Unmanned driving research of underground scraper based on laser measurement system
Jianguo Li, Kai Zhan, Xin Guo, Hengtong Li · 2016
Combined with the special working environment of underground tunnels, the method of unmanned driving technique for underground scraper based on laser measurement system is proposed.The key factor is obtaining the horizontal position deviation which is used to realize the tendency to zero by adjusting fore and post splice angle of scraper through real-time control.How to calculate the deviation by laser measurement system mounted on the scraper and the controlling algorithm for unmanned driving are introduced.Unmanned driving tests using the algorithm combined with practical application are carried out on a two-cubic scraper in the underground tunnel.The result shows that the method can realize unmanned driving of scraper with certain application value.