An unmanned mine car vehicle-mounted vision device

Abstract

The utility model discloses an unmanned mine car vehicle visual device, including the casing, set up in the lens and image sensor of casing, still include: temperature detection module is used for detecting the temperature in casing, temperature control module is connected temperature detection module, is used for according to the temperature signal of temperature detection module detected to the heating or cooling adjustment of casing inside, to maintain the temperature in casing is in the threshold value range of prearranged, and automatic focusing module includes the focusing mechanism that handles and is connected with the lens of processor, and processor receives the temperature signal of temperature detection module and controls focusing mechanism adjustment lens's focal length accordingly. The utility model discloses the structure that temperature detection module, temperature control module and automatic focusing module are combined, realized real -time monitoring and intelligent adjustment to the inside temperature of vehicle visual device, and through temperature feedback automatic compensation lens's focal length offset, solved the imaging fuzzy problem that causes because lens thermal expansion and cold contraction under the extreme temperature difference environment.

Description

Technical Field

[0001] This utility model relates to the field of mining equipment technology, and in particular to an onboard vision device for an unmanned mining truck. Background Technology

[0002] In recent years, with the continuous development of autonomous driving technology, driverless mining trucks have become a key component of intelligent mine operations. These vehicles typically rely on perception modules to acquire real-time information about their surroundings to achieve obstacle avoidance and path planning. Currently, mainstream perception solutions mostly use LiDAR sensors as sensing devices; however, their perception performance often degrades significantly under complex and harsh conditions such as dust, rain, snow, and slippery roads, thus affecting the operational safety and efficiency of the mining trucks. To address these issues, researchers have supplemented LiDAR sensors with onboard vision devices, namely onboard cameras, to improve perception efficiency.

[0003] However, the operating environment of driverless mining trucks is usually in open-pit mines, where the temperature varies greatly throughout the year (e.g., high temperatures can reach 50°C, and low temperatures can reach -50°C). These drastic temperature changes can cause the lens of the camera equipment to deform due to thermal expansion and contraction, which in turn causes the focal length of the image to shift, affecting image clarity. In addition, the mining environment can also easily cause the lens surface to be covered with dust or fog, which will also affect image clarity.

[0004] Currently, the common solutions to these problems still rely on manual focusing and lens cleaning. This method requires manual intervention, has a slow response time, is inconvenient to operate, and is inefficient, making it difficult to meet the high-intensity, continuous operation requirements of unmanned mining trucks.

[0005] Therefore, there is an urgent need for an onboard vision device that can automatically adapt to temperature changes and maintain image clarity in real time to improve the environmental adaptability of unmanned mining trucks. Utility Model Content

[0006] In view of the shortcomings of the prior art, the present invention provides an onboard vision device for unmanned mining trucks to solve at least one of the above-mentioned technical problems.

[0007] This utility model provides the following technical solution: An unmanned mining truck onboard vision device includes a housing, a lens and an image sensor disposed within the housing, and further includes: A temperature detection module is used to detect the temperature inside the housing; A temperature control module, connected to the temperature detection module, is used to heat or cool the interior of the housing based on the temperature signal detected by the temperature detection module, so as to maintain the temperature inside the housing within a preset threshold range; and An autofocus module includes a processor and a focusing mechanism connected to the lens. The processor receives a temperature signal from the temperature detection module and controls the focusing mechanism to adjust the focal length of the lens accordingly.

[0008] In one embodiment, the temperature detection module includes a first temperature sensor disposed at the lens.

[0009] In one embodiment, the focusing mechanism is a piezoelectric nanomechanism, which includes a piezoelectric ceramic actuator and a precision displacement transmission component connected thereto. The piezoelectric nanomechanism is configured to: in response to a control signal issued by the processor, generate a micro-displacement by the piezoelectric ceramic actuator, and drive the lens in the lens to move along the optical axis direction through the precision displacement transmission component, thereby precisely adjusting the focal length of the lens.

[0010] In one embodiment, the temperature detection module further includes a second temperature sensor, which is attached to the image sensor and used to detect the operating temperature of the image sensor.

[0011] In one embodiment, the temperature control module includes a controller and a temperature regulator, the temperature regulator includes a heater and a cooler, the controller includes a PID temperature controller and a relay, the PID temperature controller is connected to the temperature detection module and the relay, and the relay is connected to the heater and the cooler.

[0012] In one embodiment, the heater is an electric heating element or an electric heating film, and the lens is installed inside the lens barrel. When the heater is an electric heating film, it covers the outside of the lens barrel.

[0013] In one embodiment, the cooler includes a thermoelectric cooler and / or a cooling fan and / or a heat transfer module and a heat sink. The thermoelectric cooler is disposed inside the housing, the heat sink is disposed on the housing, the cooling fan is disposed on the housing and connects the inside and outside of the housing, the heat transfer module is connected to the image sensor and the housing, and the heat transfer module is a liquid cooling system with controllable flow rate of heat transfer liquid inside its heat pipe.

[0014] In one embodiment, the unmanned mining truck onboard vision device further includes an optical image stabilization module, which includes a vibration detection sensor and an optical image stabilizer. Both the vibration detection sensor and the optical image stabilizer are connected to the processor, and the optical image stabilizer is connected to the lens.

[0015] In one embodiment, the onboard vision device of the unmanned mining truck further includes a dust removal module, which is an electric dust removal mechanism or an airflow dust removal mechanism. The electric dust removal mechanism includes a brush head that can reciprocate on the surface of the lens and a dust removal drive mechanism that drives the brush head to reciprocate. The airflow dust removal mechanism includes a compressor pump and an airflow jetting mechanism connected to each other, with the airflow jetting direction of the airflow jetting mechanism aligned with the surface of the lens.

[0016] In one embodiment, the onboard vision device of the unmanned mining truck further includes a defogging module, which is an electric defogging mechanism, an airflow defogging mechanism, or a heating wire. The electric defogging mechanism includes a water-absorbing brush head that can reciprocate on the surface of the lens and a defogging drive mechanism that drives the water-absorbing brush head to reciprocate. The airflow defogging mechanism includes a compressor pump and a heated airflow jetting mechanism connected to each other, with the airflow jetting direction of the heated airflow jetting mechanism aligned with the surface of the lens; The heating resistance wire is disposed on the circumferential side of the surface of the lens.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention achieves real-time monitoring and intelligent adjustment of the internal temperature of the vehicle-mounted vision device by combining a temperature detection module, a temperature control module, and an automatic focusing module. It also automatically compensates for the focal length shift of the lens through temperature feedback, solving the problem of image blurring caused by the thermal expansion and contraction of the lens in extreme temperature environments. It eliminates the need for manual adjustment and meets the high-intensity, continuous operation requirements of unmanned mining trucks.

[0018] This invention effectively suppresses the impact of vehicle vibration during mining truck operation on image quality by incorporating an optical image stabilization module, significantly improving image stability.

[0019] This invention achieves automatic cleaning of dust and fog on the lens surface by setting up a dust removal module and a defogging module, ensuring the lens's light transmittance and image clarity in harsh environments such as dust and humidity. Attached Figure Description

[0020] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0021] Figure 1 This is a schematic diagram of the unmanned mining truck onboard vision device according to an embodiment of the present utility model; Figure 2 This is a schematic diagram of the structure of the unmanned mining truck onboard vision device according to an embodiment of the present utility model; Figure 3 This is a schematic diagram showing the installation position of the onboard vision device for the unmanned mining truck in an embodiment of the present invention. Figure 1 ; Figure 4 for Figure 3 Enlarged view of the onboard vision device of the unmanned mining truck at point A in the middle; Figure 5 This is a schematic diagram showing the installation position of the onboard vision device for the unmanned mining truck in an embodiment of the present invention. Figure 2 ; Figure 6 This is a photograph of the actual installation of the unmanned mining truck's onboard vision device, an embodiment of this utility model, on the unmanned mining truck.

[0022] Figure label: 1. Housing; 2. Lens; 3. Image sensor; 4. Processor; 5. Focusing mechanism; 6. First temperature sensor; 7. Second temperature sensor; 8. Controller; 9. Temperature regulator; 10. PID temperature controller; 11. Relay; 12. Electric heating film; 13. Cooling fan; 14. Heat conduction module; 15. Optical image stabilization module; 16. Dust removal module; 17. Defogging module; 18. Compressor pump; 19. Sensor board; 20. Main control board; 21. Surveillance camera. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] The following will be combined with the appendix Figures 1 to 6 The present invention will be further described below.

[0030] like Figure 1 and Figure 2As shown, an unmanned mining truck onboard vision device includes a housing 1, a lens 2 disposed within the housing 1, an image sensor 3, a temperature detection module, a temperature control module, and an autofocus module. The temperature detection module detects the temperature inside the housing 1. The temperature control module, connected to the temperature detection module, heats or cools the interior of the housing 1 based on the temperature signal detected by the temperature detection module to maintain the temperature within the housing 1 within a preset threshold range, such as 15 to 40 degrees Celsius. The autofocus module includes a processor 4 and a focusing mechanism 5 connected to the lens 2. The processor 4 receives the temperature signal from the temperature detection module and controls the focusing mechanism 5 to adjust the focal length of the lens 2 accordingly. Specifically, the processor 4 pre-stores temperature-focal length offset compensation curve data for the lens 2 (this curve can be obtained through calibration data provided by the lens manufacturer or through previous experimental measurements). This curve describes the theoretical focal length change of the lens 2 due to thermal expansion and contraction at different temperatures. The processor 4 receives the temperature signal detected in real time by the temperature detection module, calculates the required focal length compensation amount (i.e. the precise distance and direction that the lens needs to move) at the current temperature by querying the compensation curve, and sends the corresponding control signal to the focusing mechanism 5 accordingly.

[0031] Regarding the temperature detection module and temperature control module, please refer to the content of Chinese patent document CN117722062A, which discloses an intelligent temperature control system for swimming pools, including: a temperature detection module for detecting the temperature of the pool water; an intelligent control module for selecting and activating different temperature control modules based on the date and temperature; a solar energy module for converting solar energy into electrical energy for power supply; a cooling module for cooling the pool water; a water supply module for pumping pool water into the cooling module, cooling it, and then returning it to the pool; and a heating module including a heating box fitted outside the pool, hot air inlet and outlet pipes, a hot air exhaust pipe, and a three-way valve. This invention, on the one hand, uses the solar energy module to convert solar energy into electrical energy, thereby saving resources and costs; on the other hand, it uses waste gas to heat the pool water, enabling resource recycling. The intelligent control module of that patent is equivalent to the processor 4 in this application, and the combined cooling and heating modules of that patent are equivalent to the temperature control module in this application. The difference is that the patent controls the water temperature, while this application controls the temperature inside the casing 1.

[0032] By combining a temperature detection module, a temperature control module, and an automatic focusing module, the system achieves real-time monitoring and intelligent adjustment of the internal temperature of the vehicle-mounted vision device. This keeps the temperature within a preset threshold range, reducing the amplitude of ambient temperature fluctuations in lens 2, minimizing thermal expansion and contraction, improving image clarity, and preventing excessively high temperatures in image sensor 3 from affecting image quality. Furthermore, the system automatically compensates for focal length shifts in lens 2 through temperature feedback, resolving image blurring caused by thermal expansion and contraction of lens 2. This eliminates the need for manual adjustment and meets the high-intensity, continuous operation requirements of unmanned mining trucks.

[0033] In addition, this device can be expanded to integrate a remote communication module, which is connected to processor 4 to realize real-time uploading of device status and imaging data, remote diagnosis, and remote control of the vehicle vision device.

[0034] Specifically, the temperature detection module includes a first temperature sensor 6, which is located at the lens 2. By placing the first temperature sensor 6 at the lens 2, the temperature fluctuations of the lens 2 caused by changes in ambient temperature can be captured in real time and accurately. This temperature signal is transmitted to the processor 4 in real time. The processor 4 accurately calculates the required focal length compensation amount at the current temperature based on preset temperature-focal length compensation curve data and drives the focusing mechanism 5 to perform adaptive fine-tuning. This control method, which directly uses the temperature of the lens 2 as feedback, constitutes a high-precision closed-loop control system, greatly improving the speed and accuracy of compensation for focal length drift caused by temperature changes, and ensuring the stability of the imaging system from the root.

[0035] In this embodiment, the focusing mechanism 5 is a piezoelectric nanomechanism, which includes a piezoelectric ceramic actuator and a precision displacement transmission component connected thereto. The piezoelectric nanomechanism is configured to: respond to the control signal issued by the processor 4, generate micro-displacement by the piezoelectric ceramic actuator, and drive the lens in the lens 2 to move along the optical axis direction through the precision displacement transmission component, thereby precisely adjusting the focal length of the lens 2.

[0036] By setting the focusing mechanism 5 as a piezoelectric nanomechanical mechanism, the advantages of its high response speed and nanometer-level positioning accuracy are fully utilized. This mechanism can convert the electronic control signals issued by the processor 4 into precise mechanical displacement, thereby achieving fine adjustment of the focal length of the lens 2. This precision driving technology based on piezoelectric ceramics provides hardware assurance for the vehicle-mounted vision device to maintain continuous, stable, and high-definition imaging performance under temperature changes.

[0037] In this embodiment, the temperature detection module further includes a second temperature sensor 7, which is attached to the image sensor 3 and used to detect the operating temperature of the image sensor 3. The second temperature sensor 7 and the first temperature sensor 6 together form a multi-point temperature monitoring system. As the core component of photoelectric conversion, the image sensor 3 is extremely sensitive to temperature. Excessive temperature will significantly increase the thermal noise of the image sensor 3, leading to a decrease in the image signal-to-noise ratio and even the appearance of fixed-pattern noise, which seriously affects image quality. By monitoring the temperature of the image sensor 3 in real time, the signal can be fed back to the temperature control module. The temperature control module can adjust the working intensity of the cooling system (such as the flow rate of the liquid cooling system or the speed of the cooling fan 13) accordingly to achieve active thermal management of the image sensor 3, ensuring that it always operates within the optimal temperature range and guaranteeing the stability of the image sensor 3.

[0038] In this embodiment, the temperature control module includes a controller 8 and a temperature regulator 9. The temperature regulator 9 includes a heater and a cooler. The controller 8 includes a PID temperature controller 10 and a relay 11. The PID temperature controller 10 is connected to the temperature detection module (first temperature sensor 6 and second temperature sensor 7) and the relay 11. The relay 11 is connected to the heater and the cooler.

[0039] By configuring a controller 8 containing a PID (proportional-integral-derivative) temperature controller and a relay 11, the temperature control module achieves rapid, stable, and precise intelligent regulation of the temperature inside the housing 1. The PID temperature controller 10 continuously receives real-time temperature signals from the first temperature sensor 6 and the second temperature sensor 7, and compares them with a preset optimal operating temperature range (e.g., 15-40℃). Based on the PID algorithm, the PID temperature controller 10 can calculate the optimal control output and precisely control the on / off state of the heater or the power level of the cooler (e.g., cooling fan 13, thermoelectric cooler, etc.) through the relay 11, achieving rapid response to changes in ambient temperature, ensuring that the internal temperature of the housing 1 remains stable within the target temperature range, and guaranteeing the stability of imaging quality.

[0040] Specifically, the heater is an electric heating element or an electric heating film 12, and the lens 2 is precisely installed inside the lens barrel to achieve stable optical positioning. When the electric heating film 12 is used as the heater, it is tightly wrapped around the outer circumferential surface of the lens barrel. This design has multiple advantages: First, the electric heating film 12 is thin and flexible, which can perfectly fit lens barrel structures of different diameters, achieving efficient space utilization; second, by directly heating the lens barrel, heat can be uniformly and directly conducted to the entire lens 2 assembly, significantly improving thermal efficiency and avoiding the thermal delay and uneven temperature distribution problems caused by traditional space heating methods; third, this contact heating can achieve rapid temperature response. When the PID temperature controller 10 detects that a low temperature requires heating, it can quickly increase the temperature of the lens 2, reducing temperature regulation lag. The electric heating film 12 is usually made of a flexible material with high temperature resistance and good insulation properties. Its resistive heating layer can accurately generate the required heat according to the control signal, providing stable and reliable thermal compensation for the lens 2 in low temperature environment. At the same time, it can effectively prevent the lens 2 from fogging, frosting and material performance degradation caused by low temperature, ensuring the all-weather working capability of the optical system.

[0041] Specifically, the cooler includes a thermoelectric cooler and / or a cooling fan 13 and / or a heat transfer module 14 and a heat sink. The thermoelectric cooler is disposed inside the housing 1, the heat sink is disposed on the housing 1, the cooling fan 13 is disposed on the housing 1 and connects the inside and outside of the housing 1, the heat transfer module 14 connects the image sensor 3 and the housing 1, and the heat transfer module 14 is a liquid cooling system. The flow rate of the heat transfer liquid inside its heat pipe is controllable, and the liquid cooling system is equipped with a circulation pump to circulate the heat transfer liquid. To adapt to the dusty working environment of the mine, a removable dust filter is provided on the outer surface of the cooling fan 13.

[0042] In this embodiment, the cooler preferably employs a combination of a thermoelectric cooler, a cooling fan 13, a heat transfer module 14, and a heat sink to construct a multi-mode collaborative heat dissipation system. The thermoelectric cooler can be attached to the sensor board 19 on the back of the image sensor 3 and the main control board 20 containing the processor 4 to achieve rapid cooling of the image sensor 3 and the processor 4. The cooling fan 13 and the heat sink work together to efficiently dissipate the heat accumulated in the housing 1 to the external environment. The heat sink performs passive radiative heat exchange through its surface, while the cooling fan 13 actively enhances air convection. The heat transfer module 14, i.e., the liquid cooling system, is a highly efficient active heat dissipation system designed for the core heat-generating component, the image sensor 3, ensuring the stability of the image quality of the image sensor 3.

[0043] In this embodiment, the onboard vision device of the unmanned mining truck also includes an optical image stabilization (OIS) module 15. The OIS module 15 includes a vibration detection sensor (such as a high-precision MEMS gyroscope and accelerometer) and an optical image stabilizer, which together constitute an active vibration reduction system. Both the vibration detection sensor and the optical image stabilizer are connected to the processor 4, and the optical image stabilizer is connected to the lens 2. When the vibration detection value exceeds a set value, the processor 4 controls the optical image stabilizer to dynamically adjust the position of the lens 2 to stabilize the device and eliminate motion blur.

[0044] To adapt to the dusty working environment of mines, the unmanned mining truck's onboard vision device in this embodiment also includes a dust removal module 16. The dust removal module 16 is either an electric dust removal mechanism or an airflow dust removal mechanism. The electric dust removal mechanism includes a brush head that can reciprocate on the surface of the lens 2 and a dust removal drive mechanism that drives the brush head to reciprocate. The airflow dust removal mechanism includes a compressor pump 18 and an airflow jetting mechanism connected to each other. The airflow jetting mechanism directs the airflow towards the surface of the lens 2, and the airflow jetting mechanism is equipped with an interconnected compressor pump 18 that provides gas pressure. By setting up the dust removal module 16, dust on the outermost lens surface of the lens 2 can be removed, ensuring image clarity.

[0045] To prevent water vapor from forming on the surface of lens 2, the unmanned mining truck's onboard vision device also includes a defogging module 17. The defogging module 17 can be an electric defogging mechanism, an airflow defogging mechanism, or a heating wire. The electric defogging mechanism includes a water-absorbing brush head that can reciprocate on the surface of lens 2 and a defogging drive mechanism that drives the water-absorbing brush head to reciprocate. The airflow defogging mechanism includes a compressor pump 18 and a heated airflow jet mechanism connected to each other, with the airflow jet direction of the heated airflow jet mechanism aligned with the surface of lens 2. The heating wire is located on the circumferential side of the surface of lens 2. By incorporating the defogging module 17, water vapor can be removed from the outermost lens surface of lens 2, ensuring image clarity.

[0046] like Figures 3 to 5 As shown in this embodiment, the unmanned mining truck is equipped with five on-board vision devices, two at the front of the vehicle and one each at the rear and left and right sides, forming a full-coverage, multi-view environmental perception system for monitoring real-time road conditions in the mining area. It also includes a built-in monitoring camera 21 in the driver's cab for capturing images of the cab and providing visual evidence for remote monitoring and safety management.

[0047] The two onboard vision devices located at the front of the unmanned mining truck can be configured differently to enhance perception capabilities. The first option is a primary-secondary configuration, where one camera uses a wide-angle lens to provide a broad overview of the environment, while the other uses a telephoto lens for detailed observation of specific areas or distant targets. The second option is a complementary perspective configuration, where the two cameras are positioned at different angles (e.g., one high and one low) to acquire depth information using stereo vision principles for accurate obstacle distance judgment. The third option is a complementary wavelength configuration, where one camera operates in the visible light band, providing color images consistent with human vision; the other uses a full-band or specific non-visible light (e.g., near-infrared) sensor, providing night vision capabilities or enhanced penetration in low-visibility environments such as fog and dust, and significantly improving the reliability of environmental perception in complex working conditions through multispectral fusion technology.

[0048] Figure 6 The images are actual photos taken on-site. The specific solution in this application has been applied in practice and has achieved good results. Practical application has proven that the device can work stably for a long time under extreme mining conditions, effectively ensuring the clarity and accuracy of image acquisition. It provides solid technical support for environmental perception, decision-making and planning, and remote monitoring of unmanned mining trucks, and meets the strict requirements of modern smart mines for continuous, efficient, and safe operation.

[0049] In summary, this utility model, through the combination of a temperature detection module, a temperature control module, and an automatic focusing module, achieves real-time monitoring and intelligent adjustment of the internal temperature of the vehicle-mounted vision device. It also automatically compensates for the focal length shift of lens 2 through temperature feedback, solving the problem of image blurring caused by thermal expansion and contraction of lens 2 under extreme temperature conditions. This eliminates the need for manual adjustment and meets the high-intensity, continuous operation requirements of unmanned mining trucks in mines.

[0050] This invention effectively suppresses the impact of vehicle vibration generated during mining truck operation on image quality by setting up an optical image stabilization module 15, thus significantly improving image stability.

[0051] This invention achieves automatic cleaning of dust and fog on the surface of the lens 2 by setting up a dust removal module 16 and a defogging module 17, thus ensuring the light transmittance and image clarity of the lens 2 in harsh environments such as dust and humidity.

[0052] Components and principles not described in detail in this utility model can be implemented using various structures and principles known in the prior art.

[0053] 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 vehicle-mounted vision device for an unmanned mining truck, comprising a housing, a lens disposed within the housing, and an image sensor, characterized in that, Also includes: A temperature detection module is used to detect the temperature inside the housing; A temperature control module, connected to the temperature detection module, is used to heat or cool the interior of the housing according to the temperature signal detected by the temperature detection module, so as to maintain the temperature inside the housing within a preset threshold range. as well as An autofocus module includes a processor and a focusing mechanism connected to the lens. The processor receives a temperature signal from the temperature detection module and controls the focusing mechanism to adjust the focal length of the lens accordingly.

2. The unmanned mining truck onboard vision device according to claim 1, characterized in that, The temperature detection module includes a first temperature sensor, which is located at the lens.

3. The unmanned mining truck onboard vision device according to claim 2, characterized in that, The focusing mechanism is a piezoelectric nanomechanism, which includes a piezoelectric ceramic actuator and a precision displacement transmission component connected thereto. The piezoelectric nanomechanism is configured to: respond to a control signal issued by the processor, generate a micro-displacement by the piezoelectric ceramic actuator, and drive the lens in the lens to move along the optical axis direction through the precision displacement transmission component, thereby precisely adjusting the focal length of the lens.

4. The vision system for unmanned mining vehicles of claim 3, wherein, The temperature detection module also includes a second temperature sensor, which is attached to the image sensor and is used to detect the operating temperature of the image sensor.

5. The vision system for unmanned mining vehicles of claim 1, wherein, The temperature control module includes a controller and a temperature regulator. The temperature regulator includes a heater and a cooler. The controller includes a PID temperature controller and a relay. The PID temperature controller is connected to the temperature detection module and the relay. The relay is connected to the heater and the cooler.

6. The unmanned mining truck onboard vision device according to claim 5, characterized in that, The heater is an electric heating element or an electric heating film. The lens is installed inside the lens barrel. When the heater is an electric heating film, it covers the outside of the lens barrel.

7. The vision system for unmanned mining vehicles of claim 5, wherein, The cooler includes a semiconductor cooling chip and / or a cooling fan and / or a heat conduction module and a heat sink. The semiconductor cooling chip is disposed inside the housing, the heat sink is disposed on the housing, the cooling fan is disposed on the housing and connects the inside and outside of the housing, the heat conduction module connects the image sensor and the housing, and the heat conduction module is a liquid cooling system with controllable flow rate of heat conduction liquid inside its heat pipe.

8. The vision system for unmanned mining vehicles of claim 1, wherein, It also includes an optical image stabilization module, which includes a vibration detection sensor and an optical image stabilizer. Both the vibration detection sensor and the optical image stabilizer are connected to the processor, and the optical image stabilizer is connected to the lens.

9. The vision system for unmanned mining vehicles according to any of claims 1-8, characterized in that, It also includes a dust removal module, which is an electric dust removal mechanism or an airflow dust removal mechanism. The electric dust removal mechanism includes a brush head that can reciprocate on the surface of the lens and a dust removal drive mechanism that drives the brush head to reciprocate. The airflow dust removal mechanism includes a compressor pump and an airflow jetting mechanism connected to each other, with the airflow jetting direction of the airflow jetting mechanism aligned with the surface of the lens.

10. The unmanned mining truck onboard vision device according to any one of claims 1-8, characterized in that, It also includes a defogging module, which can be an electric defogging mechanism, an airflow defogging mechanism, or a heating wire. The electric defogging mechanism includes a water-absorbing brush head that can reciprocate on the surface of the lens and a defogging drive mechanism that drives the water-absorbing brush head to reciprocate. The airflow defogging mechanism includes a compressor pump and a heated airflow injection mechanism connected to each other, with the airflow injection direction of the heated airflow injection mechanism aligned with the surface of the lens; The heating resistance wire is disposed on the circumferential side of the surface of the lens.

Images