Underground carry-scraper

A technology of scrapers and scrapers, applied in the field of underground scrapers, can solve problems such as inaccurate driving tracks, reduced autonomous driving performance of scrapers, and track deviations

CN108104192AInactive Publication Date: 2018-06-01广州晟达机械设计有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2018-06-01
Estimated Expiration
Not applicable · inactive patent

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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.
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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...

Examples

Embodiment Construction

[0014] The present invention will be further described in conjunction with the following application scenarios.

[0015] see figure 1 , figure 2 , an underground scraper, including a scraper main body, and also includes: an environmental information collection module 1, including a laser scanner 11, used to scan environmental information around the underground scraper; an autonomous driving control module 2, used to The collected environmental information constructs the underground roadway grid map, obtains the location information of the underground LHD, performs path planning according to the target area and generates driving control information, and controls the underground LHD to move to the operation target area; the central control module 3 includes the transmission Unit 31 is used for data transmission with the ground control center, sending the collected environmental information and grid map information to the ground control center, and receiving target area informa...