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1.发明公开公开(公告)号：US20230348238A1
公开(公告)日：2023-11-02
申请号：US18027374
申请日：2022-03-04
Applicant: China University of Mining and Technology , Xuzhou Liren Monorail Transportation Equipment Co., Ltd.
Inventor： Zhencai ZHU , Hao LU , Yidong ZHANG , Hengzhen HU , Fuping ZHENG , Yu TANG , Kang XU , Yuzhu ZHANG
Abstract: The present disclosure belongs to the technical field of mining equipment, and in particular related to an automatic driving system of a monorail hoist driven based on a digital twin and a method thereof. The system includes a railroad switch sensor module, a positioning system module, a data transferring system, an intelligent control system, a digital twin system and an automatic driving module. The railroad switch sensor module is configured to sense the connection-position state of a movable track in a monorail hoist railroad switch track. The data transferring system is configured to transmit the data on the surface and underground. A bidirectional transmission is performed between the intelligent control system and the railroad switch sensor module, a bidirectional transmission is performed between the intelligent control system and the positioning system module, and a bidirectional transmission is performed between the digital twin system and the intelligent control system.
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2.发明公开公开(公告)号：US20230303130A1
公开(公告)日：2023-09-28
申请号：US18250673
申请日：2022-09-30
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY , XUZHOU LIREN MONORAIL TRANSPORTATION EQUIPMENT CO., LTD.
Inventor： Hao LU , Zhencai ZHU , Yidong ZHANG , Hua CHEN , Zaigang XU , Mingzhong WANG , Mai DU , Hengzhen HU , Fuping ZHENG
Abstract: A series-parallel monorail hoist based on an oil-electric hybrid power and a controlling method thereof. The monorail hoist includes a cabin, a hydraulic driving system, a lifting beam, a gear track driving and energy storage system, and a speed adaptive control system connected in series with each other and travelling on a track. The monorail hoist is capable of implementing an independent drive by an electric motor or a diesel engine in an endurance mode, a hybrid drive of the electric motor and the diesel engine in a transportation mode, and a hybrid drive of the diesel engine and a flywheel energy storage system in a climbing mode, according to different operating conditions that include conditions of an upslope, a downslope and a load. Power requirements for the monorail hoist under various operating conditions are satisfied, and the excess energy is recovered during the process of travelling.
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Patent Agency Ranking
3.发明公开公开(公告)号：US20240043247A1
公开(公告)日：2024-02-08
申请号：US18247874
申请日：2022-09-30
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY , XUZHOU LIREN MONORAIL TRANSPORTATION EQUIPMENT CO., LTD.
Inventor： Hao LU , Zhencai ZHU , Yidong ZHANG , Yuxing PENG , Yu TANG , Hua CHEN , Zaigang XU , Mingzhong WANG , Mai DU , Hengzhen HU , Fuping ZHENG
Abstract: A high-precision positioning system for a monorail hoist in a mine includes two gear carriers symmetrically arranged on both sides of an I-beam track. Each of the gear carriers includes a positioning wheel and a plurality of travelling wheels. The travelling wheels are travelling on an upper end face of a bottom plate of the I-beam track, and the positioning wheel is in engagement transmission with a rack at a lower end of the bottom plate of the I-beam track. The gear carriers include an installation bracket and a connecting seat configured to connect the monorail hoist. The installation bracket includes an inertial measuring unit and a single-chip microcomputer that are electrically connected with each other. The positioning wheel includes a rotation angle sensor and the rotation angle sensor is electrically connected to the single-chip microcomputer. A headstock at both ends of the monorail hoist includes a coordinate updating unit.
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4.发明公开公开(公告)号：US20230150799A1
公开(公告)日：2023-05-18
申请号：US18157621
申请日：2023-01-20
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY , XUZHOU LIREN MONORAIL TRANSPORTATION EQUIPMENT CO., LTD
Inventor： Hao LU , Zhencai ZHU , Yidong ZHANG , Yuxing PENG , Mai DU , Hengzhen HU , Fuping ZHENG , Yu TANG
IPC: B66C9/18
CPC classification number: B66C9/18
Abstract: A bidirectional anti-slipping apparatus includes a vehicle following stabilizing mechanism, a track, and two front and rear sets of locking mechanisms with opposite directions. The vehicle following stabilizing mechanism includes a protective shell, a middle vehicle capable of sliding and a hydraulic cylinder configured to control the middle vehicle to slide are arranged in the protective shell, a front vehicle and a rear vehicle are respectively fixed at two front and rear ends of the protective shell. Each locking mechanism includes two left and right groups of ratchet devices, each of the ratchet devices includes a fixing rod, a plurality of inner ratchet wheels capable of rotating unidirectionally are respectively fixed at two ends of the fixing rod on one side of the fixing rod proximate to the track, the inner ratchet wheels on the two front and rear sets of locking mechanisms rotate in opposite directions.
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5.发明公开公开(公告)号：US20240166476A1
公开(公告)日：2024-05-23
申请号：US18429453
申请日：2024-02-01
Applicant: China University of Mining and Technology , Xuzhou Liren Monorail Transportation Equipment Co., Ltd.
Inventor： Zhencai ZHU , Hao LU , Yidong ZHANG , Hengzhen HU , Fuping ZHENG , Yu TANG , Kang XU , Yuzhu ZHANG
CPC classification number: B66C13/48 , B66C19/00 , G05B13/0265 , B66C15/00
Abstract: The present disclosure belongs to the technical field of mining equipment, and in particular related to an automatic driving system of a monorail hoist driven based on a digital twin and a method thereof. The system includes a railroad switch sensor module, a positioning system module, a data transferring system, an intelligent control system, a digital twin system and an automatic driving module. The railroad switch sensor module is configured to sense the connection-position state of a movable track in a monorail hoist railroad switch track. The data transferring system is configured to transmit the data on the surface and underground. The method applies the digital twin technology to the automatic driving in the monorail hoist, reduces the input of personnel in the mine, and avoids safety accidents caused by irregular management or improper operation of the driver, through the deploying of the automatic driving module for the monorail hoist.
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6.发明公开公开(公告)号：US20230305572A1
公开(公告)日：2023-09-28
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
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 an improved 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. According to the present disclosure, images of a coal mine roadway are acquired actively by use of a single-camera sensor device, a 3D spatial drivable area of an auxiliary haulage vehicle in a deep underground space can be computed stably, accurately and rapidly, and the autonomous obstacle avoidance driving of the unmanned auxiliary haulage vehicle in a deep confined roadway is completed according to the drivable area detection and safety assessment information, and therefore, the method of the present disclosure is of great significance to the implementation of an automatic driving technology for an auxiliary haulage vehicle for coal mines.
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公开(公告)号：US20230192453A1
公开(公告)日：2023-06-22
申请号：US18001311
申请日：2022-03-25
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY , XUZHOU LIREN MONORAIL TRANSPORTATION EQUIPMENT CO., LTD.
Inventor： Hao LU , Zhencai ZHU , Yidong ZHANG , Yuxing PENG , Mai DU , Hengzhen HU , Fuping ZHENG , Yu TANG
Abstract: A gear-track-detachable driving device in a monorail crane for a steep slope includes a driving mechanism, a traveling mechanism, a four-bar linkage mechanism, a connection mechanism, a meshing track plate and transition track plates. The driving mechanism includes driving motors, meshing gears, a bearing rod, and a bearing plate. The traveling mechanism includes traveling wheels, clamping wheels, a shell and telescopic struts. The linkage mechanism includes first and second rockers, a linkage, and a cylinder. The connection mechanism includes fixation plates, a connection plate and connection bolts. When the crane travels to the slope front, the cylinder drives the linkage mechanism to send the meshing gears onto the transition track and adjusts the linkage mechanism into a dead point state, and the telescopic struts are locked. After the crane enters the slope, the meshing gears cooperate with the meshing track plate to provide an auxiliary drive for the crane.
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