Mine unmanned perception device and mine vehicle

Abstract

This utility model provides an unmanned mining sensing device and a mining vehicle. The unmanned mining sensing device includes a mounting base, a front cover plate, a radar mechanism, a base, and a first shock-absorbing mechanism. The mounting base and the front cover plate form a sealed cavity, providing effective protection for the radar mechanism and enabling it to withstand the impact of dust, water vapor, and flying rocks in the harsh mining environment. The base design uses multiple welded plates spaced along its length, greatly enhancing the connection strength and stability between the device and the welding seat of the mining vehicle, effectively preventing loosening or deformation caused by severe road bumps. The first shock-absorbing mechanism, located between the radar mechanism and the sensing device, can significantly absorb and buffer the vibrations and impacts generated during vehicle movement, protecting the internal precision sensors from damage and ensuring the accuracy of data acquisition and the reliability of system operation.

Description

Technical Field

[0001] This utility model relates to the field of unmanned mining equipment technology, specifically to an unmanned mining sensing device and a mining vehicle. Background Technology

[0002] With the continuous advancement of technology, mining operations are gradually moving towards automation and intelligence. As a key component of mining automation systems, the performance of the perception system in unmanned mining trucks directly determines the safety level and operational efficiency of the entire vehicle. In the complex mining environment, unmanned mining trucks rely on various high-precision perception devices to achieve comprehensive perception of their surroundings, including core functions such as obstacle recognition, path planning, and dynamic obstacle avoidance. These devices typically encompass multiple sensors, including millimeter-wave radar and lidar, enabling real-time acquisition of high-precision data on the vehicle's surroundings, providing crucial information support for unmanned driving decision-making and control.

[0003] However, existing installation schemes for unmanned multi-sensor devices in mining still have several significant limitations. First, the sensing devices are usually fixedly installed in specific locations on the mining truck, making installation and disassembly complex and hindering rapid maintenance and equipment deployment. This limits the flexibility and maintainability of the system. Furthermore, existing installation structures often lack targeted vibration reduction designs, making it difficult to effectively protect internal precision components such as optical calibration elements and electronic acquisition modules, thereby affecting the measurement accuracy and operational stability of sensors such as lidar.

[0004] Therefore, there is an urgent need for an unmanned sensing device and mining vehicle for mining to solve the above-mentioned technical problems. Utility Model Content

[0005] In view of the problems existing in the prior art, one of the objectives of this utility model is: In a first aspect, this utility model provides an unmanned sensing device for mining, comprising: Mounting base; A front cover plate, which is fixedly connected to the mounting base, and the front cover plate and the mounting base together form an accommodating cavity; A radar mechanism, which is fixed to the mounting base and the radar is located within the accommodating cavity; A base is fixed to the bottom of the mounting base. Multiple welding plates are spaced apart along the length of the base on the side of the base away from the mounting base. The welding plates are used to fix and connect with the welding seat of the mining car. A first shock-absorbing mechanism is disposed within the accommodating cavity and is located between the radar mechanism and the mounting base. In one embodiment, the welding plate of the welding base has an arc-shaped structure, and reinforcing ribs are provided at the connection between the welding plate and the base.

[0006] In one embodiment, the mounting base has a first wire passage and a second wire passage, and the front cover plate has a third wire passage. The second wire passage and the third wire passage are arranged in a one-to-one correspondence, and a sealing bushing is provided at both the first wire passage and the third wire passage.

[0007] In one embodiment, the mounting base includes a base body, a first mounting plate, a second mounting plate, and a mounting groove. The first mounting plate, the second mounting plate, and the mounting groove are fixed to the base body. The radar mechanism includes a first radar, a second radar, and a third radar. The first radar is fixed to the first mounting plate, the second radar is fixed to the second mounting plate, and the third radar is fixed to the mounting groove.

[0008] In one embodiment, the front cover plate has multiple acquisition ports, and the radar mechanism includes multiple radars, with each acquisition port corresponding to one of the multiple radars.

[0009] In one embodiment, the first damping mechanism includes a mounting plate and a first damping member, one end of the first damping member is fixed to the mounting base, and the other end of the first damping member is fixedly connected to the mounting plate, and the radar mechanism is fixed to the mounting plate.

[0010] In one embodiment, an angle adjustment mechanism is further included, which is disposed between the mounting base and the base. The angle adjustment mechanism includes an upper connecting seat, a lower connecting seat, and an adjustment component. The lower connecting seat is fixed to the top of the base, the upper connecting seat is fixed to the bottom of the mounting base, and the adjustment component is disposed between the upper connecting seat and the lower connecting seat. The adjustment component is used to adjust the tilt angle of the mounting base relative to the base.

[0011] In one embodiment, a second damping mechanism is further included, which is disposed between the mounting base and the base.

[0012] In one embodiment, a temperature control system is also included, comprising a fan and a temperature sensor, the temperature sensor being used to monitor the temperature inside the accommodating cavity and to control the fan to turn on or off based on the temperature inside the accommodating cavity.

[0013] Secondly, this utility model also provides a mining vehicle, including the mining unmanned driving sensing device as described above, and a welding base, wherein the welding plate is fixedly connected to the welding base.

[0014] Compared with the prior art, the advantages of this utility model are as follows: This application provides a mining unmanned driving sensing device and a mining vehicle. The mining unmanned driving sensing device includes a mounting base, a front cover plate, a radar mechanism, a base, and a first shock absorption mechanism. The mounting base and the front cover plate form a sealed accommodating cavity, providing effective protection for the radar mechanism and enabling it to withstand the impact of dust, water vapor, and flying rocks in the harsh mining environment. The base design uses multiple welded plates spaced along the length direction, which greatly enhances the connection strength and stability between the device and the welding seat of the mining vehicle, effectively preventing loosening or deformation caused by severe road bumps. The first shock absorption mechanism, located between the radar mechanism and the safety device, can significantly absorb and buffer the vibration and impact generated during vehicle operation, protecting the internal precision sensors from damage and ensuring the accuracy of data acquisition and the reliability of system operation. Attached Figure Description

[0015] Figure 1 An exploded view of a mining unmanned sensing device provided for some embodiments of this application.

[0016] Figure 2 This is a schematic diagram of the structure of a mining unmanned sensing device provided in some embodiments of this application.

[0017] Figure 3 This is a schematic diagram of the structure of a mounting base for an unmanned mining sensing device provided in some embodiments of this application.

[0018] Figure 4 This is a schematic diagram of the structure of the front cover plate of a mining unmanned sensing device provided in some embodiments of this application.

[0019] Figure 5 This is a schematic diagram of the structure of the first shock absorption mechanism of a mining unmanned sensing device provided in some embodiments of this application.

[0020] Figure label: 1. First radar; 2. Front cover plate; 21. Third cable entry port; 22. Data acquisition port; 3. Second radar; 4. Mounting base; 41. First cable pass-through port; 42. Second cable pass-through port; 43. Base body; 44. First mounting plate; 45. Second mounting plate; 46. Mounting groove; 5. Third radar; 6. First shock absorber; 7. Mounting plate; 8. Base; 9. Welding plate. Detailed Implementation

[0021] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0022] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0023] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0024] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or a joint; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0025] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0026] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0027] The present invention will be further described below with reference to the accompanying drawings.

[0028] Firstly, see Figures 1-5 An embodiment of this application provides a mining unmanned driving sensing device, which includes a mounting base 4, a front cover plate 2, a radar mechanism, a base 8, and a first shock absorption mechanism. The front cover plate 2 is fixedly connected to the mounting base 4, and the front cover plate 2 and the mounting base 4 enclose a cavity. The radar mechanism is fixed to the mounting base 4, and the radar is located inside the cavity. The base 8 is fixed to the bottom of the mounting base 4. On the side of the base 8 away from the mounting base 4, a plurality of welding plates 9 are spaced apart along the length direction of the base 8. The welding plates 9 are used to fix and connect to the welding seat of the mining vehicle. The first shock absorption mechanism is disposed inside the cavity and is located between the radar mechanism and the mounting base 4. The unmanned mining sensing device provided in this embodiment uses a mounting base 4 and a front cover plate 2 to form a sealed cavity, providing effective protection for the radar mechanism and enabling it to withstand the impact of dust, water vapor, and flying rocks in the harsh mining environment. The base 8 is designed with multiple welded plates 9 spaced apart along its length, greatly enhancing the connection strength and stability between the device and the mining vehicle's welded seat, effectively preventing loosening or deformation caused by severe road bumps. A first shock-absorbing mechanism located between the radar mechanism and the safety device can significantly absorb and buffer vibrations and impacts generated during vehicle movement, protecting the internal precision sensors from damage and ensuring the accuracy of data acquisition and the reliability of system operation.

[0029] like Figure 1 and Figure 2 As shown, in some embodiments, the welding plate 9 of the welding base 8 has an arc-shaped structure, and reinforcing ribs are provided at the connection between the welding plate 9 and the base 8.

[0030] The welding plate 9 of the base 8 adopts an arc-shaped structure design, which allows the welding plate 9 to fit tightly against the bumper of the mining vehicle and the curved contour of the welding base 8, thereby greatly increasing the welding contact area and improving the connection strength and stability. In addition, the reinforcing ribs set at the connection between the welding plate 9 and the base 8 can effectively enhance the structural rigidity and bending resistance of the connection part, and can disperse the stress and vibration impact from the vehicle body, preventing weld cracking or structural deformation under long-term harsh working conditions, thus ensuring the installation of the entire sensing equipment is firm, reliable and durable.

[0031] like Figures 1-4 As shown, in some embodiments, the mounting base 4 is provided with a first wire passage 41 and a second wire passage 42, and the front cover plate 2 is provided with a third wire passage 21. The second wire passage 42 and the third wire passage 21 are provided in a one-to-one correspondence, and a sealing bushing is provided at both the first wire passage 41 and the third wire passage 21.

[0032] The mounting base 4 and the front cover plate 2 are respectively set with corresponding cable passages, and cooperate with the sealing bushing to form a continuous and sealed cable passage. This not only effectively organizes and guides the direction of the internal cables, avoiding messy cables and cable tangling, but also significantly improves the sealing effect of each cable passage through the protection of the sealing bushing. It can reliably prevent external rainwater, dust and other pollutants from entering the equipment cavity through the cable passage, thereby ensuring the long-term stable operation and service life of the internal radar and other precision sensing components in the harsh mining environment.

[0033] like Figures 1-3 As shown, in some embodiments, the mounting base 4 includes a base body 43, a first mounting plate 44, a second mounting plate 45, and a mounting groove 46. The first mounting plate 44, the second mounting plate 45, and the mounting groove 46 are fixed to the base body 43. The radar mechanism includes a first radar 1, a second radar 3, and a third radar 5. The first radar 1 is fixed to the first mounting plate 44, the second radar 3 is fixed to the second mounting plate 45, and the third radar 5 is fixed to the mounting groove 46.

[0034] By assembling the base 43, the first mounting plate 44, the second mounting plate 45, and the mounting groove 46 into a mounting base 4 structure, an independent and stable mounting position can be provided for the first radar 1, the second radar 3, and the third radar 5. This ensures the precise spatial arrangement and reliable fixation of each radar, effectively avoids mutual signal interference, simplifies the assembly process, facilitates rapid on-site installation and maintenance, and improves the structural stability and data acquisition consistency of the entire mine unmanned sensing equipment in the complex vibration environment of the mine truck.

[0035] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the front cover plate 2 is provided with multiple acquisition ports 22, and the radar mechanism includes multiple radars, with each acquisition port 22 corresponding to one of the multiple radars.

[0036] By opening multiple acquisition ports 22 on the front cover plate 2, corresponding one-to-one with multiple radars, an independent detection channel can be provided for each radar sensor. This can minimize the obstruction and interference of structural components on the sensor detection beam, ensure that each radar has a wide and unobstructed field of view, and thus guarantee the integrity and accuracy of the sensing signal acquisition. This effectively improves the overall perception capability and reliability of the entire unmanned mining sensing equipment in complex mining environments.

[0037] like Figure 1 and Figure 5 As shown, in some embodiments, the first damping mechanism includes a mounting plate 7 and a first damping member 6. One end of the first damping member 6 is fixed to the mounting base 4, and the other end of the first damping member 6 is fixedly connected to the mounting plate 7. The radar mechanism is fixed to the mounting plate 7.

[0038] By placing the first shock absorber 6 between the mounting plate 7 and the mounting base 4, an effective vibration isolation buffer layer is constructed between the radar mechanism and the mining vehicle. This layer can significantly absorb and attenuate the severe vibration and impact energy transmitted to the vehicle body from the complex road surface, prevent stress from acting directly on the precision radar sensor, and thus effectively protect its internal optical and electronic components. This ensures the accuracy and stability of radar measurement data and extends the service life of the equipment under harsh working conditions.

[0039] like Figure 1 and Figure 2 As shown, in some embodiments, an angle adjustment mechanism is also included. The angle adjustment mechanism is disposed between the mounting base 4 and the base 8. The angle adjustment mechanism includes an upper connecting seat, a lower connecting seat, and an adjustment component. The lower connecting seat is fixed to the top of the base 8, the upper connecting seat is fixed to the bottom of the mounting base 4, and the adjustment component is disposed between the upper connecting seat and the lower connecting seat. The adjustment component is used to adjust the tilt angle of the mounting base 4 relative to the base 8.

[0040] By setting an angle adjustment mechanism between the mounting base 4 and the base 8, operators can precisely adjust the overall pitch angle of the mounting base 4 and each radar on it, thereby ensuring that the radar and other sensing devices can always maintain the optimal detection tilt angle according to different load conditions and road conditions, thus effectively expanding the detection range, avoiding blind spots, and significantly improving the perception accuracy and operational safety of unmanned mining trucks in complex mining environments.

[0041] like Figure 1 and Figure 2 As shown, in some embodiments, a second damping mechanism is also included, which is disposed between the mounting base 4 and the base 8.

[0042] By adding a second damping mechanism between the mounting base 4 and the base 8, the second damping mechanism and the first damping mechanism form a two-stage damping system for the entire sensing equipment assembly. This structure can further attenuate the vibration and impact transmitted from the body of the mining truck to the mounting base 4, providing overall protection for the radar mechanism and other sensors, effectively suppressing resonance, and significantly improving the equipment's adaptability to extreme road conditions and its reliability in long-term operation.

[0043] Specifically, the second damping mechanism consists of multiple dampers. Each damper includes an upper connector, a damping element, and a lower connector. The upper connector is connected to the bottom of the mounting base 4 by bolts, and the lower connector is connected to the top of the base 8 by bolts. The damping element is pre-compressed and encapsulated between the upper and lower connectors. The damping element absorbs and dissipates the vibration impact energy from the base 8 through the elastic deformation of the damping element.

[0044] like Figure 1 and Figure 2 As shown, in some embodiments, a temperature control system is also included, which includes a fan and a temperature sensor. The temperature sensor is used to monitor the temperature inside the accommodating cavity and control the fan to turn on or off based on the temperature inside the accommodating cavity.

[0045] By setting up a temperature control system consisting of a temperature sensor and a fan, the temperature inside the cavity can be monitored in real time, and the heat dissipation can be automatically started or stopped according to the temperature. This effectively solves the problem of overheating of the sensor in a confined space due to long-term operation or high-temperature environment. The accumulated heat is dissipated in time through forced convection, so that the internal electronic components are always maintained within a suitable operating temperature range. This ensures the measurement stability and data reliability of the sensing device under extreme climatic conditions and extends the service life of the sensing device.

[0046] Secondly, an embodiment of this application provides a mining vehicle, which includes the mining unmanned driving sensing device as described above, and also includes a welding seat, with the welding plate 9 fixedly connected to the welding seat.

[0047] The mining vehicle provided in this application embodiment provides a stable and reliable mounting base 4 for the entire sensing system by setting a welding seat and firmly connecting it with the welding plate 9 of the sensing device. This ensures that the sensing device and the vehicle body have extremely high connection rigidity and structural integrity, effectively resisting severe vibration and impact under extreme working conditions, preventing the equipment from loosening or shifting, thereby ensuring the continuity and accuracy of environmental perception data of the unmanned driving system, and thus improving the safety and reliability of the entire vehicle operation.

[0048] Although the present invention has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A mining unmanned sensing device, characterized in that, include: Mounting base; A front cover plate, which is fixedly connected to the mounting base, and the front cover plate and the mounting base together form an accommodating cavity; A radar mechanism, which is fixed to the mounting base and the radar is located within the accommodating cavity; A base is fixed to the bottom of the mounting base. Multiple welding plates are spaced apart along the length of the base on the side of the base away from the mounting base. The welding plates are used to fix and connect with the welding seat of the mining car. A first shock-absorbing mechanism is disposed within the accommodating cavity and is located between the radar mechanism and the mounting base.

2. The mine unmanned perception device of claim 1, wherein, The welding plate of the welding base has an arc-shaped structure, and reinforcing ribs are provided at the connection between the welding plate and the base.

3. The unmanned mining sensing device according to claim 1, characterized in that, The mounting base has a first wire passage and a second wire passage, and the front cover plate has a third wire passage. The second wire passage and the third wire passage are arranged in a one-to-one correspondence. A sealing bushing is provided at both the first wire passage and the third wire passage.

4. The unmanned mining sensing device according to claim 1, characterized in that, The mounting base includes a base body, a first mounting plate, a second mounting plate, and a mounting groove. The first mounting plate, the second mounting plate, and the mounting groove are fixed to the base body. The radar mechanism includes a first radar, a second radar, and a third radar. The first radar is fixed to the first mounting plate, the second radar is fixed to the second mounting plate, and the third radar is fixed to the mounting groove.

5. The unmanned mining sensing device according to claim 1, characterized in that, The front cover plate has multiple acquisition ports, and the radar mechanism includes multiple radars, with each acquisition port corresponding to one of the multiple radars.

6. The unmanned mining sensing device according to claim 1, characterized in that, The first shock absorption mechanism includes a mounting plate and a first shock absorber. One end of the first shock absorber is fixed to the mounting base, and the other end of the first shock absorber is fixedly connected to the mounting plate. The radar mechanism is fixed to the mounting plate.

7. The mine unmanned perception device of claim 1, wherein, It also includes an angle adjustment mechanism, which is disposed between the mounting base and the base. The angle adjustment mechanism includes an upper connecting seat, a lower connecting seat, and an adjustment component. The lower connecting seat is fixed to the top of the base, the upper connecting seat is fixed to the bottom of the mounting base, and the adjustment component is disposed between the upper connecting seat and the lower connecting seat. The adjustment component is used to adjust the tilt angle of the mounting base relative to the base.

8. The unmanned mining sensing device according to claim 1, characterized in that, It also includes a second shock-absorbing mechanism, which is disposed between the mounting base and the base.

9. The mine unmanned perception device of claim 1, wherein, It also includes a temperature control system, which includes a fan and a temperature sensor. The temperature sensor is used to monitor the temperature inside the accommodating cavity and control the fan to turn on or off based on the temperature inside the accommodating cavity.

10. A mining vehicle, characterized in that, The device includes the unmanned mining sensing device as described in any one of claims 1-9, and further includes a welding base, wherein the welding plate is fixedly connected to the welding base.

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