公开(公告)号：US11880208B2

公开(公告)日：2024-01-23

申请号：US18022645

申请日：2022-02-23

Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY

Inventor： Chunyu Yang ,  Zhencai Zhu ,  Yidong Zhang ,  Xin Zhang ,  Zhen Gu ,  Qingguo Wang

IPC: G05D1/02 ,  G06V20/56 ,  G06T7/593 ,  G06V20/70 ,  G06V20/40 ,  G06T7/155 ,  G06T7/00 ,  G06T5/20 ,  G06T5/10 ,  G06V20/58

CPC classification number: G05D1/0251 ,  G05D1/0214 ,  G06T5/10 ,  G06T5/20 ,  G06T7/0012 ,  G06T7/155 ,  G06T7/593 ,  G06V20/41 ,  G06V20/58 ,  G06V20/588 ,  G06V20/70 ,  G05D2201/0202 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20021 ,  G06T2207/20028 ,  G06T2207/20036 ,  G06T2207/20048 ,  G06T2207/20081 ,  G06T2207/30256 ,  G06T2207/30261

Abstract: 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.

公开(公告)号：US12172683B2

公开(公告)日：2024-12-24

申请号：US18272805

申请日：2022-09-19

Applicant: China University of Mining and Technology

Inventor： Yu Tang ,  Zhencai Zhu ,  Gang Shen ,  Xiang Li ,  Mengmeng Gao ,  Wei Wang ,  Yuxing Peng ,  Gongbo Zhou ,  Hao Lu ,  Qingguo Wang

IPC: B61H7/12 ,  F16D66/02

Abstract: 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.

公开(公告)号：US12195307B1

公开(公告)日：2025-01-14

申请号：US18270230

申请日：2022-09-19

Applicant: China University of Mining and Technology

Inventor： Zhencai Zhu ,  Yu Tang ,  Gang Shen ,  Xiang Li ,  Mengmeng Gao ,  Wei Wang ,  Yuxing Peng ,  Gongbo Zhou ,  Hao Lu ,  Qingguo Wang

IPC: B60T17/22 ,  B61H7/04 ,  B66C15/06

Abstract: 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.