摘要：【中文】本发明公开了一种无人驾驶车辆的速度规划方法、装置及系统，规划方法包括：获取矿用卡车当前位置信息、目标轨迹、决策动作信号、前方障碍物的距离信息、前方障碍物的行驶速度；根据当前位置信息结合全局轨迹规划文件，得到当前位置的速度规划值；根据位置信息与目标轨迹，计算得到行驶误差系数；根据当前位置的速度规划值、决策动作信号、前方障碍物的距离信息、前方障碍物的行驶速度、行驶误差系数，结合定位误差系数，进行局部速度规划，得到矿用卡车的当前速度期望值。最终形成无人驾驶车辆的速度输出。 【EN】The invention discloses a speed planning method, a device and a system of an unmanned vehicle, wherein the planning method comprises the following steps: acquiring current position information, a target track, a decision action signal, distance information of a front obstacle and the running speed of the front obstacle of the mining truck; obtaining a speed planning value of the current position according to the current position information by combining with the global track planning file; calculating to obtain a driving error coefficient according to the position information and the target track; and according to the speed planning value of the current position, the decision action signal, the distance information of the front barrier, the running speed of the front barrier and the running error coefficient, combining the positioning error coefficient to carry out local speed planning to obtain the current speed expected value of the mining truck. Ultimately forming the speed output of the unmanned vehicle.

摘要：【中文】本发明公开了一种露天矿山无人化运输系统的车辆保护圈安全控制方法及系统，适用于多种路线下的车辆行驶情况，根据车辆自身的速度、制动能力参数、车辆行驶线路以及车辆周围障碍物信息，设置车辆行驶安全的主动保护圈形状及其参数，实时检测车辆之间的距离或者车辆与障碍物之间是否接触以及产生碰撞的可能性，根据车辆行驶参数及线路调整保护圈参数，满足矿山无人车辆的安全性要求。 【EN】The invention discloses a safety control method and a safety control system for a vehicle guard circle of an unmanned transportation system of an open mine, which are suitable for vehicle running conditions under various routes.

摘要：【中文】本发明公开了一种露天矿山无人驾驶系统的地图创建方法及系统，方法包括：原始地图文件的采集、获取、编辑和管理，为露天矿山无人化系统的控制提供高精地图，解决露天矿山地形环境变化下的地图实时更新问题。进一步的将露天矿山无人化运行的任务流程和交通安全保护机制融入到地图的管理系统中，大大简化露天矿山无人化系统的复杂程度。 【EN】The invention discloses a map creation method and a map creation system of an unmanned system of a surface mine, wherein the method comprises the following steps: the collection, acquisition, editing and management of the original map file provide a high-precision map for the control of an unmanned system of the surface mine, and solve the problem of real-time map updating under the change of the topographic environment of the surface mine. Further, the task flow of the unmanned operation of the surface mine and a traffic safety protection mechanism are integrated into a map management system, and the complexity of the unmanned system of the surface mine is greatly simplified.

摘要：【中文】本申请实施例公开了一种激光调制装置、激光光源、扫描显示装置及投影系统。本申请提供的激光调制装置、激光光源、扫描显示装置及投影系统并非针对激光器进行调制，而是在激光传输路径上对激光进行高速的光强调制，这样一来，对激光器自身的性能要求大幅降低，相比于对激光器进行调制的方式而言，本申请中的方式更易于实现，且能够降低对系统中调制器件的要求及器件成本。 【EN】The embodiment of the application discloses a laser modulation device, a laser light source, a scanning display device and a projection system. The laser modulation device, the laser light source, the scanning display device and the projection system provided by the application are not used for modulating the laser, but used for modulating the laser at high speed on the laser transmission path, so that the performance requirement on the laser is greatly reduced, compared with the mode of modulating the laser, the mode in the application is easier to realize, and the requirement on a modulation device in the system and the device cost can be reduced.

摘要：【中文】本发明公开了一种露天矿山无人驾驶车辆的安全授权方法及系统，需要车辆在有人驾驶模式下由操作员驾驶到指定有人无人切换区域进行操作，具体包括车辆操作员操作权限认证和有人驾驶模式切换到无人驾驶模式的流程处理。此方法将在车辆进入到无人驾驶模式前，对车辆操作员进行登录权限认证和无人驾驶模式切换授权，确保车辆进入露天矿山无人化作业区能够正常安全的进行作业。 【EN】The invention discloses a safety authorization method and a safety authorization system for an unmanned vehicle in a surface mine, which require that the vehicle is driven to a designated unmanned switching area by an operator in a manned mode for operation, and specifically comprise the steps of vehicle operator operation authority authentication and the process of switching the manned mode to the unmanned mode. According to the method, before the vehicle enters the unmanned mode, login authority authentication and unmanned mode switching authorization are carried out on the vehicle operator, and normal and safe operation of the vehicle entering the unmanned operation area of the surface mine is ensured.

摘要：【中文】本发明公开了一种露天矿山无人化运输系统的矿用卡车卸载方法及系统，通过机群调度中心给矿用卡车下发地图，卡车根据地图信息行驶到卸载点进行卸载。当挡土墙发生变化，或者遇到没有登记过的临时障碍物时，矿用卡车到达卸载区域，利用雷达进行环境感知，当检测到后轮胎中心后方一定距离有障碍物，判断该障碍物是否为挡土墙，如果是挡土墙，给矿用卡车发送指令进行卸载；如果不是挡土墙，重新规划新的行驶路径并发给矿用卡车。当卡车到达卸载区域后退至目标卸载点时，卡车后退速度突然变为零，且在一定时间内速度保持为零，则说明卡车后轮胎触碰到挡土墙。通过定位、感知、控制为矿用卡车能够安全的到达目标卸载点提供三重保险。 【EN】The invention discloses a method and a system for unloading a mining truck of an unmanned transportation system of a surface mine. When the retaining wall changes or a temporary barrier which is not registered is met, the mining truck arrives at an unloading area, environment sensing is carried out by using a radar, when the barrier is detected to be in a certain distance behind the center of the rear tire, whether the barrier is the retaining wall or not is judged, and if the barrier is the retaining wall, an instruction is sent to the mining truck for unloading; if not, replanning a new driving path and sending to the mining truck. When the truck arrives at the unloading area and backs to the target unloading point, the backing speed of the truck suddenly becomes zero, and the speed is kept to be zero in a certain time, so that the fact that the rear tire of the truck touches the retaining wall is indicated. The mining truck can safely reach the target unloading point by positioning, sensing and controlling.

摘要：【中文】本发明涉及一种帕金森病的脑控步态训练系统和方法，系统包括：脑电信号采集装置、分析装置，眼动数据采集装置、分析装置，肢体动作采集装置，任务范式处理器、呈现装置，脑电信号分析装置利用采集装置采集的脑电信号计算相关脑电特征数据；眼动数据分析装置利用采集装置采集的眼动数据计算、记录相关眼动特征数据；肢体动作采集装置采集患者肢体动作数据；任务范式处理器根据上述特征数据和肢体动作数据进行综合处理后由呈现装置输出。本发明通过基于节律性提示的步态训练任务范式引导，和脑电与眼动特征闭环反馈，使得患者完成上下肢协调运动的想象和运动训练，实现肢体动作以及节律性提示信息在大脑中的强化，改善帕金森患者的步行功能。 【EN】The invention relates to a brain-controlled gait training system and method for Parkinson's disease, wherein the system comprises: the system comprises an electroencephalogram signal acquisition device, an analysis device, an eye movement data acquisition device, an analysis device, a limb movement acquisition device, a task paradigm processor and a presentation device, wherein the electroencephalogram signal analysis device calculates relevant electroencephalogram characteristic data by utilizing electroencephalograms acquired by the acquisition device; the eye movement data analysis device calculates and records the related eye movement characteristic data by using the eye movement data collected by the collection device; the limb action acquisition device acquires limb action data of a patient; and the task paradigm processor performs comprehensive processing according to the characteristic data and the limb action data and then outputs the processed data by the presentation device. The invention leads the patient to finish imagination and exercise training of upper and lower limb coordinated movement through gait training task paradigm guidance based on rhythmicity prompting and electroencephalogram and eye movement characteristic closed loop feedback, thereby realizing the reinforcement of limb movement and rhythmicity prompting information in the brain and improving the walking function of the Parkinson patient.

摘要：【中文】本发明公开了一种AR光学显示模组及显示设备，通过图像分割单元将待显示图像分割为M个子图像，进而通过光纤扫描模组中光纤扫描器的一根或多根扫描光纤将M个子图像同时扫描射出，经准直光学系统准直后形成包含待显示图像混合光束，耦入波导模组，波导模组中每层耦入单元被配置为耦入一个子图像的光束；待显示图像混合光束经对应的耦出单元耦出后的出射图像拼接为待显示图像，进而通过波导模组的出光光路上的可变焦单元调焦，即可呈现出具有深度的图像，同时，与可变焦单元相对设置的光补偿单元同步抵消可变焦单元的焦距，避免进入显示模组的外界自然光束收到可变焦单元的影响，有效提高现实增强显示的效果。本发明以一种全新思路解决近眼显示模组大视场、可调深度及小型化兼顾的问题。 【EN】The invention discloses an AR optical display module and display equipment.A to-be-displayed image is divided into M sub-images by an image dividing unit, the M sub-images are simultaneously scanned and emitted by one or more scanning optical fibers of an optical fiber scanner in an optical fiber scanning module, and are collimated by a collimating optical system to form a mixed light beam containing the to-be-displayed image, the mixed light beam is coupled into a waveguide module, and each layer of coupling-in unit in the waveguide module is configured to be coupled into a light beam of one sub-image; the emergent images of the mixed light beams of the images to be displayed after being coupled out by the corresponding coupling-out units are spliced into the images to be displayed, and then the images with depth can be presented by focusing through the variable-focus unit on the emergent light path of the waveguide module, and meanwhile, the focal length of the variable-focus unit is synchronously offset by the light compensation unit arranged opposite to the variable-focus unit, so that the influence of external natural light beams entering the display module on the variable-focus unit is avoided, and the effect of augmented reality display is effectively improved. The invention solves the problems of large view field, adjustable depth and miniaturization of the near-to-eye display module by a brand-new thought.

摘要：【中文】本发明公开了一种VR光学显示模组及显示设备，通过图像分割单元将待显示图像分割为M个子图像，进而通过图像产生单元包括的一个或多个图像产生子单元将所述M个子图像同时调制射出，经准直光学系统准直后形成包含待显示图像混合光束，耦入波导模组，波导模组具有多层耦入单元和耦出单元，每层耦入单元被配置为耦入一个子图像的光束；待显示图像混合光束经对应的波导模组的耦出单元耦出后的出射图像拼接为待显示图像，进而通过波导模组的出光光路上的可变焦单元调焦，即可呈现出具有深度的图像，同时，遮光单元遮挡除待显示图像的混合光束以外的其它光线射入波导模组。本发明以一种全新思路解决近眼显示模组大视场、可调深度及小型化兼顾的问题。 【EN】The invention discloses a VR optical display module and a display device, wherein an image to be displayed is divided into M sub-images by an image dividing unit, the M sub-images are simultaneously modulated and emitted by one or more image generating sub-units included by an image generating unit, a mixed light beam containing the image to be displayed is formed after being collimated by a collimating optical system, and the mixed light beam is coupled into a waveguide module, the waveguide module is provided with a plurality of layers of coupling-in units and coupling-out units, and each layer of coupling-in unit is configured to couple in a light beam of one sub-image; the emergent images of the mixed light beams of the images to be displayed after being coupled out by the coupling-out units of the corresponding waveguide modules are spliced into the images to be displayed, and then the images with depth can be presented by focusing of the variable-focus units on the emergent light paths of the waveguide modules, and meanwhile, the shading units block other light beams except the mixed light beams of the images to be displayed from entering the waveguide modules. The invention solves the problems of large view field, adjustable depth and miniaturization of the near-to-eye display module by a brand-new thought.

摘要：【中文】本公开提供一种路径规划方法和装置、工程车辆。路径规划装置获取车辆的起点信息和终点信息；分别根据起点信息和终点信息，确定车辆的起点和终点所在区域，其中起点所在区域和终点所在区域为在结构化道路上或在作业面内；利用与车辆的起点所在区域和终点所在区域相匹配的路径规划算法，以获得从起点到终点的路径。本公开能够在保证路径最短的同时，还能够保证轨迹足够平滑，减少轮胎磨损。 【EN】The disclosure provides a path planning method and device and an engineering vehicle. The path planning device acquires starting point information and end point information of the vehicle; determining the area where the starting point and the end point of the vehicle are located according to the starting point information and the end point information respectively, wherein the area where the starting point is located and the area where the end point is located are on the structured road or in the working plane; and obtaining a path from the starting point to the end point by utilizing a path planning algorithm matched with the area where the starting point and the end point of the vehicle are located. The method and the device can ensure that the path is shortest and the track is smooth enough, thereby reducing the abrasion of the tire.