KJZ21/KJZ22 mine track electric locomotive (including monorail crane) unmanned driving system is a set of obstacle avoidance technology based on AI vision, Lidar, inertial navigation, for underground low light, high humidity explosive environment of mining locomotive unmanned driving system, the product obtained the national energy field and Anhui Province's first (set) major technical equipment identification. The system takes high-speed wireless communication and industrial network as the transmission platform, KJ293(A) mining rail transportation monitoring system as the safety support, and combines the technology of locomotive positioning and navigation, vehicle attitude monitoring, underground environment perception, intelligent control of locomotive and safe operation and adjustment. With locomotive autonomous obstacle avoidance, automatic start and stop, intelligent monitoring, safe driving control, remote ore drawing, automatic ore allocation and other functions, can achieve the whole process of locomotive transportation (ore, material loading, transportation, unloading) driverless.