utility model provides a dump truck, comprising a dump truck body and a plurality of sensing modules arranged on the dump truck body, wherein the dump truck body comprises a front end and a rear end, and the plurality of sensing modules comprise a roof sensing module, a left side sensing module, a right side sensing module, a forward sensing module and a backward sensing module, and each of the sensing modules is provided with a radar device and a camera device;

[0006] The roof sensing module is arranged on the top of the front of the vehicle, and the roof sensing module can rotate relative to the front of the vehicle. The roof sensing module is used to detect and identify the environment in front, behind, left and right of the dump truck body;

[0007] The left-hand side perception module and the right-hand side perception module are respectively arranged on the left and right sides of the front of the vehicle, and the left-hand side perception module and the right-hand side perception module are respectively used to detect and identify the environment on the left and right sides of the dump truck body;

[0008] The forward sensing module is arranged at the front of the vehicle head, and is used to detect and identify the environment in front of the dump truck body;

[0009] The rearward sensing module is arranged at the rear of the vehicle, and is used to detect and identify the environment behind the dump truck body.

[0010] Furthermore, each of the sensing modules is further provided with a mask, which is connected to the dump truck body and covers the radar device and / or camera device in the corresponding sensing module.

[0011] Furthermore, the cover member in the roof sensing module is a rotating cover, the radar device and the camera device in the roof sensing module are both arranged in the rotating cover, the rotating cover is rotatably connected to the front of the vehicle, and the rotating cover can rotate 360° relative to the front of the vehicle in the horizontal direction.

[0012] Furthermore, the dump truck further includes a rotation drive device, which is disposed on the vehicle head and connected to the rotating cover, and is used to drive the rotating cover to rotate relative to the vehicle head.

[0013] Furthermore, the mask at least covers the corresponding camera device in the sensing module, and the mask is a transparent structure.

[0014] Furthermore, the radar device in the roof sensing module includes a first Doppler laser radar and a frequency modulated continuous wave radar, and the camera device in the roof sensing module includes a first infrared camera;

[0015] And / or, the radar device in the left-side perception module includes a first ultrasonic radar array, and the camera device in the left-side perception module includes a first camera;

[0016] And / or, the radar device in the right lateral perception module includes a second ultrasonic radar array, and the camera device in the right lateral perception module includes a second camera;

[0017] And / or, the radar device in the forward perception module includes a second Doppler laser radar, and the camera device in the forward perception module includes a second infrared camera;

[0018] And / or, the radar device in the rearward perception module includes a third Doppler laser radar and a long-range optical radar, and the camera device in the rearward perception module includes a third infrared camera.

[0019] Furthermore, the camera device in the left-side perception module can be rotated relative to the front of the vehicle; and / or the camera device in the right-side perception module can be rotated relative to the front of the vehicle.

[0020] Furthermore, the forward sensing module is arranged on the front bumper of the vehicle; along the left and right directions of the dump truck body, the forward sensing module is arranged in the middle position of the front bumper;

[0021] And / or, along the left and right directions of the dump truck body, the rearward sensing module is arranged at a middle position behind the rear end of the vehicle.

[0022] Furthermore, each of the perception modules is also provided with a data processing module, and the radar device and camera device in each of the perception modules are electrically connected to the data processing module; the dump truck also includes a main controller, and the data processing modules in each of the perception modules are electrically connected to the main controller.

[0023] Furthermore, the dump truck further includes a positioning module and a communication module, both of which are arranged on the top of the vehicle head, and both of which are connected to the main controller via electrical signals.

[0024] The dump truck provided by the present invention is provided with a roof sensing module, which serves as a main sensing module and can rotate relative to the front of the vehicle, so that the roof sensing module can detect and identify the environment in front, behind, left and right of the dump truck body. At the same time, by providing a left-side sensing module, a right-side sensing module, a forward sensing module and a backward sensing module, it can respectively detect and identify the environment on the left, right, front and rear of the dump truck body, thereby compensating and strengthening the field of view of the roof sensing module. By providing a roof sensing module with a dynamically adjustable angle, the field of view direction is automatically adjusted under different driving conditions, and the left-side sensing module, the right-side sensing module, the forward sensing module and the backward sensing module are provided for auxiliary purposes, thereby reducing or eliminating the blind spots of the field of view of the sensing module, improving the reliability of the sensing module, and further improving the driving safety of the dump truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a front view of a dump truck in an embodiment of the present utility model.

[0026] Figure 2 It is a rear view of the dump truck in the embodiment of the present utility model.

[0027] Figure 3 Schematic diagram of the structure of the roof sensing module in an embodiment of the present utility model.

[0028] Figure 4 Schematic diagram of electrical signal connection between each sensing module, positioning module and communication module and the main controller in an embodiment of the present utility model.

[0029] Figure 5Schematic diagram of the field of view scanning range of each sensing module in an embodiment of the present utility model. DETAILED DESCRIPTION

[0030] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0031] The terms "first", "second", "third", "fourth" and so on (if any) in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0032] The directional terms "up," "down," "left," "right," "front," "back," "top," and "bottom" (if any) used in the specification and claims of this utility model are defined by the positions of the structures in the drawings and the positions of the structures relative to each other, and are intended only for clarity and convenience in expressing the technical solution. It should be understood that the use of directional terms should not limit the scope of protection claimed in this application.

[0033] like Figures 1 to 5 As shown, the embodiment of the present invention provides a dump truck, which can be specifically an unmanned wide-body dump truck. The dump truck includes a dump truck body 1, and the dump truck body 1 includes a front 11 and a rear 12, and the front 11 is located in front of the rear 12.

[0034] The dump truck further includes a plurality of sensing modules 2 provided on the dump truck body 1, the plurality of sensing modules 2 including a roof sensing module 2A, a left side sensing module 2B, a right side sensing module 2C, a forward sensing module 2D, and a backward sensing module 2E, each sensing module 2 being provided with a radar device 21 and a camera device 22;

[0035] The roof sensing module 2A is arranged on the top of the front of the vehicle 11. The roof sensing module 2A can rotate relative to the front of the vehicle 11. The roof sensing module 2A is used to detect and identify the environment in front, behind, left and right of the dump truck body 1;

[0036] The left-hand sensing module 2B and the right-hand sensing module 2C are respectively arranged on the left and right sides of the vehicle head 11 (specifically, they can be arranged on the left and right sides of the front of the vehicle head 11). The left-hand sensing module 2B and the right-hand sensing module 2C are respectively used to detect and identify the environment on the left and right sides of the dump truck body 1;

[0037] The forward sensing module 2D is provided at the front of the vehicle head 11 and is used to detect and identify the environment in front of the dump truck body 1;

[0038] The rearward sensing module 2E is disposed at the rear of the vehicle tail 12 , and is used to detect and identify the environment behind the dump truck body 1 .

[0039] The dump truck provided by the present invention is provided with a roof sensing module 2A, which serves as the main sensing module and is rotatable relative to the front of the vehicle 11, so that the roof sensing module 2A can detect and identify the environment in front of, behind, and behind the dump truck body 1. Simultaneously, by providing a left-side sensing module 2B, a right-side sensing module 2C, a forward sensing module 2D, and a rearward sensing module 2E, the left, right, front, and rear environments of the dump truck body 1 can be detected and identified, respectively, thereby compensating for and enhancing the field of view of the roof sensing module 2A. By providing a roof sensing module 2A with a dynamically adjustable angle, the field of view direction is automatically adjusted under different driving conditions, and by providing the left-side sensing module 2B, the right-side sensing module 2C, the forward sensing module 2D, and the rearward sensing module 2E for auxiliary purposes, the blind spots of the field of view of the sensing module 2 are reduced or eliminated, the reliability of the sensing module 2 is improved, and the driving safety of the dump truck is thereby improved.

[0040] Furthermore, in this embodiment, the roof sensing module 2A can rotate 360° in the horizontal direction relative to the front of the vehicle 11, so that the roof sensing module 2A can detect and identify the environment in front, behind, left and right of the dump truck body 1.

[0041] Furthermore, in this embodiment, the dump truck further includes a rotation drive device (not shown), which is disposed on the front of the vehicle 11 and connected to the roof sensing module 2A. The rotation drive device is configured to drive the roof sensing module 2A to rotate relative to the front of the vehicle 11. The rotation drive device may be, for example, a rotation drive motor.

[0042] Furthermore, in this embodiment, the camera device 22 in the left-side perception module 2B can rotate relative to the front of the vehicle 11, and the camera device 22 in the right-side perception module 2C can rotate relative to the front of the vehicle 11, thereby expanding the viewing angle range of the camera device 22 and reducing the lateral viewing blind spot.

[0043] Furthermore, if Figure 1 、 Figures 3 to 5As shown, in this embodiment, the radar device 21 in the roof sensing module 2A includes a first Doppler lidar 211 and a frequency-modulated continuous wave radar 212. Through cooperation of the first Doppler lidar 211 and the frequency-modulated continuous wave radar 212, the surrounding environment can be more accurately sensed, and the speed and distance of the moving obstacles can be measured. The farthest detection distance of the first Doppler lidar 211 and the frequency-modulated continuous wave radar 212 is about 150 meters, and the horizontal field of view angle of the first Doppler lidar 211 and the frequency-modulated continuous wave radar 212 is about 120°. Through rotation of the roof sensing module 2A, the horizontal field of view angle of the first Doppler lidar 211 and the frequency-modulated continuous wave radar 212 can achieve 360° full coverage.

[0044] The camera 22 in the roof sensing module 2A includes a first infrared camera 221. The first infrared camera 221 can detect obstacles in low visibility (for example, at night, in rainy and foggy weather). The horizontal field of view angle of the first infrared camera 221 is about 90°. Through rotation of the roof sensing module 2A, the horizontal field of view angle of the first infrared camera 221 can achieve 360° full coverage.

[0045] Further, as shown in Figure 1 , Figure 4 and Figure 5 , in this embodiment, the radar device 21 in the left lateral sensing module 2B includes a first ultrasonic radar array 214, and the radar device 21 in the right lateral sensing module 2C includes a second ultrasonic radar array 215. The farthest detection distance of the first ultrasonic radar array 214 and the second ultrasonic radar array 215 is about 5 meters, and the horizontal field of view angle of the first ultrasonic radar array 214 and the second ultrasonic radar array 215 is about 60°. The first ultrasonic radar array 214 and the second ultrasonic radar array 215 are mainly used for close-range detection and are suitable for fine sensing in low-speed and narrow space. The first ultrasonic radar array 214 and the second ultrasonic radar array 215 can eliminate the side blind area of the roof sensing module 2A.

[0046] The camera 22 in the left lateral sensing module 2B includes a first camera 223, and the camera 22 in the right lateral sensing module 2C includes a second camera 224. The first camera 223 and the second camera 224 can rotate relative to the vehicle head 11 (specifically, the first camera 223 and the second camera 224 can be rotating cameras, that is, they have a rotating function; or a driving device can be additionally provided to drive the first camera 223 and the second camera 224 to rotate). The first camera 223 and the second camera 224 can capture image information of the side and part of the rear of the dump truck body 1, ensuring wide-angle visual sensing of the side of the vehicle body. The first camera 223 and the second camera 224 can be ordinary standard cameras, wide-angle cameras, infrared cameras, etc.

[0047] Furthermore, if Figure 1 、 Figure 4 and Figure 5 As shown, in this embodiment, the radar device 21 in the forward perception module 2D includes a second Doppler laser radar 213. The horizontal field of view of the second Doppler laser radar 213 is approximately 120° to 150°. It can perceive obstacles in front of the vehicle body and measure the speed and distance of moving obstacles in front of the vehicle body. It can still have good perception functions in harsh environments such as rainy and foggy weather.

[0048] The camera device 22 in the forward perception module 2D includes a second infrared camera 222. The horizontal field of view of the second infrared camera 222 is approximately 90°, which can detect obstacles in front of the vehicle body under low visibility.

[0049] Furthermore, if Figure 2 、 Figure 4 and Figure 5 As shown, in this embodiment, the radar device 21 in the rear perception module 2E includes a third Doppler laser radar 216 and a long-range optical radar 217. The horizontal field of view angle of the third Doppler laser radar 216 is approximately 120° to 150°, and the horizontal field of view angle of the long-range optical radar 217 is approximately 110°. The third Doppler laser radar 216 and the long-range optical radar 217 cooperate to sense obstacles behind the vehicle body and measure the speed and distance of moving obstacles behind the vehicle body. They can still have good perception functions in harsh environments such as rainy and foggy weather, and can be suitable for reversing in low visibility.

[0050] The camera device 22 in the rear perception module 2E includes a third infrared camera 225. The horizontal field of view of the third infrared camera 225 is approximately 90°, which can detect obstacles behind the vehicle body in low visibility.

[0051] like Figure 5 As shown, by cooperating with the roof sensing module 2A, the left side sensing module 2B, the right side sensing module 2C, the front sensing module 2D and the rear sensing module 2E, 360° all-round coverage without blind spots can be achieved for the surrounding environment of the dump truck body 1 (in Figure 5 In the example, since the fields of view of the left-hand sensing module 2B and the right-hand sensing module 2C are covered by the field of view of the roof sensing module 2A, Figure 5 The field of view of the left-side sensing module 2B and the right-side sensing module 2C are not shown).

[0052] Furthermore, if Figure 1 and Figure 2 As shown, in this embodiment, the roof sensing module 2A is arranged at the front edge of the top of the vehicle head 11.

[0053] The first ultrasonic radar array 214 in the left-side sensing module 2B is set at the lower position of the left side of the front of the vehicle 11, specifically, it can be set close to the left wheel arch, the lower part of the left door, the left headlight and other positions; the first camera 223 in the left-side sensing module 2B is set at the upper position of the left side of the front of the vehicle 11, specifically, it can be set close to the upper part of the left door, the left rearview mirror and other positions.

[0054] The second ultrasonic radar array 215 in the right-hand side perception module 2C is arranged at the lower position of the right side of the front of the vehicle 11, specifically, it can be arranged close to the right wheel arch, the lower part of the right door, the right headlight, etc.; the second camera 224 in the right-hand side perception module 2C is arranged at the upper position of the right side of the front of the vehicle 11, specifically, it can be arranged close to the upper part of the right door, the right rearview mirror, etc.

[0055] The forward sensing module 2D is mounted on the front bumper 111 of the front end 11 and is positioned in the middle of the front bumper 111 along the left-right direction X of the dump truck body 1. The second Doppler laser radar 213 and the second infrared camera 222 in the forward sensing module 2D are positioned close to each other.

[0056] The rearward sensing module 2E is located below the cargo box 13 and in the middle of the rear end 12 along the left-right direction X of the dump truck body 1. The third Doppler laser radar 216, long-range optical radar 217, and third infrared camera 225 in the rearward sensing module 2E are positioned close to each other.

[0057] Furthermore, if Figures 1 to 3 As shown, in this embodiment, in order to extend the service life of each sensing module 2 in harsh environments, each sensing module 2 can be embedded into the edge of the corresponding installation location on the vehicle body during installation, for example, into a recessed area of ​​the front bumper 111, side door, wheel arch, etc. At the same time, each sensing module 2 is also provided with a mask 24, which has impact resistance, dustproof, and waterproof properties. The mask 24 is connected to the dump truck body 1 and covers the radar device 21 and / or camera device 22 in the corresponding sensing module 2 (preferably, the mask 24 covers both the radar device 21 and the camera device 22), thereby extending the service life of the radar device 21 and / or the camera device 22.

[0058] The structure and form of the corresponding mask 24 may vary depending on the structure and installation location of each sensing module 2. When the mask 24 covers at least the camera 22 in the corresponding sensing module 2, the mask 24 is generally transparent to prevent the mask 24 from affecting the imaging effect of the camera 22.

[0059] Furthermore, if Figures 1 to 3 As shown, in this embodiment, the mask members 24 in the left-side sensing module 2B, the right-side sensing module 2C, the front-side sensing module 2D and the rear-side sensing module 2E are all shell-shaped structures.

[0060] The shielding member 24 in the roof sensing module 2A is a rotating cover 241, which can be a transparent cylindrical structure. The radar device 21 and the camera device 22 in the roof sensing module 2A are both disposed within the rotating cover 241. The rotating cover 241 is rotatably connected to the vehicle front 11. The rotating cover 241 can rotate 360 ​​degrees horizontally relative to the vehicle front 11, thereby allowing the roof sensing module 2A to rotate 360 ​​degrees horizontally relative to the vehicle front 11. A rotation drive device is connected to the rotating cover 241 and is used to drive the rotating cover 241 to rotate relative to the vehicle front 11.

[0061] Furthermore, if Figure 4 As shown, in this embodiment, each perception module 2 is further provided with a data processing module 23, which may specifically be an arithmetic unit, an MCU (microcontroller unit), etc. The radar device 21 and the camera device 22 in each perception module 2 are both electrically connected to the data processing module 23. In other words, each perception module 2 is further integrated with a data processing module 23 (the data processing module 23 may be integrated into the corresponding radar device 21 or camera device 22, or may be provided separately). The dump truck also includes a main controller 3 (i.e., a central processing unit / ECU), and the data processing module 23 in each perception module 2 is electrically connected to the main controller 3.

[0062] Specifically, by integrating a data processing module 23 into each perception module 2, each data processing module 23 can analyze and process the data collected by the corresponding radar device 21 and camera device 22 in advance, and then transmit the processed data to the main controller 3. The main controller 3 analyzes and calculates the data transmitted by each data processing module 23, thereby controlling the movement of the dump truck (including acceleration, deceleration, steering, stopping, etc.). Such a setting can reduce the computing load of the main controller 3 and improve the perception and response speed of the system (if the radar device 21 and camera device 22 in each perception module 2 are directly connected to the main controller 3 by electrical signals, the main controller 3 needs to directly process the data of many sensors, which not only greatly increases the computing load of the main controller 3, but also reduces the perception and response speed of the system).

[0063] Furthermore, if Figure 1 and Figure 4As shown, in this embodiment, the dump truck also includes a positioning module 4 and a communication module 5. The positioning module 4 and the communication module 5 are located near the roof sensing module 2A and are both located on top of the vehicle's front end 11, thereby improving the signal strength of the positioning module 4 and the communication module 5. The positioning module 4 and the communication module 5 are both electrically connected to the main controller 3. The positioning module 4 is used to receive and transmit the dump truck's location information to the main controller 3; the communication module 5 is used to conduct remote wireless communication with a remote control terminal. The main controller 3 can wirelessly transmit the dump truck's location information and data detected by each sensing module 2 to the remote control terminal via the communication module 5, and receive control signals from the remote control terminal via the communication module 5, thereby realizing remote monitoring and scheduling of the dump truck.

[0064] The positioning module 4 may include a GPS positioning module, a BD (Beidou) positioning module, a GPS / BD dual positioning module, etc. The positioning module 4 also includes an inertial navigation function to improve the dump truck's navigation capabilities in areas with unstable signals. The communication module 5 may include a 4G network communication module, a 5G network communication module, etc.

[0065] The advantages of the dump truck provided by this embodiment include:

[0066] (1) By setting a roof sensing module 2A with dynamically adjustable angle, the field of view direction is automatically adjusted under different driving conditions, and a left-side sensing module 2B, a right-side sensing module 2C, a forward sensing module 2D, and a rearward sensing module 2E are set for assistance, thereby reducing or eliminating the blind spots of the field of view of the sensing module 2, improving the reliability of the sensing module 2, and further improving the driving safety of the dump truck.

[0067] (2) Each sensing module 2 is provided with a mask 24 , which covers the radar device 21 and / or the camera device 22 in the corresponding sensing module 2 , thereby increasing the life of the radar device 21 and / or the camera device 22 .

[0068] (3) By integrating a data processing module 23 in each perception module 2, each data processing module 23 can analyze and process the data collected by the corresponding radar device 21 and the camera device 22 in advance, and then transmit the processed data to the main controller 3. The main controller 3 performs analysis and calculation based on the data transmitted by each data processing module 23, thereby reducing the computing load of the main controller 3 and improving the perception and response speed of the system.

[0069] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A dump truck, comprising a dump truck body (1) and a plurality of sensing modules (2) arranged on the dump truck body (1), wherein the dump truck body (1) comprises a front end (11) and a rear end (12), and is characterized in that: The plurality of sensing modules (2) include a roof sensing module (2A), a left-side sensing module (2B), a right-side sensing module (2C), a forward sensing module (2D), and a backward sensing module (2E), and each of the sensing modules (2) is provided with a radar device (21) and a camera device (22); The roof sensing module (2A) is arranged on the top of the vehicle head (11), and the roof sensing module (2A) is rotatable relative to the vehicle head (11). The roof sensing module (2A) is used to detect and identify the environment in front, behind, left and right of the dump truck body (1); The left-hand side perception module (2B) and the right-hand side perception module (2C) are respectively arranged on the left and right sides of the vehicle head (11), and the left-hand side perception module (2B) and the right-hand side perception module (2C) are respectively used to detect and identify the environments on the left and right sides of the dump truck body (1); The forward sensing module (2D) is arranged at the front of the vehicle head (11), and is used to detect and identify the environment in front of the dump truck body (1); The rearward sensing module (2E) is arranged at the rear of the vehicle tail (12), and is used to detect and identify the environment behind the dump truck body (1).

2. The dump truck according to claim 1, wherein: Each sensing module (2) is further provided with a mask (24), the mask (24) being connected to the dump truck body (1), and the mask (24) covering the radar device (21) and / or the camera device (22) in the corresponding sensing module (2).

3. The dump truck according to claim 2, wherein: The masking member (24) in the vehicle roof sensing module (2A) is a rotating cover (241), the radar device (21) and the camera device (22) in the vehicle roof sensing module (2A) are both arranged in the rotating cover (241), the rotating cover (241) is rotatably connected to the vehicle head (11), and the rotating cover (241) can rotate 360 ​​degrees relative to the vehicle head (11) in the horizontal direction.

4. The dump truck according to claim 3, wherein: The dump truck further comprises a rotation drive device, which is arranged on the vehicle head (11) and connected to the rotating cover (241). The rotation drive device is used to drive the rotating cover (241) to rotate relative to the vehicle head (11).

5. The dump truck according to claim 2, wherein: The mask (24) at least covers the corresponding camera device (22) in the sensing module (2), and the mask (24) is a transparent structure.

6. The dump truck according to claim 1, wherein: The radar device (21) in the vehicle roof sensing module (2A) includes a first Doppler laser radar (211) and a frequency modulated continuous wave radar (212), and the camera device (22) in the vehicle roof sensing module (2A) includes a first infrared camera (221); And / or, the radar device (21) in the left-side perception module (2B) includes a first ultrasonic radar array (214), and the camera device (22) in the left-side perception module (2B) includes a first camera (223); And / or, the radar device (21) in the right-side perception module (2C) includes a second ultrasonic radar array (215), and the camera device (22) in the right-side perception module (2C) includes a second camera (224); And / or, the radar device (21) in the forward perception module (2D) includes a second Doppler laser radar (213), and the camera device (22) in the forward perception module (2D) includes a second infrared camera (222); And / or, the radar device (21) in the rearward perception module (2E) includes a third Doppler laser radar (216) and a long-range optical radar (217), and the camera device (22) in the rearward perception module (2E) includes a third infrared camera (225).

7. The dump truck according to claim 1, wherein: The camera device (22) in the left-hand side perception module (2B) can rotate relative to the vehicle head (11); and / or the camera device (22) in the right-hand side perception module (2C) can rotate relative to the vehicle head (11).

8. The dump truck according to claim 1, wherein: The forward sensing module (2D) is arranged on the front bumper (111) of the vehicle head (11); along the left-right direction (X) of the dump truck body (1), the forward sensing module (2D) is arranged at a middle position of the front bumper (111); And / or, along the left-right direction (X) of the dump truck body (1), the rearward sensing module (2E) is arranged at a middle position behind the rear end (12).

9. The dump truck according to any one of claims 1 to 8, characterized in that: Each of the perception modules (2) is further provided with a data processing module (23), and the radar device (21) and the camera device (22) in each of the perception modules (2) are both electrically connected to the data processing module (23); the dump truck further comprises a main controller (3), and the data processing module (23) in each of the perception modules (2) is both electrically connected to the main controller (3).

10. The dump truck according to claim 9, characterized in that The dump truck further comprises a positioning module (4) and a communication module (5), both of which are arranged on the top of the vehicle head (11), and both of which are connected to the main controller (3) via electrical signals.

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