Underground carry-scraper teleoperation system and underground carry-scraper

Abstract

The invention discloses an underground carry-scraper teleoperation system and an underground carry-scraper, the teleoperation system comprises a teleoperation control terminal, a network communication module, an edge calculation module and a carry-scraper local control module, the edge calculation module is deployed at the periphery of the carry-scraper and is used for receiving and processing data acquired by the carry-scraper local control module; key information is extracted and sent to the teleoperation control terminal to be displayed; the carry-scraper local control module is used for collecting sampling data of a sensing sensor configured on the carry-scraper, sending the sampling data to the edge calculation module and controlling operation of the carry-scraper according to a control instruction issued by the teleoperation control terminal and result data processed by the edge calculation module; and the network communication module is used for data interaction between the teleoperation control terminal and the edge computing module and between the teleoperation control terminal and the carry-scraper local control module. According to the invention, an operator does not need to operate on site in a dangerous underground environment and can complete operation through the teleoperation control terminal, so that the safety risk is effectively reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of underground scraper control, and in particular relates to an underground scraper remote control system and an underground scraper. Background Art

[0002] In underground mining operations, underground loaders (LHDs) are key pieces of equipment. Traditionally, LHDs are operated from the operator's cockpit. However, the harsh underground mining environment presents safety hazards such as poor ventilation, dust pollution, and roof and rock falls, posing a serious threat to the operator's life.

[0003] With technological advancements, some teleoperation control technologies have begun to be applied to underground LHDs, but numerous challenges remain. Regarding network communications, traditional 2.4G or WiFi networks suffer from severe signal attenuation in underground environments and limited transmission distances, making them inadequate for the long-distance operations required by underground LHDs. Furthermore, their weak anti-interference capabilities make them susceptible to interference from underground electrical equipment, rock formations, and other factors, leading to unstable data transmission, high latency, and high packet loss rates, impacting the real-time and accuracy of teleoperation. Regarding collision avoidance, during teleoperation of underground LHDs, the limitations of environmental perception technology and positioning accuracy create a high risk of collisions with tunnel walls, obstacles, or other operating machinery, severely impacting operational safety and equipment lifespan. Traditional solutions rely on a single sensor for obstacle detection. In the complex underground environment of dust, humidity, and low light levels, sensor data is susceptible to noise, resulting in low obstacle recognition accuracy and increased collision risk. Regarding data processing, centralized data processing methods result in massive data volumes, increasing network burden and slow processing speeds. This makes it difficult to analyze and process large amounts of sensor data in a timely manner, making it difficult to make precise control decisions based on real-time operating conditions, reducing LHD operating efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a remote operation system for an underground scraper loader to solve the problems of unstable network communication, high latency and high packet loss rate in the existing remote operation control of underground scraper loader, ensure that data can be transmitted quickly and accurately, and realize real-time and precise remote operation control.

[0005] To achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a remote control system for an underground scraper loader, comprising: A teleoperation control terminal, deployed in a remote control center, is used to display key information of the scraper in real time and generate control instructions; the key information includes the scraper's speed, position, posture, and bucket status; A network communication module is used for data exchange between the remote control terminal, the edge computing module, and the local control module of the scraper; the data exchange includes: sending the result data processed by the edge computing module to the remote control terminal, and sending the control instructions generated by the remote control terminal to the local control module of the scraper; The edge computing module is deployed around the scraper to receive and process data collected by the scraper's local control module, extract key information, and send the processed data to the network communication module and the scraper's local control module; The scraper loader local control module is deployed inside the scraper loader vehicle and is used to collect sampling data from the perception sensors configured on the scraper loader and send it to the edge computing module, and control the operation of the scraper loader based on the received control instructions and the result data processed by the edge computing module.

[0006] Preferably, the remote control terminal uses an industrial computer as a main controller and is equipped with a display screen for displaying the speed, position, posture and bucket status of the scraper in real time.

[0007] Preferably, the remote control terminal is also equipped with a joystick, an emergency brake button and a mode switching button.

[0008] Preferably, the remote control terminal encodes the operator's control instructions based on graphical programming, converts them into data packets that comply with the network communication protocol and sends them out; the control instructions include throttle switch control, front and rear headlight control, forward / reverse control, left / right turn proportional control and arm raising / lowering control.

[0009] Preferably, the network communication module adopts 5G network as a communication method; The network communication module includes an Ethernet backbone network, an optoelectronic switch ring network and a wireless AP to realize communication between the remote control center and the operating locomotive; the remote control center is set on the surface and connected to the underground optoelectronic switch ring network through the Ethernet backbone network; the wireless AP covers the operating scene of the underground mine, and all underground mine wireless APs are connected to the optoelectronic switch ring network and communicate with the remote control center through the Ethernet backbone network.

[0010] Preferably, the sensing sensors configured on the scraper include: LiDAR, cameras, and monitoring cameras for remote operation are deployed on the front and rear sides of the cab roof. The LiDAR collects tunnel point cloud data for path planning and SLAM mapping, while the cameras and monitoring cameras collect image data for material identification and monitoring screen display, respectively. Also, cameras are deployed on the left and right wheel arches of the front vehicle body to provide supplementary perception of the front vehicle body; In addition, angular displacement sensors are arranged at the front and rear vehicle body hinges and the two joints of the bucket to obtain the vehicle's steering information and the bucket's posture information respectively.

[0011] Preferably, the edge computing module is specifically used to: Receive and process the data collected by the perception sensor of the scraper local control module, extract key information, and transmit the processing results to the remote control terminal for display through the network communication module, as well as to the scraper local control module; the processing results include the point cloud after the identified materials, side walls, large rocks and dust filtering.

[0012] Preferably, the remote operation system further includes an anti-collision module, and the anti-collision module includes 6 ultrasonic radars installed at the front and rear parts of the vehicle body respectively.

[0013] Preferably, the anti-collision module is specifically used to: When an operating machine approaches, the ultrasonic radar will immediately identify the relative position and movement trajectory of the operating machine and issue a warning signal in time; In addition, when the scraper loader turns in a narrow tunnel, it can sense the distance changes to the tunnel wall in advance and transmit the distance data to the scraper loader's local control module in real time; after receiving the distance data, the scraper loader's local control module analyzes and judges it, and once it detects that the distance is less than the safety threshold, it immediately issues an audible and visual alarm signal.

[0014] Preferably, the network communication module adopts a combination of industrial Ethernet and wireless ad hoc network.

[0015] In a second aspect, the present invention provides an underground scraper equipped with the above-mentioned underground scraper remote operation system.

[0016] By adopting the above technical means, the present invention achieves the following beneficial effects: This invention proposes a remote control system for underground scrapers, consisting of a remote control terminal, a network communication module, an edge computing module, and a local scraper control module. This allows operators to complete tasks through the remote control terminal without having to work in dangerous underground environments, effectively reducing safety risks. The system also improves the real-time nature of remote control, enabling rapid transmission of operator commands to the scraper, significantly reducing the scraper's response delay and facilitating smoother operation.

[0017] This invention applies 5G network communication technology and edge computing technology to remote control of underground loaders. The 5G network ensures high-speed and low-latency data transmission, while edge computing enables local, real-time data processing. The combination of these two significantly improves the real-time and accuracy of remote control, reduces operational errors and equipment idle time, and improves the efficiency of the loaders.

[0018] The present invention uses multi-sensor fusion technology to collect multi-source data during the operation of the scraper, and uses the edge computing module for intelligent analysis and processing. It can more accurately grasp the working status and operating environment of the scraper, providing strong support for precise control.

[0019] The present invention installs an anti-collision module composed of ultrasonic radars, which can perform all-round monitoring, make up for blind spots, and complete obstacle detection and distance calculation in an instant, thereby minimizing collisions with tunnel walls, parked equipment, etc., significantly improving operational safety and effectively extending the service life of equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the structure of a remote control system for an underground scraper provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a remote control terminal provided in an embodiment of the present invention; Figure 3 A schematic diagram of the network communication module structure provided by an embodiment of the present invention; Figure 4 A schematic diagram of the deployment of perception sensors provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The embodiments described below with reference to the accompanying drawings are illustrative and intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0022] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "end", "bottom", "side", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0023] In the present invention, unless otherwise specified or limited, the terms "connection" and "installation" should be understood broadly. For example, they may refer to fixed connection, direct connection, or connection through an intermediate medium. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it constitute a separate or selective embodiment that is mutually exclusive of other embodiments.

[0025] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0026] For underground operation scenarios, the goal of the underground shovel loader remote operation system is to enable personnel to operate the underground shovel loader from the ground through remote control of the shovel loader to ensure the safety of the operators. At the functional level, the ground monitoring center operation platform can be used to operate the entire system, view videos and detect equipment status.

[0027] Based on the above invention concept, the embodiment of the present invention provides a remote control system for an underground scraper. Figure 1 , including: a remote control terminal, a network communication module, an edge computing module and a scraper local control module. The remote control terminal exchanges data with the edge computing module and the scraper local control module through the network communication module; the data collected by the scraper local control module is first transmitted to the edge computing module for processing, and the processed results are then fed back to the remote control terminal through the network communication module. At the same time, the scraper local control module controls the operation of the scraper according to the received control instructions and the processing results of the edge computing module.

[0028] In this embodiment, the remote control terminal is deployed in the remote control center. The remote control terminal uses a high-performance industrial computer as the main controller to ensure the smooth operation of the system. It is equipped with a high-resolution touch screen to facilitate operators to intuitively view the working status of the scraper and the working environment image. At the same time, it integrates a high-precision joystick with a displacement accuracy of up to 0.1mm, which can achieve precise control of the scraper's movements; it also has multiple function buttons, such as an emergency brake button, a mode switch button, etc., to meet different operating requirements. The underground scraper remote control terminal is as follows: Figure 2 shown.

[0029] In this embodiment, the teleoperation control terminal utilizes a customized operating system and specialized teleoperation control software. The software interface features a simple and intuitive design, displaying key information such as the scraper's speed, position, posture, and bucket status in real time. Graphical programming technology enables rapid generation and transmission of operating instructions. Operators click on virtual buttons on the screen or operate the joystick. The software encodes these instructions, converts them into data packets that conform to network communication protocols, and transmits them.

[0030] In this embodiment, the network communication module uses 5G network as the main communication mode, taking advantage of the high speed, low latency and large capacity of 5G to ensure that control instructions and sensor data can be transmitted quickly and stably. In order to cope with the situation where 5G signal coverage is insufficient in local areas underground, a dedicated underground wireless communication network is also equipped to achieve seamless switching and ensure communication continuity. The communication network topology is as follows: Figure 3 As shown, the system primarily consists of an Ethernet backbone network, an optical fiber switch ring network, and wireless access points (APs) to enable communication between the remote control center and the operating locomotives. The remote control center is located on the surface and connected to the underground optical fiber switch ring network via the Ethernet backbone network. Wireless APs provide coverage for underground mine operations, ensuring stable and reliable wireless communication with the underground loaders. Finally, all underground mine wireless APs are connected to the optical fiber switch ring network and communicate with the remote control center via the Ethernet backbone network.

[0031] In this embodiment, the edge computing module is deployed near the scraper and receives sensor data collected by the scraper's local control module, such as lidar, ultrasonic radar, camera, and angular displacement sensor. Leveraging its powerful computing capabilities, the edge computing module analyzes and processes this data in real time, extracting key information such as the scraper's real-time location, operating status, and operating environment characteristics. The processed results are then transmitted via the network communication module to the teleoperation control terminal for display and to the scraper's local control module.

[0032] In this embodiment, the local control module of the scraper is deployed inside the scraper locomotive. The local control module of the scraper is responsible for collecting data from various sensors configured on the scraper and sending the data to the edge computing module. At the same time, it receives control instructions sent by the remote control terminal through the network communication module, as well as the processing results sent by the edge computing module, and accurately controls the movement of the scraper based on this information. The control instructions include throttle switch control, front and rear headlight control, forward / reverse control, left / right turn proportional control, arm raising / lowering control, etc. The processing results sent by the edge computing module include identified materials, side walls, large rocks, point clouds after dust filtering, etc.

[0033] Due to the height and width limitations of the mine tunnel, sensors cannot be placed on the upper part of the shovel loader body, and sensors that exceed the size of the body should not be placed on the left and right sides of the body. Sensors cannot be placed on the front of the body due to shoveling operations. Therefore, in this embodiment, perception sensors including lidar, cameras, and monitoring cameras for remote operation are deployed on the front and rear sides of the top of the cab. The lidar collects tunnel point cloud data for path planning, SLAM mapping, and collision avoidance. The camera and monitoring camera collect image data for material identification and monitoring screen display, respectively.

[0034] Considering that the front and rear vehicle bodies are articulated, the perception sensors installed on the rear vehicle body cannot cover the front vehicle body when the vehicle body turns. Therefore, cameras are deployed on the left and right wheel arches of the front vehicle body to provide supplementary perception of the front vehicle body. In addition, angular displacement sensors are placed at the front and rear vehicle body articulations and at the two joints of the bucket to obtain vehicle steering information and bucket posture information respectively. Perception sensor deployment is as follows Figure 4 shown.

[0035] To address the high risk of collisions between underground scrapers and tunnel walls, obstacles, or other operating machinery within tunnels, which seriously impacts operational safety and equipment life, an embodiment of the present invention also incorporates a collision avoidance module. Specifically, twelve ultrasonic radars are positioned around the scraper's local control module to implement close-range obstacle avoidance and blind spot detection. Six ultrasonic radars are installed at the front and rear of the scraper. Given the limited underground space, these radars are highly sensitive to any potential collision hazards, providing rapid feedback on even the slightest distance change. When other operating machinery approaches, the ultrasonic radars instantly identify its relative position and movement trajectory, issuing a timely warning signal. Whether it's a sudden small obstacle or an irregular protrusion on the tunnel wall, these radars can be detected immediately. When the scraper turns in a narrow tunnel, these radars can proactively detect changes in distance to the tunnel wall. Furthermore, their extremely fast response speed allows them to instantly detect obstacles and calculate distances, transmitting this data to the scraper's local control module in real time. After receiving the data, the local control module of the scraper will quickly analyze and judge it. Once it detects that the distance is less than the safety threshold, it will immediately issue an audible and visual alarm signal to remind the operator to take corresponding measures to avoid scratch accidents.

[0036] It should be noted that, in terms of network communication, while 5G networks are the primary communication method for this invention, in some mining areas where 5G deployment is underdeveloped, a combination of Industrial Ethernet and wireless ad hoc networks can be considered as an alternative. Industrial Ethernet provides stable wired connections, while wireless ad hoc networks address communication issues in areas where wired networks are difficult to deploy. The combination of the two can also meet data transmission needs to a certain extent.

[0037] It should be noted that the technical solution of the present invention is not only applicable to underground shovel loaders, but can also be applied to other engineering machinery equipment operating in harsh environments, such as tunnel boring machines, deep-sea operation equipment, etc., through remote control and efficient network communication technology, to improve the operating safety and efficiency of the equipment.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A remote control system for an underground scraper, characterized in that: include: The teleoperation control terminal is deployed in the remote control center to display key information of the scraper in real time and generate control instructions; The key information includes the speed, position, posture and bucket status of the scraper; A network communication module is used for data exchange between the remote control terminal, the edge computing module, and the local control module of the scraper; the data exchange includes: sending the result data processed by the edge computing module to the remote control terminal, and sending the control instructions generated by the remote control terminal to the local control module of the scraper; The edge computing module is deployed around the scraper to receive and process data collected by the scraper's local control module, extract key information, and send the processed data to the network communication module and the scraper's local control module; The scraper loader local control module is deployed inside the scraper loader vehicle and is used to collect sampling data from the perception sensors configured on the scraper loader and send it to the edge computing module, and control the operation of the scraper loader based on the received control instructions and the result data processed by the edge computing module.

2. The underground scraper remote control system according to claim 1, characterized in that: The remote control terminal uses an industrial computer as the main controller and is equipped with a display screen for displaying the speed, position, posture and bucket status of the scraper in real time.

3. The underground scraper remote control system according to claim 2, characterized in that: The remote control terminal is also equipped with a joystick, an emergency brake button and a mode switching button.

4. The underground scraper remote control system according to claim 2, characterized in that: The remote control terminal is based on graphical programming, encodes the operator's control instructions, converts them into data packets that comply with the network communication protocol and sends them out; the control instructions include throttle switch control, front and rear headlight control, forward / reverse control, left / right turn proportional control and arm raising / lowering control.

5. The underground scraper remote control system according to claim 1, characterized in that: The network communication module uses 5G network as a communication method; The network communication module includes an Ethernet backbone network, an optoelectronic switch ring network and a wireless AP to realize communication between the remote control center and the operating locomotive; the remote control center is set on the surface and connected to the underground optoelectronic switch ring network through the Ethernet backbone network; the wireless AP covers the operating scene of the underground mine, and all underground mine wireless APs are connected to the optoelectronic switch ring network and communicate with the remote control center through the Ethernet backbone network.

6. The underground scraper remote control system according to claim 1, characterized in that: The perception sensors configured on the scraper include: LiDAR, cameras, and monitoring cameras for remote operation are deployed on the front and rear sides of the cab roof. The LiDAR collects tunnel point cloud data for path planning and SLAM mapping, while the cameras and monitoring cameras collect image data for material identification and monitoring screen display, respectively. Also, cameras are deployed on the left and right wheel arches of the front vehicle body to provide supplementary perception of the front vehicle body; In addition, angular displacement sensors are arranged at the front and rear vehicle body hinges and the two joints of the bucket to obtain the vehicle's steering information and the bucket's posture information respectively.

7. The underground scraper remote control system according to claim 6, characterized in that: The edge computing module is specifically used to: Receive and process the data collected by the perception sensor of the scraper local control module, extract key information, and transmit the processing results to the remote control terminal for display through the network communication module, as well as to the scraper local control module; the processing results include the point cloud after the identified materials, side walls, large rocks and dust filtering.

8. The underground scraper remote control system according to claim 1, characterized in that: The remote operation system further includes an anti-collision module, which includes six ultrasonic radars installed at the front and rear parts of the vehicle body.

9. The underground scraper remote control system according to claim 8, characterized in that: The anti-collision module is specifically used to: When an operating machine approaches, the ultrasonic radar will immediately identify the relative position and movement trajectory of the operating machine and issue a warning signal in time; Furthermore, when the scraper turns in a narrow lane, it can sense the distance change to the lane wall in advance and transmit the distance data to the scraper's local control module in real time; After receiving the distance data, the local control module of the scraper loader analyzes and judges it. Once it detects that the distance is less than the safety threshold, it immediately issues an audible and visual alarm signal.

10. The underground scraper remote control system according to claim 1, characterized in that: The network communication module adopts a combination of industrial Ethernet and wireless ad hoc network.

11. An underground scraper, characterized in that: A remote control system for an underground scraper loader is provided according to any one of claims 1 to 10.

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