The invention provides a mine emergency rescue vehicle capable of realizing map autonomous construction. The mine emergency rescue vehicle comprises a rescue machinery body, and a control system, a vision and radar detection system and a power supply system which are arranged on the rescue machinery body, the control system comprises a mobile small embedded computer, an STM32 control development board and an off-site control computer, and the STM32 development board is used for controlling driving of the vehicle; the vision and radar detection system comprises a binocular depth camera, a laser radar and an LED illumination system. The vision and radar detection system is connected with the control system. The power supply system is used for supplying power to the whole vehicle. The method has the advantages that in a mine with an underground complex environment, calculation is carried out through an off-site control computer, the area is sensed in the mine environment, a target point is explored through random numbers to serve as a navigation boundary to explore a map, the function of autonomous path planning can be achieved, and the rescue speed and rescue efficiency under the mine are improved.

    本发明提供了一种实现地图自主构建的矿井应急救援车,包括救援机械本体以及设置在救援机械本体上的控制系统、视觉与雷达探测系统、供电系统;控制系统包括移动小型嵌入式计算机、STM32控制开发板、场外控制电脑,STM32开发板用于控制车的驱动;视觉与雷达探测系统包括双目深度摄像头、激光雷达、LED照明系统,视觉与雷达探测系统与控制系统连接;供电系统用于为整车供电。本发明有益效果:实现在地下复杂环境的矿井内,通过场外控制电脑进行计算,在矿井环境中感知区域,用随机数来探索目标点作为导航的边界来探索地图方法,能够自主路径规划的功能,提高矿井下的救援速度及救援效率。


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    Title :

    Mine emergency rescue vehicle capable of realizing autonomous construction of map


    Additional title:

    一种实现地图自主构建的矿井应急救援车


    Contributors:
    GUAN HUAIGUANG (author) / GUO PENG (author) / ZHANG DENGQUAN (author) / ZHANG ZHIGUO (author) / WANG QINGSHAN (author) / XIA HAIPENG (author) / YANG JIANSEN (author) / WANG QIAOFENG (author)

    Publication date :

    2023-07-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge



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