Intelligent system of carry-scraper and control method

Abstract

The invention relates to an intelligent system of a carry-scraper and a control method. The control method comprises the steps of remote repositioning, unmanned pilot run and track teaching, automatic operation and map updating. The initial position of a carry-scraper is set in ground equipment, a planned path is set according to a map of an underground stope, a shoveling operation demand is issued, the carry-scraper operates according to the planned path, the planned path is compared with an actual demand, and the planned path is adjusted according to the actual demand. And the carry-scraper travels to the loading area, identifies the ore heap and large blocks in the ore heap and conducts three-point shovel loading, the carry-scraper travels to the unloading area for unloading after shovel loading is completed, the carry-scraper automatically returns to the loading area after unloading is completed, and operation is repeated till material transferring is completed. The carry-scraper has intelligent operation functions such as autonomous transportation, autonomous shoveling and loading, autonomous unloading and the like, so that the whole-process unmanned operation of the carry-scraper is realized, and the labor intensity is reduced. And the three-point shoveling ensures that the ores are shoveled cleanly, and no ores are left on the road, so that the tire wear is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of underground operation equipment, and particularly to an intelligent system and a control method for a load-haul-dump (LHD) vehicle. Background Art

[0002] In China, the proportion of open-pit mines is less than 20%. In recent years, with the reduction of open-pit minerals and the development of mining technology, domestic mineral resources have gradually shifted from open-pit mining to underground deep mining. In the future, the main domestic mineral resources will also be mainly large-scale underground and deep mining, and intelligent mining is the most effective means to solve various challenges in the process of large-scale underground mining. At present, most of the electric load-haul-dump vehicles in underground mines adopt manual operation methods, which pose certain safety risks to drivers. The imported intelligent load-haul-dump vehicles can only achieve autonomous transportation and autonomous unloading, and manual intervention is still required for the loading operation. This is mainly manifested in the inability to identify large blocks and the inability to perform "three-point" autonomous loading control. The inability to identify large blocks easily leads to difficult shoveling and blockage of the ore pass during unloading. The inability to perform "three-point" autonomous loading control means that the load-haul-dump vehicle always shovels from the middle of the ore pile, leaving a lot of ore remaining on both sides. This easily leads to incomplete ore extraction and problems such as tire puncture and wear by ore, so strictly speaking, this can only be considered semi-autonomous operation. This results in that one operator can control at most two intelligent load-haul-dump vehicles at the same time, and due to the need for frequent remote control of loading, the labor intensity of personnel operation is relatively large. Summary of the Invention

[0003] (1) Technical Problems to be Solved

[0004] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides an intelligent system and a control method for a load-haul-dump vehicle.

[0005] (2) Technical Solutions

[0006] In order to achieve the above object, the intelligent system of the load-haul-dump vehicle of the present invention includes:

[0007] Remote repositioning: Set the initial position of the load-haul-dump vehicle in the ground equipment;

[0008] Driverless test run and trajectory teaching: Set and plan a path according to the map of the underground stope, issue a load-haul-dump operation requirement, the load-haul-dump vehicle operates according to the planned path, compare the planned path with the actual requirement, and adjust the planned trajectory according to the actual requirement;

[0009] Automatic operation: The load-haul-dump vehicle travels to the loading area; identifies the ore pile and large blocks in the ore pile and performs three-point shoveling; after the load-haul-dump vehicle completes shoveling, it travels to the unloading area for unloading, and after unloading, it autonomously returns to the loading area, repeating the operation until the material transfer is completed;

[0010] Map update: During operation, the scraper detects an overload, scans and uploads the data, and then the updated map is sent to each piece of equipment in the stope through the ground control device.

[0011] Optionally, the identification of the ore pile and large pieces in the ore pile and three-point loading include:

[0012] After the scraper travels to the loading area, it first identifies the ore pile and large pieces in the ore pile, then cancels the preset safety distance from the two sides to the roadway wall, measures the distance from the two sides to the roadway wall in real time, controls the scraper to load once on the first side close to the roadway wall, then load once on the second side close to the roadway wall, and finally load once along the center line of the roadway, and operates in this cycle to complete three-point loading.

[0013] Optionally, before the remote repositioning, it further includes:

[0014] Fast scanning for mapping and point marking: A mobile device equipped with a scanning device scans the stope to form a map, and key positions are marked on the map. The key positions include the loading area, the unloading area, and the turning point.

[0015] Furthermore, the present invention also provides an intelligent system for a scraper, which includes a control unit and a sensor unit, a weighing unit, a perception unit, a video and audio unit, a network unit, and an access control unit connected to the control unit;

[0016] The perception unit includes a plurality of multi-line lidars and a plurality of binocular cameras. The multi-line lidars are arranged on the tail and the boom of the scraper for measuring the real-time distance between the scraper and the roadway wall and obstacle identification;

[0017] The binocular cameras are arranged on the tail, in front of the cab, behind the cab, and on the boom of the scraper for monitoring the pictures during the driving and operation of the scraper and for identifying the ore pile and large pieces in the ore pile.

[0018] Optionally, the video and audio unit includes a camera, a display screen, and an in-vehicle microphone;

[0019] The camera is arranged on the scraper, including four, for monitoring the pictures during the driving and operation of the scraper;

[0020] The display screen is arranged in the cab of the scraper for displaying the vehicle state and the reverse image during local driving of the scraper;

[0021] The in-vehicle microphone is arranged in the cab for receiving the operation sounds in the cab in real time.

[0022] Optionally, the sensor unit includes a steering angle encoder, a tipping cylinder stroke sensor, and a boom angle encoder;

[0023] The steering angle encoder is arranged between the front and rear frames of the scraper for measuring the steering angle of the scraper;

[0024] The tipping cylinder stroke sensor is arranged on the tipping cylinder of the scraper for measuring the attitude data of the bucket;

[0025] The boom angle encoder is arranged on the boom of the scraper for measuring the attitude data of the boom.

[0026] Optionally, the weighing unit includes an oil pressure sensor, a first boom proximity switch, a second boom proximity switch, and an inclination sensor;

[0027] The first boom proximity switch is arranged at the front part of the frame of the scraper. The first boom proximity switch is used for the lower buffer limit of the boom of the scraper, and the first boom proximity switch is triggered when the boom descends to be close to the mechanical limit; the second boom proximity switch is arranged at the root of the boom, and the second boom proximity switch is triggered when the boom is lifted to the upper limit;

[0028] The oil pressure sensor is used to obtain the oil pressure of the boom cylinder in real time, and the control unit converts the oil pressure value of the boom cylinder into the loading weight;

[0029] The inclination sensor is arranged on the frame of the scraper for obtaining the body attitude of the frame and for weighing correction after the vehicle tilts.

[0030] Optionally, the sensing unit further includes a blind spot radar for scanning the blind spots on both sides of the scraper.

[0031] Optionally, the network unit includes a composite cable and an Ethernet switch;

[0032] The cable reel includes a polyurethane sheath and a ground wire, a phase wire, a tensile rope, a polyurethane sheath and an optical fiber arranged in the polyurethane sheath for providing power and network for the scraper;

[0033] The Ethernet switch is arranged on the scraper, and both the optical fiber and the control unit are connected to the Ethernet switch.

[0034] Optionally, the intelligent system further includes a health management and warning subsystem;

[0035] The health management and early warning subsystem includes a data analysis module, an early warning display module, and one or more of a working device sensor acquisition module, a brake system sensor acquisition module, a hydraulic system sensor acquisition module, a transmission sensor acquisition module, and a torque converter sensor acquisition module;

[0036] The data analysis module is arranged on the scraper, and the early warning display module and one or more of the working device sensor acquisition module, the brake system sensor acquisition module, the hydraulic system sensor acquisition module, the transmission sensor acquisition module, and the torque converter sensor acquisition module are all connected to the data analysis module;

[0037] Among them, the working device sensor acquisition module includes a foil strain sensor and a fiber Bragg grating sensor;

[0038] The brake system sensor acquisition module includes a non-contact capacitance sensor, a piezoresistive pressure sensor, a thermocouple temperature sensor, and a Hall effect speed sensor;

[0039] The hydraulic system sensor acquisition module includes a vibrating viscometer sensor, a thermocouple temperature sensor, a capacitive moisture sensor, and an optical contamination sensor;

[0040] The transmission sensor acquisition module includes: a piezoelectric acceleration sensor, a thermocouple temperature sensor, and an inductive metal particle sensor;

[0041] The torque converter sensor acquisition module includes: a thermocouple temperature sensor, a strain pressure sensor, and a magnetoelectric speed sensor;

[0042] The early warning display module includes an in-vehicle display screen and an audible and visual alarm device connected to the data analysis module.

[0043] (III) Beneficial effects

[0044] The scraper has intelligent operation functions such as autonomous transportation, autonomous loading, and autonomous unloading, thus realizing the full-process unmanned operation of the scraper and reducing the labor intensity of personnel. It can identify and control large pieces in the ore pile to avoid blocking the ore pass. The three-point loading effectively ensures that the ore is loaded cleanly and there is no ore left on the road, thereby reducing the tire wear of the scraper and improving the work efficiency. Description of the drawings

[0045] Figure 1 is a flowchart of the control method of the scraper of the present invention;

[0046] Figure 2 is a schematic diagram of the intelligent operation of the control method of the scraper of the present invention;

[0047] Figure 3 Schematic structural diagram of the intelligent system of the scraper of the present invention;

[0048] Figure 4 Schematic structural diagram of the composite cable of the intelligent system of the scraper of the present invention;

[0049] Figure 5 Principle block diagram of the health management and early warning subsystem of the present invention.

[0050]

Description of the attached drawing reference numerals

[0051] 1-1: Steering angle encoder; 1-2: Boom angle encoder; 1-3: Hoist cylinder stroke sensor;

[0052] 2-1: Oil pressure sensor; 2-2: First boom proximity switch; 2-3: Tilt sensor;

[0053] 3-1: Multi-line lidar; 3-2: Attitude measurement system; 3-3: Blind spot compensation radar; 3-4: Binocular camera;

[0054] 4-1: Camera; 4-2: Pickup; 4-3: Display screen;

[0055] 7-1: Composite cable; 7-11: Ground wire; 7-12: Phase wire; 7-13: Tensile rope; 7-14: Polyurethane sheath; 7-15: Optical fiber; 7-2: Ethernet switch;

[0056] a: Roadway; b: Ore pile; c: Large block; e: Access control unit. Detailed implementation manners

[0057] In order to better explain the present invention for easy understanding, the present invention will be described in detail below with reference to the accompanying drawings through specific implementation manners. Among them, the orientation nouns such as "upper", "lower", etc. mentioned in this article are based on Figure 3 the orientation of

[0058] Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0059] As Figure 1 shown, the present invention provides a control method for a scraper, which includes:

[0060] Remote repositioning: Set the initial position of the scraper in the ground equipment;

[0061] Driverless trial operation and trajectory teaching: Set and plan the path according to the map of the underground stope, issue the requirement for the mucking operation, the mucking loader operates according to the planned path, compare the planned path with the actual requirement, and adjust the planned trajectory according to the actual requirement;

[0062] Automatic operation: The mucking loader travels to the loading area; identifies ore pile b and large pieces c in ore pile b and performs three-point shoveling; after the mucking loader finishes shoveling, it travels to the unloading area for unloading, and after unloading, it autonomously returns to the loading area, repeating the operation until the material transfer is completed;

[0063] Map update: When the mucking loader detects an over-limit during operation, it scans and uploads, and then the updated map is sent to each piece of equipment in the stope through the ground control device.

[0064] Among them, identifying ore pile b and large pieces c in ore pile b and performing three-point shoveling includes:

[0065] After the mucking loader travels to the loading area, it first identifies ore pile b and large pieces c in ore pile b, then cancels the preset safety distance from the walls of roadway a on both sides, measures the distance from the walls of roadway a on both sides in real time, controls the mucking loader to shovel once against the first side of the wall of roadway a, then shovel once against the second side of the wall of roadway a, and finally shovel once along the center line of roadway a, and repeats the operation in this cycle to complete three-point shoveling.

[0066] Specifically, such as Figure 2As shown in the figure, the scraper loader enters the intelligent operation area through the access control unit e, and in the roadway a, it drives automatically through global positioning navigation to the ore pile b, and starts autonomous loading. During the loading process, it can automatically identify the ore pile b and the large pieces c in the ore pile b. The control unit issues an order to cancel the preset safety distance from the walls of the roadway a on both sides, and uses the multi-line lidar 3-1 to measure the distance from the walls of the roadway a on both sides in real time. The scraper loader is controlled to load once against the left wall of the roadway a, then load once against the right wall of the roadway a, and finally load once along the center line of the roadway a, and cycle in this way to complete the three-point loading, so as to ensure that the ore is loaded cleanly and there is no ore left on the road, thereby reducing tire wear. The scraper loader has intelligent operation functions such as autonomous transportation, autonomous loading, and autonomous unloading, so as to realize the unmanned operation of the whole process of the scraper loader and reduce the labor intensity of personnel operation. Identify and control the large pieces in the ore pile to avoid blocking the ore pass. The shape, position of the ore pile b and the distribution of the large pieces c are identified by the multi-line lidar 3-1 and the binocular camera 3-4. The control unit issues autonomous loading instructions to the electrical system, hydraulic system, chassis drive system and working system of the scraper loader. If large pieces c are identified in the ore pile b during the identification process of the ore pile b, the control unit issues instructions to the relevant systems to load the large pieces c to the secondary crushing point for secondary crushing. If it is identified that there are no large pieces c, the control unit issues autonomous loading instructions to the relevant systems. At the same time, during the autonomous loading process, the control unit issues an order to cancel the preset safety distance from the walls of the roadway a on both sides, and uses the multi-line lidar 3-1 to measure the distance from the walls of the roadway a on both sides in real time. The scraper loader is controlled to load once against the left wall of the roadway a, then load once against the right wall of the roadway a, and finally load once along the center line of the roadway a, and cycle in this way to ensure that the ore is loaded cleanly and there is no ore left on the road, thereby reducing tire wear.

[0067] Before remote repositioning, it also includes:

[0068] Fast scanning for mapping and point marking: Use a mobile device equipped with a scanning device to scan the stope to form a map, and mark the key positions in the map. The key positions include the loading area, unloading area and turning point.

[0069] Furthermore, as Figure 3As shown in the figure, the present invention also provides an intelligent system for a scraper. The intelligent system is distributed on the scraper and is applied to the above control method. Among them, the intelligent system includes a control unit and a sensor unit, a weighing unit, a perception unit, a video and audio unit, a network unit, and an access control unit e connected to the control unit. The perception unit includes a plurality of multi-line lidars 3-1 and a plurality of binocular cameras 3-4. The multi-line lidars 3-1 are arranged on the tail and the boom of the scraper, and are used to measure the real-time distance between the scraper and the wall of the roadway a and to identify obstacles. The multi-line lidars 3-1 are arranged on the upper part of the working device and the tail of the rear frame, preferably two, mainly used to measure the real-time distance between the scraper and the wall of the roadway a to correct the deviation of the attitude measurement system 3-2 for autonomous navigation, so that the scraper always drives automatically according to the established planned path. At the same time, it is also used to identify obstacles during the operation of the scraper to perform autonomous obstacle avoidance. Compared with a single-line lidar, the multi-line lidar 3-1 scans more characteristic points, so the failure rate will be lower. At the same time, compared with a single-line lidar that can only scan one plane, the multi-line lidar 3-1 can scan 360 degrees without dead angles, so the obstacle recognition ability is stronger. Binocular cameras 3-4 are arranged on the tail of the scraper, in front of the cab, behind the cab, and on the boom, and are used for video monitoring during the driving and operation of the scraper and for fusing with the multi-line lidar 3-1 to sense and identify the ore pile b and large pieces c. By identifying the ore pile b and the large pieces c in the ore pile b, the user is reminded to perform secondary blasting on the large pieces c in advance to avoid the problem of jamming caused by the large pieces c and achieve true autonomous shoveling.

[0070] The video and audio unit includes a camera 4-1, a display screen 4-3, and an in-vehicle microphone 4-2. The camera 4-1 is arranged on the scraper and includes four, which are respectively arranged at the tail of the rear frame, above the hydraulic oil tank, in front of the cab, and behind the cab, and are used for video monitoring during the driving and operation of the scraper. The display screen 4-3 is arranged in the cab of the scraper and is used for displaying the vehicle state and the reverse image during local driving of the scraper. The in-vehicle microphone 4-2 is arranged in the cab and is used to receive and transmit the real operation sounds in the cab of the underground scraper in real time, so that the safety officer at the remote center can truly feel the operation environment, is not prone to fatigue, and is also convenient for detecting abnormal sounds of the equipment.

[0071] The sensor unit includes a steering angle encoder 1-1, a tipping cylinder stroke sensor 1-3, and a boom angle encoder 1-2. The steering angle encoder 1-1 is arranged between the front and rear frames of the scraper and is used to measure the steering angle of the scraper. The tipping cylinder stroke sensor 1-3 is arranged on the tipping cylinder of the scraper and is used to measure the rotation angle attitude of the bucket. The boom angle encoder 1-2 is arranged at the joint of the boom of the scraper and is used to measure the pitching angle attitude of the boom.

[0072] The weighing unit includes an oil pressure sensor 2-1, a first boom proximity switch 2-2, a second boom proximity switch, and an inclination sensor 2-3. The first boom proximity switch 2-2 is arranged at the front part of the frame of the scraper. The first boom proximity switch 2-2 is used for the lower buffer limit of the boom of the scraper. When the boom descends to be close to the mechanical limit, the first boom proximity switch 2-2 is triggered. The second boom proximity switch is arranged at the root of the boom. When the boom lifts to the upper limit, the second boom proximity switch is triggered. Specifically, the first boom proximity switch 2-2 is preferably two, installed on the side of the front frame of the scraper, and its corresponding trigger baffle is installed on the side of the boom. The lower proximity switch is used for the lower buffer limit of the boom, that is, when the boom descends to be close to the mechanical limit, this proximity switch is triggered, and by controlling the flow rate of the lift cylinder, the descending speed is reduced to prevent the boom from colliding violently with the mechanical limit. The upper proximity switch is used for triggering the driving stability function, that is, when the bucket is full of ore and the boom descends to the limit position of this proximity switch, a signal is transmitted to the hydraulic system, so that the driving stability accumulator is connected to the liquid path of the lift cylinder. This accumulator plays a buffering role, so that under the condition of heavy load of the equipment, the impact of the working device on the equipment is reduced, so as to improve the structural life of the equipment and the comfort of the driver. The second boom proximity switch 2-10 is preferably two, installed at different angles at the root of the boom, mainly used for the automatic weighing system. The principle of automatic weighing mainly converts the change of oil pressure during shoveling into the change of weight. Since the oil pressure shows an upward trend in the early stage of lifting, until the middle and late stages of lifting, the boom approaches the second boom proximity switch and the oil pressure tends to be stable. At this time, the oil pressure sensor 2-1 obtains the oil pressure of the boom cylinder, and the control unit converts the oil pressure value of the boom cylinder into the shoveling weight. The oil pressure corresponds to the weight of the ore in the bucket at this time. Therefore, a section of the interval where the oil pressure tends to be stable needs to be selected. Therefore, these two proximity switches at different angles are used for this purpose. The inclination sensor 2-3 is arranged on the frame of the scraper, used to obtain the body inclination posture of the frame, and used for weighing correction after the vehicle tilts.

[0073] The sensing unit further includes a blind spot radar 3-3. The blind spot radar 3-3 is used to scan the blind spots on both sides of the scraper to improve the obstacle avoidance ability.

[0074] The network unit includes a composite cable 7-1 and an Ethernet switch 7-2, as Figure 4As shown, the cable reel includes a polyurethane sheath 7-14 and a ground wire 7-11, a phase wire 7-12, a tensile rope 7-13, a polyurethane sheath 7-14, and an optical fiber 7-15 disposed within the polyurethane sheath 7-14, and is used to supply power and network to the load-haul-dump loader. An Ethernet switch 7-2 is disposed on the load-haul-dump loader. The optical fiber 7-15 and the control unit are both connected to the Ethernet switch 7-2, and are used to provide a network with low latency and zero packet loss rate to the load-haul-dump loader, which can reduce the damage to wireless network facilities such as wireless APs caused by blasting, and there is no need to transfer the wireless network facilities during the transfer of the work site, thereby reducing costs and improving efficiency.

[0075] As Figure 5As shown in the figure, the intelligent system further includes a health management and warning subsystem, which includes a data analysis module, a warning display module, and one or more of a working device sensor acquisition module, a brake system sensor acquisition module, a hydraulic system sensor acquisition module, a transmission sensor acquisition module, and a torque converter sensor acquisition module. The data analysis module is arranged on the frame assembly, and the warning display module and one or more of the working device sensor acquisition module, the brake system sensor acquisition module, the hydraulic system sensor acquisition module, the transmission sensor acquisition module, and the torque converter sensor acquisition module are all connected to the data analysis module. Among them, the working device sensor acquisition module includes: a foil strain sensor and a fiber Bragg grating sensor. The brake system sensor acquisition module includes: a non-contact capacitance sensor, a piezoresistive pressure sensor, a thermocouple temperature sensor, and a Hall effect speed sensor. The hydraulic system sensor acquisition module includes: a vibrating viscometer sensor, a thermocouple temperature sensor, a capacitive moisture sensor, and an optical contamination sensor. The transmission sensor acquisition module includes: a piezoelectric acceleration sensor, a thermocouple temperature sensor, and an inductive metal particle sensor. The torque converter sensor acquisition module includes: a thermocouple temperature sensor, a strain pressure sensor, and a magnetoelectric speed sensor. The warning display module includes an audible and visual alarm device connected to the data analysis module. By installing different types of sensors at key parts such as the frame assembly, working device, transmission, axle, and hydraulic system, relevant data is collected in real time, and then processed and analyzed by the data analysis module. The results are displayed on the display screen 4-3 in the scraper cab and on a mobile phone or bracelet that can be connected to the system through the status display module. When an abnormal situation occurs, the warning module issues an alarm, and the maintenance guidance module provides corresponding maintenance suggestions according to the analysis results. Specifically, for the front frame and working device of the scraper, stress analysis algorithms and fatigue life prediction algorithms are adopted. By analyzing the stress data collected by the strain sensors and combining the material characteristics and actual working load conditions of the working device, the stress distribution and fatigue life consumption of the working device are calculated; for the brake system, a braking performance evaluation algorithm is adopted. According to the data collected by the pressure sensor, temperature sensor, and speed sensor, key indicators such as the braking pressure, braking temperature, and braking distance of the brake system are calculated and compared with the preset standard values to determine whether the performance of the brake system is normal; for the hydraulic system, a hydraulic oil health evaluation algorithm is adopted. By comprehensively analyzing the data collected by the viscometer sensor, temperature sensor, moisture sensor, and contamination sensor, the viscosity change, temperature change, moisture content, and contamination degree of the hydraulic oil are analyzed and compared with the normal range values to determine the health status of the hydraulic oil; for the transmission, a transmission fault diagnosis algorithm is adopted.Analyze the data sets collected by vibration sensors, temperature sensors, and metal particle sensors. Through vibration feature analysis, temperature trend analysis, and analysis of the quantity and size of metal particles, judge the wear condition of the gear and the possibility of faults in the gearbox; for the torque converter, adopt a torque converter state evaluation algorithm. Based on the data collected by temperature sensors, pressure sensors, and rotational speed sensors, analyze the temperature change, oil pressure change, and rotational speed difference change of the torque converter, and judge the working state of internal components such as clutch plates and the overall performance of the torque converter; at the same time, set corresponding warning rules according to the characteristics and importance of different components.

[0076] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0077] In the present invention, unless otherwise clearly defined and limited, terms such as "installed", "connected", "connected to", "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0078] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0079] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0080] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for a scraper, characterized in that: The control method of the scraper comprises: Remote repositioning: setting the initial position of the loader in the ground equipment; Unmanned driving trial operation and trajectory teaching: set the planned path according to the map of the underground mine, publish the scraper operation requirements, the scraper operates according to the planned path, compares the planned path with the actual requirements, and adjusts the planned trajectory according to the actual requirements; Automatic operation: the scraper drives to the loading area; identifies the ore pile and the large pieces in the ore pile and performs three-point shoveling; after the shoveling is completed, the scraper drives to the unloading area for unloading, and after unloading is completed, it returns to the loading area autonomously, and repeats the operation until the material transfer is completed; Map update: During the operation, the loader detects that the time limit has been exceeded and scans and uploads the map, and then sends the updated map to each equipment in the mining site through the ground control device.

2. The control method of a scraper according to claim 1, characterized in that: The identification of the ore pile and the large blocks in the ore pile and the three-point shoveling loading includes: After the shovel loader drives to the loading area, it first identifies the ore pile and the large pieces in the ore pile, then cancels the preset safety distance between the two sides and the tunnel walls, measures the distance to the tunnel walls on both sides in real time, and controls the shovel loader to shovel once against the first side of the tunnel wall, then shovel once against the second side of the tunnel wall, and finally shovel once along the center line of the tunnel, and repeats the operation in this cycle to complete the three-point shoveling.

3. The control method of a scraper according to claim 1, characterized in that: Prior to the remote relocation, the method further includes: Rapid scanning, mapping and point marking: A mobile device equipped with a scanning device is used to scan the stope to form a map, and key locations are marked on the map. The key locations include the loading area, the unloading area and the turning point.

4. An intelligent system for a scraper, characterized in that: The intelligent system is applied to the control method as claimed in claim 1 or 2; The intelligent system includes a control unit and a sensor unit, a weighing unit, a sensing unit, an audio-visual unit, a network unit and an access control unit connected to the control unit; The sensing unit includes a plurality of multi-line laser radars and a plurality of binocular cameras. The multi-line laser radars are arranged on the tail and the upper arm of the scraper, and are used to measure the real-time distance between the scraper and the tunnel wall and to identify obstacles. The binocular cameras are arranged at the tail of the loader, in front of the cab, behind the cab and on the boom, and are used for image monitoring during the driving and operation of the loader and for identifying the ore pile and large blocks in the ore pile.

5. The intelligent system for a scraper according to claim 4, characterized in that: The audio-visual unit includes a camera, a display screen and a vehicle-mounted microphone; The cameras are arranged on the scraper, including four cameras, and are used for monitoring the images during the driving and operation of the scraper; The display screen is arranged in the cab of the scraper and is used for displaying the vehicle status and reversing image when the scraper is driven locally; The vehicle-mounted microphone is arranged in the cab and is used for receiving the operation sound in the cab in real time.

6. The intelligent system for a scraper according to claim 4, characterized in that: The sensor unit includes a steering angle encoder, a bucket cylinder stroke sensor and a boom angle encoder; The steering angle encoder is arranged between the front and rear frames of the scraper and is used to measure the steering angle of the scraper; The bucket cylinder stroke sensor is arranged on the bucket cylinder of the scraper and is used to measure the posture data of the bucket; The boom angle encoder is arranged on the boom of the scraper and is used to measure the posture data of the boom.

7. The intelligent system for a scraper according to claim 4, characterized in that: The weighing unit includes an oil pressure sensor, a first arm proximity switch, a second arm proximity switch and an inclination sensor; The first boom proximity switch is arranged at the front part of the frame of the scraper, and is used for the lower buffer limit of the boom of the scraper, and is triggered when the boom descends to a position close to the mechanical limit; The second boom proximity switch is arranged at the root of the boom, and the second boom proximity switch is triggered when the boom is lifted to the upper limit position; The oil pressure sensor is used to obtain the oil pressure of the boom cylinder in real time, and the control unit converts the oil pressure value of the boom cylinder into the shovel load weight; The inclination sensor is arranged on the frame of the scraper and is used to obtain the body posture of the frame and to perform weighing correction after the vehicle is tilted.

8. The intelligent system for a scraper according to claim 4, characterized in that: The sensing unit also includes a blind spot radar, which is used to scan the blind spots on both sides of the scraper.

9. The intelligent system for a scraper according to claim 4, characterized in that: The network unit includes a composite cable and an Ethernet switch; The cable drum comprises a polyurethane sheath and a ground wire, a phase wire, a tensile rope, a polyurethane sheath and an optical fiber arranged in the polyurethane sheath, and is used to provide power and network to the scraper; The Ethernet switch is arranged on the scraper, and the optical fiber and the control unit are both connected to the Ethernet switch.

10. The intelligent system for a scraper according to claim 4, characterized in that: The intelligent system also includes a health management and early warning subsystem; The health management and early warning subsystem includes a data analysis module, an early warning display module, and one or more of a working device sensor acquisition module, a brake system sensor acquisition module, a hydraulic system sensor acquisition module, a gearbox sensor acquisition module, and a torque converter sensor acquisition module; The data analysis module is arranged on the scraper, and the warning display module and one or more of the working device sensor acquisition module, the brake system sensor acquisition module, the hydraulic system sensor acquisition module, the gearbox sensor acquisition module and the torque converter sensor acquisition module are connected to the data analysis module; Wherein, the working device sensor acquisition module includes a foil strain sensor and a fiber grating sensor; The brake system sensor acquisition module includes a non-contact capacitive sensor, a piezoresistive pressure sensor, a thermocouple temperature sensor and a Hall effect speed sensor; The hydraulic system sensor acquisition module includes a vibration viscosity sensor, a thermocouple temperature sensor, a capacitive moisture sensor and an optical contamination sensor; The gearbox sensor acquisition module includes: a piezoelectric acceleration sensor, a thermocouple temperature sensor and an inductive metal particle sensor; The torque converter sensor acquisition module includes: a thermocouple temperature sensor, a strain gauge pressure sensor and a magnetoelectric speed sensor; The early warning display module includes a vehicle-mounted display screen and an audible and visual alarm device connected to the data analysis module.

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