CN117873076A - Intelligent scraper auxiliary driving system and method - Google Patents
Intelligent scraper auxiliary driving system and method Download PDFInfo
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- CN117873076A CN117873076A CN202311814672.1A CN202311814672A CN117873076A CN 117873076 A CN117873076 A CN 117873076A CN 202311814672 A CN202311814672 A CN 202311814672A CN 117873076 A CN117873076 A CN 117873076A
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Abstract
The invention provides an intelligent carry-scraper auxiliary driving system and a method thereof.A laser radar and a preset number of cameras are used for monitoring environmental data of working conditions of the carry-scraper by an intelligent remote control module to obtain the environmental data, and the environmental data is transmitted to a video monitoring module; the video monitoring module performs original proportion simulation on the working area environment of the roadway and the scraper truck according to the environment data to obtain a three-dimensional model of the roadway environment, and transmits the three-dimensional model of the roadway environment to the ground operation module; the ground operation module performs visual map building and route planning on the scraper according to the roadway environment three-dimensional model to obtain an operation instruction, so that the intelligent remote control module performs remote control on the scraper according to the operation instruction. According to the invention, the intelligent remote control module can be used for remotely controlling the scraper, so that the operation flow of the scraper is reduced, and the complex environment of the roadway of the underground mining area can be monitored in real time, thereby reducing the occurrence of safety accidents.
Description
Technical Field
The invention relates to the technical field of intelligent scraper trucks, in particular to an intelligent scraper truck auxiliary driving system and an intelligent scraper truck auxiliary driving method.
Background
As underground mining conditions become more complex, the technical demands for informatization, digitization, intelligence and unmanned are also becoming more stringent. Informatization, intellectualization and automation transformation of underground mine production play a vital role in improving the production efficiency of enterprises and guaranteeing the production safety. The remote control and the autonomous control of the mining equipment can not only effectively improve the mining production efficiency and reduce the mining production cost, but also improve the underground mining operation environment and ensure the safety of field operators and generating equipment. The intelligent scraper can effectively improve the ore recovery rate and solve the problems of the recovery of residual ores in the goaf, the severe environment, the ore extraction of dangerous operation sites and other special conditions.
In the prior art, an operator needs to stare at an operation screen at any time in the operation process of the traditional intelligent scraper, the operation flow is complex, errors are easy to occur, and real-time monitoring cannot be performed on the complex environment of the roadway of the underground mining area, so that safety accidents often occur.
Therefore, an urgent need is to provide an intelligent scraper auxiliary driving system and an intelligent scraper auxiliary driving method, which solve the technical problems that the intelligent scraper in the prior art is not intelligent enough, the operation flow is complex, the complex environment of the roadway of the underground mining area cannot be monitored in real time, and the occurrence of safety accidents cannot be reduced.
Disclosure of Invention
In view of the foregoing, it is necessary to provide an intelligent assisting driving system and method for a scraper, which are used for solving the technical problems that the intelligent scraper in the prior art is not intelligent enough, the operation flow is complicated, the complex environment of the roadway of the underground mining area cannot be monitored in real time, and the occurrence of safety accidents cannot be reduced.
In one aspect, the invention provides an intelligent scraper auxiliary driving system, which comprises an intelligent remote control module, a ground operation module and a video monitoring module:
the intelligent remote control module is used for monitoring working condition environment data of the scraper truck through a laser radar and a preset number of cameras to obtain environment data, and transmitting the environment data to the video monitoring module;
the video monitoring module is used for carrying out original proportion simulation on the working area environment of the tunnel and the scraper truck according to the environment data to obtain a three-dimensional model of the tunnel environment, and transmitting the three-dimensional model of the tunnel environment to the ground operation module;
the ground operation module is used for carrying out visual map building and route planning on the scraper truck according to the roadway environment three-dimensional model to obtain an operation instruction, so that the intelligent remote control module can carry out remote control on the scraper truck according to the operation instruction.
In some possible implementations, the system further includes a safety grating isolation system;
the safety grating isolation system is used for controlling the roadway according to the optical fiber ring network and the gratings, and preventing irrelevant vehicles and personnel from intruding into the roadway.
In some possible implementations, the ground operation module is further configured to perform visual mapping on the roadway environment three-dimensional model to obtain video data, and perform route planning according to the roadway environment three-dimensional model to obtain a target route, so that the operation instruction is obtained according to the video data and the target route.
In some possible implementations, the ground operation module is further configured to analyze and evaluate a status parameter and a working interface condition of the scraper according to the video data and the target route, so as to obtain an analysis result, so that the intelligent remote control module remotely controls the scraper according to the analysis result.
In some possible implementations, the ground operation module includes a path learning unit;
the path learning system is used for carrying out path learning according to the roadway environment three-dimensional model to obtain all parameter configurations of the scraper in the autonomous operation process, so that the ground operation module sets an autonomous navigation function according to all parameter configurations, and further the intelligent remote control module controls the scraper according to the autonomous navigation function; the path learning comprises remote control operation training according to the running route.
In some possible implementations, the ground operation module further includes a path planning unit;
the path planning unit is used for determining a ore drawing point and an ore dumping point in an automatic working area through the roadway environment three-dimensional model, setting a walking path according to the ore drawing point and the ore dumping point, enabling the ground operation module to start the autonomous navigation function of the scraper truck through the intelligent remote control module when the scraper truck runs to the automatic working area, and enabling the scraper truck to run autonomously in the automatic working area according to the walking path.
In some possible implementations, the ground handling module is further configured to cooperatively control a plurality of scooptrams in accordance with the intelligent remote control module.
In some possible implementations, the intelligent remote control module is further configured to obtain running information of the forklift, and send the running information to the ground operation module, so that the ground operation module monitors the forklift according to the running information; the travel information includes a current position, heading, attitude, and speed.
On the other hand, the invention also provides an intelligent auxiliary driving method of the scraper, which comprises the following steps:
monitoring environment data of working conditions of the scraper by using a laser radar and a preset number of cameras to obtain the environment data;
performing original proportion simulation on the working area environment of the roadway and the scraper truck according to the environment data to obtain a three-dimensional model of the roadway environment;
and carrying out visual map building and route planning on the scraper according to the roadway environment three-dimensional model to obtain an operation instruction, and carrying out remote control on the scraper according to the operation instruction.
On the other hand, the embodiment of the invention discloses an intelligent scraper, which comprises the intelligent scraper auxiliary driving system.
The beneficial effects of adopting the embodiment are as follows: the intelligent carrying vehicle auxiliary driving system provided by the invention is provided with the intelligent remote control module, so that the environment data of a roadway and the working condition of the carrying vehicle can be obtained, a roadway environment three-dimensional model can be built according to the environment data, real-time video monitoring can be carried out on the roadway according to the roadway environment three-dimensional model, the carrying vehicle can be controlled according to the roadway environment three-dimensional model, the working route of the carrying vehicle can be planned according to the roadway environment three-dimensional model, the operation instruction for controlling the carrying vehicle can be obtained according to the planning condition, the carrying vehicle can be remotely controlled through the intelligent remote control module according to the operation instruction, the operation flow of the carrying vehicle is reduced, and the complex environment of an underground mining area roadway can be monitored in real time, so that the occurrence of safety accidents is reduced.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an embodiment of an intelligent drive-assist system for a lift truck according to the present invention;
fig. 2 is a schematic flow chart of an embodiment of an intelligent assisting driving method for a scraper.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor systems and/or microcontroller systems.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The embodiment of the invention provides an intelligent auxiliary driving system and method for a scraper, which are respectively described below.
FIG. 1 is a schematic flow chart of an embodiment of an intelligent lift truck auxiliary driving system provided by the present invention, and as shown in FIG. 1, an intelligent lift truck auxiliary driving system 100 includes an intelligent remote control module 101, a ground operation module 102 and a video monitoring module 103:
the intelligent remote control module 101 is configured to monitor environmental data of working conditions of the scraper by using a laser radar and a preset number of cameras, obtain the environmental data, and transmit the environmental data to the video monitoring module 103;
the video monitoring module 103 is used for performing original proportion simulation on the working area environment and the scraper truck of the roadway according to the environmental data to obtain a roadway environment three-dimensional model, and transmitting the roadway environment three-dimensional model to the ground operation module 102;
the ground operation module 102 is configured to perform visual mapping and route planning on the scraper according to the roadway environment three-dimensional model, and obtain an operation instruction, so that the intelligent remote control module 101 performs remote control on the scraper according to the operation instruction.
Compared with the prior art, the intelligent carrying vehicle auxiliary driving system provided by the embodiment of the invention is provided with the intelligent remote control module 101, so that the environment data of a roadway and the working conditions of the carrying vehicle can be obtained, a roadway environment three-dimensional model can be built according to the environment data, real-time video monitoring can be carried out on the roadway according to the roadway environment three-dimensional model, the carrying vehicle can be controlled according to the roadway environment three-dimensional model, the working route of the carrying vehicle can be planned according to the roadway environment three-dimensional model, the operation instruction for controlling the carrying vehicle can be obtained according to the planned condition, the carrying vehicle can be remotely controlled through the intelligent remote control module 101 according to the operation instruction, the operation flow of the carrying vehicle is reduced, and the complex environment of an underground mining area roadway can be monitored in real time, so that the occurrence of safety accidents is reduced.
In the specific embodiment of the invention, the beyond-the-horizon remote driving function is realized under the condition that all actions of the scraper are supported without changing the original operation; the underground vehicle real-time positioning and unmanned driving functions are realized through the positioning technology and algorithm with independent intellectual property rights, and the real-time control and the efficient operation of multiple vehicles can be simultaneously supported; the system modules such as real-time monitoring, three-dimensional simulation reconstruction, path planning and the like are carried out on the complex environment of the roadway of the underground mining area, so that the auxiliary driving functions such as path learning function, automatic ore dumping and the like are completed. The auxiliary driving function has the advantages of intelligence, easiness in operation, low cost and the like.
Further, a vehicle-mounted control system can be installed on the forklift, the vehicle-mounted control system can monitor underground roadway environment in real time through various sensors on the forklift, control information and parameters of the forklift are accurately positioned, further monitored environment data and positioning information of the forklift can be sent to the intelligent remote control module 101, the intelligent remote control module 101 can send the environment data and the positioning information to the video monitoring module 103, the video monitoring module 103 can conduct three-dimensional reconstruction simulation on the underground roadway environment, specifically, the three-dimensional modeling technology can conduct original proportion simulation on the work area environment of the roadway and the forklift based on VR technology, and a roadway environment three-dimensional model is obtained, wherein real-time map monitoring and reconstruction can be conducted in the vehicle driving process through the use of a multi-line scanner, and real-time map service is provided for unmanned auxiliary driving. Based on the roadway environment three-dimensional model, the underground roadway environment of the scraper in the running process can be visualized, so that the running visualization can be achieved, and the environment of the scraper in the running process can be displayed in real time.
When an operator remotely controls the forklift in the ground operation module 102, the operator can determine an operation instruction through an interface picture displayed in real time and a planned route, and send the operation instruction to the intelligent remote control module 101, so that the intelligent remote control module 101 controls the forklift according to the operation instruction, for example, adjusts the direction of the forklift, adjusts the speed, or starts an autonomous navigation function, etc.
In some embodiments of the present invention, the intelligent remote control module 101 is further configured to obtain running information of the scraper, and send the running information to the ground operation module 102, so that the ground operation module 102 monitors the scraper according to the running information; the travel information includes a current position, heading, attitude, and speed.
In a specific embodiment of the present invention, the intelligent remote control module 101 may obtain travel information of the forklift, such as travel speed, current location, attitude, heading, etc., through an on-board control system on the forklift. These travel information may then be sent to the floor operating module 102 where the operator may monitor the operation of the forklift at the floor operating module 102.
It should be noted that: in order to ensure the safety of the scraper during running, in some embodiments of the invention, the system further comprises a safety grating isolation system;
the safety grating isolation system is used for controlling the roadway according to the optical fiber ring network and the gratings and preventing irrelevant vehicles and personnel from intruding into the roadway.
In the specific embodiment of the invention, the underground roadway can be provided with the fiber bragg grating, so that the roadway can be monitored, when an irrelevant vehicle and personnel are found to break into the roadway, the transmitter and the controller in the safety grating isolation system can perform the state indication and audible and visual alarm functions, and the real-time data and the alarm record are transmitted to the ground operation module 102 for interface display, so that the safety guarantee is provided for the next operation instruction.
Further, the system also comprises a roadway communication module, wherein the roadway communication module consists of an optical fiber ring network, a roadway information interaction processing unit group, a UWB tag, a grating and a voice call system, can realize the interaction transmission of overground and underground information, ensure that control signal data of data transmission and receiving can be accurately transmitted between the video monitoring module 103 and the vehicle-mounted control system in real time, and provide all communication tasks between the ground operation module 102 and the scraper, including control communication of the scraper by an operation platform system, communication of scraper running state data transmitted to a monitor of the ground operation module 102, communication of scraper navigation information and the monitor, communication of video data and the monitor and communication between safety grating isolation modules.
In some embodiments of the present invention, the ground operation module 102 is further configured to perform visual mapping on the three-dimensional model of the roadway environment to obtain video data, and perform route planning according to the three-dimensional model of the roadway environment to obtain a target route, so as to obtain an operation instruction according to the video data and the target route.
In a specific embodiment of the present invention, the ground operation module 102 may further update the roadway environment three-dimensional model in real time according to the environment data acquired in real time, so that the environment data may be monitored in real time on the video monitoring module 103 according to the roadway environment three-dimensional model, a visual map may be created on the roadway environment three-dimensional model to obtain video data, so that the roadway environment is monitored on the video monitoring module 103 in real time, a target route may be set on the ground operation module 102 according to the roadway environment three-dimensional model, and an operation instruction may be determined on the ground operation module 102 according to the video data and the target route, for example, each place where the vehicle travels.
In some embodiments of the present invention, the ground operation module 102 is further configured to analyze and evaluate the status parameter and the working interface condition of the scraper according to the video data and the target route, so as to obtain an analysis result, so that the intelligent remote control module 101 remotely controls the scraper according to the analysis result.
In a specific embodiment of the present invention, the state parameters and the working interface conditions of the forklift may be analyzed and evaluated according to the video data and the target route, for example, the operating environment of the forklift may be monitored according to the video data, so as to determine whether the forklift is operating on the target route, or when the operating environment of the forklift is not changed, it may be analyzed that the forklift stops running at the location, and further, according to the working interface conditions of the forklift, whether the forklift is operating normally, whether the process of specific analysis and evaluation and the analysis result are not limited herein, and after the analysis result is obtained, the operator may operate on the ground operation module 102 according to the analysis result, and send an operation instruction for controlling the forklift, for example, when the forklift is not operating on the specified route, the operator may control the forklift to return to the specified operation route. The operation instruction can be sent to the intelligent remote control module 101, and the intelligent remote control module 101 can remotely control the forklift through the vehicle-mounted control system.
It should be noted that: in order to allow autonomous navigation of the forklift, in some embodiments of the present invention, the floor operating module 102 includes a path learning unit;
the path learning system is used for carrying out path learning according to the roadway environment three-dimensional model to obtain all parameter configurations of the scraper in the autonomous operation process, so that the ground operation module 102 sets an autonomous navigation function according to all parameter configurations, and further the intelligent remote control module 101 controls the scraper according to the autonomous navigation function; path learning includes training for remote control operations based on the travel route.
In the specific embodiment of the invention, after the three-dimensional model of the roadway environment is obtained, the operation condition of the scraper can be different according to the different operation conditions of the scraper, such as different production processes, the ore dumping can be divided into ore dumping of a drop shaft and ore dumping of a truck, and the ore dumping and shoveling of the scraper can be set as a period to carry out cyclic reciprocating operation, so that path learning can be carried out in the three-dimensional model of the roadway environment according to the periodic operation condition and the operation condition, the path learning allows an operator to finish one-time walking from a mine point to the ore dumping point and the operation flow of the ore dumping at the ore dumping point through local manual or remote control operation of the scraper on the ground operation module 102, a plurality of effective records can be stored at the same time, the operation can be carried out at any time, all parameter configuration of autonomous operation of the vehicle can be simply realized, the operation is easy to understand, and the special knowledge requirements on the operator are lower.
In some embodiments of the invention, the floor operation module 102 further comprises a path planning unit;
the path planning unit is used for determining the ore drawing point and the ore dumping point in the automatic working area through the roadway environment three-dimensional model, and setting a walking path according to the ore drawing point and the ore dumping point, so that when the scraper truck runs to the automatic working area, the ground operation module 102 starts the autonomous navigation function of the scraper truck through the intelligent remote control module 101, and the scraper truck runs autonomously in the automatic working area according to the walking path.
In a specific embodiment of the present invention, when a path planning is performed, an operator may select a mine outlet point and a mine pouring point in an automatic working area on an electronic map of the ground operation module 102, and set a walking path, and when the scraper is driven to the automatic working area, the ground operation module 102 may start an autonomous navigation function of the scraper through the intelligent remote control module 101, and the scraper may perform autonomous driving according to the walking path in the automatic working area, thereby implementing a self-sufficient operation flow, where the autonomous navigation function may implement an accurate positioning of a real-time position of the underground scraper and an unmanned function through an algorithm and a technique having independent intellectual property rights.
It should be noted that, in order to implement cooperative control of a plurality of scooptrams, in some embodiments of the present invention, the ground operation module 102 is further configured to perform cooperative control of a plurality of scooptrams according to the intelligent remote control module 101.
In a specific embodiment of the present invention, an operator may simultaneously perform cooperative control on a plurality of scooptrams at the ground operation module 102, so as to implement one-to-many cooperative control, and improve navigation service for high-speed and efficient operation of the scooptrams in the unmanned or assisted driving state in the working area.
According to the embodiment of the invention, through a collaborative, intelligent and efficient working mechanism among all functional modules of the software and hardware control system, the manual operation difficulty is reduced, the transmission efficiency is improved, and the labor cost is reduced; when the auxiliary driving system controls the carrying vehicle, the manual operation system is in a stop working state, so that the carrying vehicle only receives one command, and the operation is safe; the auxiliary driving system can transmit vehicle-mounted state parameters, communication states, alarm information, operation information, monitoring information and the like of the vehicle in real time and display an interface, has intelligent machine learning capability, continuously learns manual operation, realizes a man-machine cooperation mechanism, deals with complex environments, improves production efficiency, and reduces production cost and risk of manual operation errors.
In order to better implement the intelligent auxiliary driving system of the scraper in the embodiment of the invention, correspondingly, the embodiment of the invention also provides an intelligent auxiliary driving method of the scraper, which is shown in fig. 2, based on the intelligent auxiliary driving system of the scraper, and comprises the following steps:
s201, monitoring environment data of working conditions of the scraper by using a laser radar and a preset number of cameras to obtain the environment data;
s202, performing original proportion simulation on the working area environment of the roadway and the scraper truck according to the environment data to obtain a three-dimensional model of the roadway environment;
and S203, carrying out visual map building and route planning on the scraper according to the roadway environment three-dimensional model to obtain an operation instruction, and carrying out remote control on the scraper according to the operation instruction.
The intelligent auxiliary driving method for the forklift provided by the embodiment can realize the technical scheme described in the embodiment of the intelligent auxiliary driving system for the forklift, and the specific implementation principle of each module or unit can be referred to the corresponding content in the embodiment of the intelligent auxiliary driving system for the forklift, which is not repeated here.
Correspondingly, the embodiment of the application also provides an intelligent scraper, which can realize the intelligent scraper auxiliary driving system.
Those skilled in the art will appreciate that all or part of the flow of the methods of the embodiments described above may be accomplished by way of a computer program stored in a computer readable storage medium to instruct related hardware (e.g., a processor, a controller, etc.). The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The intelligent auxiliary driving system and method for the scraper truck provided by the invention are described in detail, and specific examples are applied to illustrate the principle and implementation of the invention, and the description of the examples is only used for helping to understand the method and core ideas of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present invention, the present description should not be construed as limiting the present invention.
Claims (10)
1. An intelligent carry-scraper auxiliary driving system is characterized in that the system comprises an intelligent remote control module, a ground operation module and a video monitoring module:
the intelligent remote control module is used for monitoring working condition environment data of the scraper truck through a laser radar and a preset number of cameras to obtain environment data, and transmitting the environment data to the video monitoring module;
the video monitoring module is used for carrying out original proportion simulation on the working area environment of the tunnel and the scraper truck according to the environment data to obtain a three-dimensional model of the tunnel environment, and transmitting the three-dimensional model of the tunnel environment to the ground operation module;
the ground operation module is used for carrying out visual map building and route planning on the scraper truck according to the roadway environment three-dimensional model to obtain an operation instruction, so that the intelligent remote control module can carry out remote control on the scraper truck according to the operation instruction.
2. The intelligent lift truck auxiliary drive system of claim 1, wherein the system further comprises a safety grating isolation system;
the safety grating isolation system is used for controlling the roadway according to the optical fiber ring network and the gratings, and preventing irrelevant vehicles and personnel from intruding into the roadway.
3. The intelligent carry-on truck auxiliary driving system according to claim 1, wherein the ground operation module is further configured to perform visual mapping on the roadway environment three-dimensional model to obtain video data, and perform route planning according to the roadway environment three-dimensional model to obtain a target route, so as to obtain the operation instruction according to the video data and the target route.
4. An intelligent lift truck assisted driving system according to claim 3, wherein the ground operation module is further configured to perform analysis and evaluation on a state parameter and a working interface condition of the lift truck according to the video data and the target route, so as to obtain an analysis result, so that the intelligent remote control module performs remote control on the lift truck according to the analysis result.
5. The intelligent lift truck auxiliary drive system according to claim 1, wherein the ground operation module includes a path learning unit;
the path learning system is used for carrying out path learning according to the roadway environment three-dimensional model to obtain all parameter configurations of the scraper in the autonomous operation process, so that the ground operation module sets an autonomous navigation function according to all parameter configurations, and further the intelligent remote control module controls the scraper according to the autonomous navigation function; the path learning comprises remote control operation training according to the running route.
6. The intelligent lift truck auxiliary drive system according to claim 5, wherein the ground operation module further comprises a path planning unit;
the path planning unit is used for determining a ore drawing point and an ore dumping point in an automatic working area through the roadway environment three-dimensional model, setting a walking path according to the ore drawing point and the ore dumping point, enabling the ground operation module to start the autonomous navigation function of the scraper truck through the intelligent remote control module when the scraper truck runs to the automatic working area, and enabling the scraper truck to run autonomously in the automatic working area according to the walking path.
7. The intelligent lift truck auxiliary drive system of claim 1, wherein the ground operation module is further configured to cooperatively control a plurality of lift trucks in accordance with the intelligent remote control module.
8. The intelligent lift truck assisted drive system of claim 1, wherein the intelligent remote control module is further configured to obtain travel information of the lift truck and send the travel information to the ground operation module, so that the ground operation module monitors the lift truck according to the travel information; the travel information includes a current position, heading, attitude, and speed.
9. An intelligent auxiliary driving method for a scraper truck, which is characterized by comprising the following steps:
monitoring environment data of working conditions of the scraper by using a laser radar and a preset number of cameras to obtain the environment data;
performing original proportion simulation on the working area environment of the roadway and the scraper truck according to the environment data to obtain a three-dimensional model of the roadway environment;
and carrying out visual map building and route planning on the scraper according to the roadway environment three-dimensional model to obtain an operation instruction, and carrying out remote control on the scraper according to the operation instruction.
10. An intelligent lift truck comprising the intelligent lift truck assisted drive system of any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202311814672.1A CN117873076A (en) | 2023-12-26 | 2023-12-26 | Intelligent scraper auxiliary driving system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311814672.1A CN117873076A (en) | 2023-12-26 | 2023-12-26 | Intelligent scraper auxiliary driving system and method |
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| CN117873076A true CN117873076A (en) | 2024-04-12 |
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| CN202311814672.1A Pending CN117873076A (en) | 2023-12-26 | 2023-12-26 | Intelligent scraper auxiliary driving system and method |
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- 2023-12-26 CN CN202311814672.1A patent/CN117873076A/en active Pending
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