Underground carry-scraper

Abstract

The invention provides an underground carry-scraper. The underground carry-scraper comprises a carry-scraper body, and further comprises an environment information acquiring module, an autonomous driving control module and a center control module, wherein the environment information acquiring module comprises a laser scanner used for scanning the information of the environment around the underground carry-scraper; the autonomous driving control module is used for building an underground roadway raster map according to the acquired environment information, acquiring the position information ofthe underground carry-scraper, performing path planning according to a target area, generating driving control information and controlling the underground carry-scraper to move to the operation targetarea; the center control module comprises a transmission unit used for performing data transmission with a ground control center, sending the acquired environment information and raster map information to the ground control center and receiving target area information. According to the carry-scraper, the acquired information is transmitted to the ground control center in real time, real-time datatransmission with the ground control center is kept, and the control center can know about the work condition of the underground carry-scraper more easily.

Description

technical field [0001] The invention relates to the technical field of mining and metallurgy, in particular to an underground scraper. Background technique [0002] As the depth of underground mining increases, the mining conditions are getting worse and worse, and the threat to human safety is also increasing. Remote mining and automated mining technologies have emerged as the times require. The scraper is the key equipment for underground trackless mining. It realizes unmanned operation and autonomous driving of the scraper in the underground roadway, which can keep the operators away from the harsh and dangerous working environment underground, protect the safety of the scraper driver and improve mining operations. efficiency and reduce mining costs. [0003] In the prior art, the positioning and path planning of the underground LHD are generally obtained by recording the trajectory of the LHD. However, since the ground of the underground roadway is not smooth, and the s...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the positioning and path planning of the underground LHD are generally obtained by recording the trajectory of the LHD. However, since the ground of the underground roadway is not smooth, and the surrounding side walls are also uneven, it is easy to The scraper is stuck and the wheels are idling, which leads to the inaccurate driving trajectory, which causes the track deviation between the recorded trajectory and the actual driving trajectory, which affects the positioning accuracy of the scraper, so that the scraper's Reduced autonomous driving performance

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