China University of Mining and Technology

Xuzhou Liren Monorail Transportation Equipment Co., Ltd.

Qingguo Wang

Zhencai Zhu

Yuxing Peng

Hao Lu

Gongbo Zhou

Wei Wang

Gang Shen

Yu Tang

Xiang Li

MengMeng Gao

Xin Zhang

Hongxiang Jiang

Mai Du

Yidong Zhang

Deen Bai

Hui Xie

Chunyu Yang

Zhen Gu

The present disclosure discloses a scene self-adaptive method for controlling an unmanned driving of a monorail hoist transportation robot. The method comprises the following steps: constructing an industrial internet of things platform for a monorail hoist; constructing a digital twin system for the monorail hoist; controlling a virtual unmanned driving of the monorail hoist; establishing a shadow following model for the monorail hoist; controlling an entity monorail hoist in real time by a virtual monorail hoist; comparing the entity monorail hoist driven by data with the monorail hoist driven by a driver with the shadow following mode; and designing a self-adaptive program for complex scenes: improving a loading velocity of a new roadway scene through merging root nodes and compressing data, implementing an environment self-adaptation, a platform self-adaptation, and a terminal self-adaptation.

Scene self-adaptive method for controlling unmanned driving of monorail hoist transportation robot

The present disclosure discloses a method for collaboratively controlling a multi-channel braking system of a mine hoist, including obtaining the abrasion loss of the brake shoe by detecting position information of the brake shoe of each of disc brakes in real time, dividing abrasion loss levels by determining different abrasion degrees of the brake shoe, formulating three braking force distributing modes: an average distribution, a proportional distribution, and an index distribution according to the abrasion loss levels, thereby dynamically adjusting a set braking pressure of each of the disc brakes, tracking and controlling the set braking pressure through the disc brakes by adopting a pressure closed-loop control method by utilizing a pressure signal feedback from an oil pressure sensor, implementing a collaborative braking control of the multi-channel braking system of the mine hoist based on the abrasion loss of the brake shoe.

Method for collaboratively controlling multi-channel braking system of mine hoist

The disclosure discloses a device for detecting idling time of a brake shoe of a monorail hoist and a detection method thereof. The device includes a contact detection unit, a common end roller unit, an idling time detection unit and detection lines. The contact detection unit installed on a brake of the monorail hoist includes a tube in connection with the brake shoe. The common end roller unit is installed on a frame of the monorail hoist and corresponds to a travelling track. A metal probe corresponding to the travelling track is arranged inside the tube. A limiting bolt corresponding to a raised cylindrical block formed on the metal probe is formed on an inner side wall of the tube. The metal probe is contactable with the travelling track or the limiting bolt when the brake shoe brakes.

Device for detecting idling time of brake shoe of monorail hoist and detection method thereof

The disclosure discloses a system for controlling a multi-point synchronous braking of a monorail hoist and a utilization method thereof. The system comprises a contact detection unit, a common end roller unit, a hydraulic unit, a synchronous control unit and connection cables. The contact detection unit is installed on a brake shoe of a monorail hoist. The common end roller unit is installed on a travelling track and connected with a frame of the monorail hoist. The contact detection unit includes a tube in connection with the brake shoe. A metal probe corresponding to the travelling track is arranged inside the tube. A circular boss is formed on the metal probe. A limiting bolt corresponding to the circular boss is formed on an inner side wall of the tube. The metal probe is contactable with the travelling track or the limiting bolt when the brake shoe brakes.

System for controlling multi-point synchronous braking of monorail hoist and utilization method thereof

A method for drivable area detection and autonomous obstacle avoidance of unmanned haulage equipment in deep confined spaces is disclosed, which includes the following steps: acquiring 3D point cloud data of a roadway; computing a 2D image drivable area of the coal mine roadway; acquiring a 3D point cloud drivable area of the coal mine roadway; establishing a 2D grid map and a risk map, and performing autonomous obstacle avoidance path planning by using a particle swarm path planning method designed for deep confined roadways; and acquiring an optimal end point to be selected of a driving path by using a greedy strategy, and enabling an unmanned auxiliary haulage vehicle to drive according to the optimal end point and an optimal path. Images of a coal mine roadway are acquired actively by use of a single-camera sensor device.

Method for drivable area detection and autonomous obstacle avoidance of unmanned haulage equipment in deep confined spaces

Growing community of inventors

Jiangsu, China

Qingguo Wang