Active Perception Mapping for Double-Axle Mining Vehicle Blind Spots
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Solution Overview
Problem
Existing autonomous driving perception systems for mining vehicles with double-axle steering face challenges such as large perception blind areas and high risk during turning, uphill, and downhill operations due to limited detection ranges and passive perception methods, which affect efficiency and safety.
Innovation Solution
An active perception system for double-axle steering cab-less mining vehicles, incorporating a 3D perception map, single-frame target detection, multi-frame data association, cloud control platform, decision-making and planning module, and vehicle control module, which adaptively adjusts sensor angles and detection ranges based on steering and slope information to reduce blind areas and enhance perception accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If passive perception with fixed sensors is used, then the system structure is simple, but the detection range is limited and blind areas increase
Solution Approach 1:
The patent applies dynamics by making the sensor system adjustable rather than fixed. The sensors can dynamically change their detection angles and directions based on vehicle steering state and terrain slope, allowing the perception system to adapt to different operating conditions and eliminate blind areas while maintaining reasonable structural complexity.
2Ease of operation
If the vehicle turns frequently in loading and unloading areas, then the vehicle can navigate the terrain, but the perception blind area increases and operation efficiency decreases
Solution Approach 1:
The patent implements feedback by using the vehicle steering angle as input to dynamically adjust the sensor detection angle. This closed-loop control ensures that the perception system automatically adapts to turning operations, maintaining comprehensive coverage and reducing blind areas during frequent turns in loading and unloading areas.
3Adaptability or versatility
If the vehicle operates on hills and turns, then the vehicle can navigate complex terrain, but blind areas increase due to large vehicle volume
Solution Approach 1:
The patent uses dynamics to make the perception system adaptable to complex terrain operations. By dynamically adjusting sensor detection angles based on both steering state and terrain slope, the system compensates for the large vehicle volume's impact on perception coverage, ensuring reliable detection during hill operations and turns.
Solution Approach 2:
The patent implements dual feedback mechanisms: one based on steering angle and another based on terrain slope. This comprehensive feedback system allows the sensors to automatically compensate for blind areas created during hill climbing and turning operations, maintaining reliable perception coverage across diverse terrain conditions.
Data Source
AI summary
The present disclosure discloses an active perception system for a double-axle steering cabless mining vehicle. The adaptive perception system includes: an environment perception mapping module, a single-frame target detection module, a multi-frame data association module, a cloud control platform, a decision-making and planning module, and a vehicle control module. The double-axle steering autonomous driving mining vehicle can be actively adjusted to be in a forward advancing mode or a backward advancing mode according to the driving mode and comprehensive information of a sensor. The system improves working efficiency of mining area, and solves the problems of large perception blind area and high risk during turning, uphill and downhill of an existing autonomous driving perception system.