Multi-sensor fusion roadside device

Abstract

The utility model discloses a kind of multi-sensor fusion roadside equipment for mine stone crushing crushing operation scene, equipment includes electric cabinet and support seat, electric cabinet is installed laser radar and monocular camera by bracket with double-degree-of-freedom hinge outside, inside integrated edge computer, switch, router, mobile power supply and fan;Support seat is fixed at electric cylinder push rod end, electric cylinder body and base are fixed ground by anchor bolt, can flexibly adjust electric cabinet height.The utility model uses above structure, can avoid vibration interference, ensure that sensor data is reliable, realize operation area full coverage perception, improve the automation and security of mine unmanned crushing operation, adapt to mine harsh operation environment, with higher practical value.

Description

Technical Field

[0001] This utility model relates to the field of intelligent mining equipment technology, specifically a roadside device that integrates multiple sensors. Background Technology

[0002] Crushing operations in mines are a crucial link in the mineral resource extraction and processing process. Traditional operations rely on manual operation of crushers, which not only faces problems such as harsh working environments (e.g., high dust and noise levels) and high labor intensity, but also poses a risk of safety accidents due to human error. With the development of intelligent and unmanned technologies in mining, unmanned crushers are gradually replacing traditional manned equipment, becoming core equipment for improving operational efficiency and ensuring operational safety. The core operating logic of unmanned crushers lies in "driverless operation," relying entirely on environmental information collected by sensors (such as the distribution of crushed stone, the location of obstacles, and the surrounding conditions of the equipment) to achieve autonomous positioning, path planning, and crushing operations, combined with preset algorithms. However, the unique nature of mining crushing operations presents insurmountable technical challenges to directly deploying sensors on unmanned crushers. First, the unmanned crusher generates severe and continuous vibrations during crushing operations. These vibrations are directly transmitted to the sensors (such as lidar and cameras) mounted on the machine, causing significant fluctuations and reduced accuracy in the data collected by the sensors. This can even damage internal components of the sensors, preventing them from outputting reliable environmental perception information stably. Second, to ensure crushing efficiency, a reasonable safe distance must be maintained between the sensors and the crushed stone. If the sensors move with the crusher, the distance between the sensors and the crushed stone can easily become too close due to flying debris or changes in the equipment's position during operation, leading to sensor contamination or physical damage. Third, the crusher's complex structure and susceptibility to obstruction by debris and dust during operation make it difficult to obtain an unobstructed, full-view perception range when sensors are directly mounted on the machine. This can easily create blind spots and fail to cover the entire working area. Finally, the crusher's posture adjusts according to operational needs during operation. The fixed installation position and angle of the sensors lack flexibility and cannot adapt to different perception angles based on changes in the working area, further limiting the comprehensiveness of environmental information collection. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide a roadside device with multi-sensor fusion, which can solve the technical problems of unreliable perception data, easy sensor damage, and incomplete coverage of the working area caused by vibration, close distance, field of vision obstruction and non-adjustable angle when the unmanned crusher is directly equipped with sensors in the mining crushing operation scenario. It realizes the comprehensive and accurate collection and stable processing of environmental information of the working area, and can interact with the industrial control computer of the unmanned crusher in real time, providing reliable data support for the autonomous and safe operation of the unmanned crusher.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a roadside device with multi-sensor fusion, including an electrical cabinet and a support base. The electrical cabinet is equipped with a lidar and a monocular camera on the outside of the cabinet via a bracket, and the electrical cabinet is installed on the top of the support base. The support base is fixedly installed on the end of the electric cylinder push rod of the electric cylinder body. The electric cylinder body is fixed on the electric cylinder base, and the electric cylinder base is fixed to the ground by anchor bolts.

[0005] In a preferred embodiment, the electrical cabinet is provided with multiple supports on its exterior. Each support includes a support base fixed to the outer wall of the electrical cabinet, and a support connector is provided on the support base. The lidar and monocular camera are fixed on the support connector.

[0006] In a preferred embodiment, a bracket hinge is provided between the bracket base and the bracket connector, and the bracket hinge is used to enable free-view rotation of the lidar and monocular camera on the bracket connector.

[0007] In a preferred embodiment, the electrical cabinet is equipped with an edge computer, a switch, and a router. The edge computer works with the switch to enable data communication with multiple LiDARs and monocular cameras.

[0008] In a preferred embodiment, the router provides network access to the edge computer, as well as multiple LiDAR and monocular cameras, by inserting a traffic card.

[0009] In a preferred embodiment, a fan is provided on the side wall of the electrical cabinet on one side of the edge computer.

[0010] In a preferred embodiment, the electrical cabinet is equipped with a mobile power supply, which is used to power the fan, edge computer, switch, router, lidar, and monocular camera.

[0011] In a preferred embodiment, the electrical cabinet has a mesh opening on its side wall.

[0012] The multi-sensor fusion roadside device provided by this utility model, by adopting the above-described structure, has the following beneficial effects: (1) The roadside equipment is independently fixed to the ground by the electric cylinder base and the anchor bolts, which is physically isolated from the unmanned crusher and completely avoids the violent vibration during the operation of the crusher. Compared with the sensors being directly mounted on the crusher, the lidar and monocular camera do not need to withstand vibration, and can stably output high-precision data such as the distribution of crushed stones and the location of obstacles. The data jitter rate is greatly reduced, and the sensors can also be prevented from being damaged by vibration, thus extending their service life and laying a solid perception foundation for the autonomous operation of the unmanned crusher. (2) The height of the electrical cabinet can be flexibly adjusted by the electric cylinder push rod. It can accurately control the safe distance between the sensor and the crushed stone according to the height of the crushed stone accumulation and the working radius of the crusher, so as to prevent the crushed stone from splashing and damaging or contaminating the sensor. At the same time, the multiple brackets on the outside of the electrical cabinet, together with the double degree of freedom hinge, can realize the full-angle arrangement and viewing angle adjustment of the sensor. Combined with the unobstructed installation position on the roadside, it eliminates the perception blind spots caused by the machine body and dust, fully covers the working area, and meets the full-condition information collection needs of the unmanned crusher. (3) The edge computer, switch, and router in the electrical cabinet form a complete link: the switch solves the problem of insufficient network ports of the edge computer and efficiently aggregates data from multiple sensors; the edge computer processes data in real time and reduces transmission delay; the router uses a data SIM card to build a stable network and ensures real-time interaction with the industrial control computer of the unmanned crusher. Compared with the traditional "sensor-remote server-industrial control computer" mode, it realizes the integration of "acquisition-processing-transmission", improves data processing efficiency, enables the unmanned crusher to respond quickly to operation adjustments, and improves the automation level of mining crushing operations. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0014] Figure 2 This is a schematic diagram of the external structure of the electrical cabinet of this utility model.

[0015] Figure 3 This is a schematic diagram of the internal structure of the electrical cabinet of this utility model.

[0016] Figure 4 This is a schematic diagram of the support structure of this utility model.

[0017] In the diagram: 1. Electrical cabinet; 2. LiDAR; 3. Monocular camera; 4. Bracket hinge; 5. Bracket connector; 6. Bracket base; 7. Network port; 8. Fan; 9. Edge computer; 10. Switch; 11. Router; 12. Power bank; 13. Support base; 14. Electric cylinder push rod; 15. Electric cylinder body; 16. Electric cylinder base. Detailed Implementation

[0018] like Figure 1 In the present invention, a roadside device with multi-sensor fusion includes an electrical cabinet 1 and a support base 13. The electrical cabinet 1 is equipped with a lidar 2 and a monocular camera 3 mounted on the outside of the cabinet via a bracket. The electrical cabinet 1 is mounted on the top of the support base 13. The support base 13 is fixedly installed on the end of the electric cylinder push rod 14 of the electric cylinder body 15. The electric cylinder body 15 is fixed on the electric cylinder base 16, and the electric cylinder base 16 is fixed to the ground by anchor bolts.

[0019] In a preferred embodiment, the appliance cabinet 1 is provided with multiple supports on its exterior. Each support includes a support base 6 fixed to the outer wall of the appliance cabinet 1. The support base 6 is provided with a support connector 5, and the lidar 2 and the monocular camera 3 are fixed to the support connector 5.

[0020] In a preferred embodiment, a bracket hinge 4 is provided between the bracket base 6 and the bracket connector 5. The bracket hinge 4 is used to enable the free-view rotation of the lidar 2 and the monocular camera 3 on the bracket connector 5.

[0021] In a preferred embodiment, the electrical cabinet 1 is equipped with an edge computer 9, a switch 10, and a router 11. The edge computer 9 works with the switch 10 to achieve data communication with multiple lidar 2 and monocular cameras 3.

[0022] In a preferred embodiment, the router 11 provides network access to the edge computer 9, multiple lidar sensors 2, and monocular cameras 3 by inserting a data SIM card.

[0023] In a preferred embodiment, a fan 8 is provided on the side wall of the electrical cabinet 1 on one side of the edge computer 9.

[0024] In a preferred embodiment, the electrical cabinet 1 is equipped with a mobile power supply 12, which is used to power the fan 8, edge computer 9, switch 10, router 11, lidar 2, and monocular camera 3.

[0025] In a preferred embodiment, the electrical cabinet 1 has a mesh port 7 on its side wall.

[0026] The operating principle of the multi-sensor fusion roadside device disclosed in this utility model is as follows: After the equipment is started, the electric cylinder push rod 14 is first extended to a height of 1.2m, so that the sensor is higher than the height of the rock fragments splashing in the mining operation area; the mobile power supply 12 starts to supply power, and the fan 8 starts to dissipate heat (the temperature is maintained at 45-55℃ when the edge computer is working). The lidar 2 and the monocular camera 3 collect point cloud and image data of the operation area, which are transmitted to the edge computer 9 via the switch 10. The edge computer 9 processes the data through a preset fusion algorithm (based on the PCL point cloud library and the OpenCV vision library), identifies the outline of the rock pile and the location of obstacles (such as personnel or equipment that have accidentally entered the operation area). The processed data is sent in real time to the industrial control computer of the unmanned crusher through the 4G network of the router 11, with a transmission delay of ≤100ms, providing data support for the autonomous crushing path planning of the unmanned crusher.

[0027] When the power bank 12's charge level drops below 20% (monitored by the edge computer), the control cylinder push rod 14 retracts to its lowest position. The power compartment door at the bottom of the electrical cabinet 1 is then removed, and the power bank 12 is taken out for charging (charging time is approximately 8 hours). After replacing the power bank with a fully charged one, the push rod is extended back to the designated height. The sensor surface is checked weekly for dust and cleaned with compressed air. The bracket bolts and the tightness of the electric cylinder connection are checked monthly to ensure stable operation of the equipment in the vibration environment of the mine.

Claims

1. A roadside device with multi-sensor fusion, characterized in that: It includes an electrical cabinet (1) and a support base (13). The electrical cabinet (1) is equipped with a laser radar (2) and a monocular camera (3) on its exterior via a bracket. The electrical cabinet (1) is mounted on the top of the support base (13). The support base (13) is fixedly installed at the end of the electric cylinder push rod (14) of the electric cylinder body (15). The electric cylinder body (15) is fixed on the electric cylinder base (16), and the electric cylinder base (16) is fixed to the ground by anchor bolts.

2. The roadside device with multi-sensor fusion according to claim 1, characterized in that: The appliance cabinet (1) is provided with multiple brackets on the outside. The brackets include a bracket base (6) fixed on the outer wall of the appliance cabinet (1). A bracket connector (5) is provided on the bracket base (6). The laser radar (2) and the monocular camera (3) are fixed on the bracket connector (5).

3. A roadside device for multi-sensor fusion according to claim 2, characterized in that: A bracket hinge (4) is provided between the bracket base (6) and the bracket connector (5). The bracket hinge (4) is used to enable the free-view rotation of the laser radar (2) and the monocular camera (3) on the bracket connector (5).

4. A roadside device for multi-sensor fusion according to claim 1, characterized in that: The electrical cabinet (1) is equipped with an edge computer (9), a switch (10) and a router (11). The edge computer (9) works with the switch (10) to achieve data communication with multiple lidar (2) and monocular camera (3).

5. A roadside device for multi-sensor fusion according to claim 4, characterized in that: The router (11) provides network access to the edge computer (9) and multiple lidar (2) and monocular camera (3) by inserting a traffic card.

6. A roadside device for multi-sensor fusion according to claim 4, characterized in that: A fan (8) is provided on the side wall of the electrical cabinet (1) on one side of the edge computer (9).

7. A roadside device for multi-sensor fusion according to claim 6, characterized in that: The electrical cabinet (1) is equipped with a mobile power supply (12), which is used to power the fan (8), edge computer (9), switch (10), router (11), lidar (2) and monocular camera (3).

8. A roadside device for multi-sensor fusion according to claim 4, characterized in that: The electrical cabinet (1) has a mesh opening (7) on its side wall.

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