CN208036297U - A kind of mining monorail crane Unmanned Systems - Google Patents
A kind of mining monorail crane Unmanned Systems Download PDFInfo
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- CN208036297U CN208036297U CN201721569581.6U CN201721569581U CN208036297U CN 208036297 U CN208036297 U CN 208036297U CN 201721569581 U CN201721569581 U CN 201721569581U CN 208036297 U CN208036297 U CN 208036297U
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Abstract
The utility model discloses a kind of mining monorail crane Unmanned Systems, it is characterised in that：Including transport monitor system, display system, signal gathering unit and locomotive control, pass through network connection between the transport monitor system, display system, signal gathering unit and locomotive control.The utility model is premised on two particular/special requirements of safety and reliability, and scheduling, interlocking of signals, driver behavior, equipment control, network platform My Perspective On The Co-building target, promote production and transport link safety management level according to schedule.
Description
Technical field
The utility model belongs to field and coal mine operation field, especially a kind of to be arranged for hydraulic pressure stepless time adjustment single track
The mining monorail crane Unmanned Systems of vehicle.
Background technology
In current underground coal mine assistant conveyance mostly based on track, monorail crane, mobile destination scatter, locomotive driving regularity
Difference, while a large amount of transportation service post is needed, such as driver, work of escorting goods on a train, truck, etc., dispatcher etc., production running efficiency is low, cost
It pays wages the shortcomings of high.
For track assistant conveyance process real current situation, there is also more security risks for existing system transfer management, though
There is signal system, but the effective management and standardization difficult to realize to monorail crane locomotive driver is transported, and is caused in assistant conveyance side
There is accident in face more.
Requirement with coal mine to production and transport safety and cutting payroll to improve efficiency, make mine shaft conveyance system to information-based, digitlization,
Intelligentized novel monitoring Mode change, locomotive Unmanned Systems can by underground monorail crane locomotive transit link regularization,
Monorail crane locomotive intelligentized control method is implemented in sequencing, reduces driver and work post of escorting goods on a train, truck, etc., and promotes mine thing production transhipment effect
The great production and transport safety accident of mine is reduced or avoided in rate, improves unmanned shaft production transportation management, automation and information
Change horizontal.
Utility model content
The purpose of the utility model is to overcome defects of the existing technology, provide a kind of unmanned system of mining monorail crane
System.
Realizing the technical solution of the utility model aim is：A kind of mining monorail crane Unmanned Systems, including transport prison
Control system, display system, signal gathering unit and locomotive control, the transport monitor system, display system, signal acquisition
Pass through network connection between unit and locomotive control.
Scheme as an optimization：The transport monitor system includes that dispatching management information system, tele-control system and signal are chain
System passes through network connection between the dispatching management information system, tele-control system and signal locking system.
Scheme as an optimization：The display system includes liquid crystal display, network hard disk video recorder and video data services
Device passes through network connection between the liquid crystal display, network hard disk video recorder and video data server.
Scheme as an optimization：The signal gathering unit includes several cameras and marker.
Scheme as an optimization：The locomotive control include Vehicle Controller, car wireless terminal, vehicle-mounted vidicon,
Onboard sensor and vehicle-mounted card-reading device, the Vehicle Controller and car wireless terminal, vehicle-mounted vidicon, onboard sensor and vehicle
Card reader is carried to be electrically connected.
Scheme as an optimization：The dispatching management information system includes management and running computer and the operation and control device that personalizes.
Scheme as an optimization：The signal locking system includes semaphore, card reader, wheel counting apparatus and goat.
When the utility model is used：
Monorail crane locomotive control stream：
Monorail crane locomotive reads marker by vehicle-mounted card-reading device and obtains current locomotive location information and the bat of airborne camera
The real time video data taken the photograph is transferred to transport monitor system.
Transport monitor system undertake locomotive transportation scheduling and signal command, signal locking system according to Design of Signal arrangement and
Interval division realizes that chain section, semaphore and goat chain control, dispatching management information system monitor locomotive driving shape in real time
State issues control locomotive instruction.
By network transmission to locomotive control, locomotive vehicle-mounted wireless terminal receives net for the locomotive control instruction issued
The control instruction that network side issues is transferred to locomotive vehicle-mounted control device, after locomotive vehicle-mounted control device receives control instruction, to trip
Vehicle instructs.
Locomotive vehicle-mounted sensor obtains the information such as current locomotive operation information, such as speed, by network-feedback to transport
Monitoring system, monitoring system re-issue control instruction according to the locomotive information of acquisition, control locomotive driving.
Monorail crane locomotive video monitoring data flow：
The real time video data and the shooting of each monitoring camera that Control system of monorail crane shoots vehicle-mounted camera
Real time video data, the video data server of display system is transmitted to by network, video data server is regarded reception
Frequency evidence, projection on a liquid crystal display, while transferring data to network hard disk video recorder and recording a video.
The utility model has the effect of positive：
1. safe and reliable.System is premised on two particular/special requirements of safety and reliability, and scheduling, signal join according to schedule
Lock, driver behavior, equipment control, network platform My Perspective On The Co-building target, promote production and transport link safety management level.
2. management optimization.Optimize existing management and running flow, share out the work and help one another, monorail crane locomotive operation is unmanned on the way, rule
Underground is needed the link of dislodging hook operation to change and is undertaken by operation area post work by model transport order.
3. cutting payroll to improve efficiency.Underground driver, work of escorting goods on a train, truck, etc. cancel 70%, are only retained in parking lot and material handling dislodging hook operation ring
The personnel of section.Monorail crane locomotive operation drives to be monitored by computer remote, does not need driver；Railway carriage dislodging hook, railway carriage organize into groups work
Make to be undertaken by the fixation hilllock producers for loading and unloading parking lot, cancels underground and drive post, and be transferred to ground.
Remote auto driving mode：2 people of ground maneuvers room per tour, three classes need 6 people, can manipulate the row of monorail crane train 6.
Cancel driver, work of escorting goods on a train, truck, etc. 12 × 3=36 people.
Remote driving pattern on the spot：One train only matches a driver, can complete driving, the work of dislodging hook, and cancellation is escorted goods on a train, truck, etc.
Work.Per tour per car cancels 1 people, totally 3 × 6=18 people.
Description of the drawings
Fig. 1 is the system global structure schematic diagram of the utility model；
Fig. 2 is the monorail crane locomotive control flow chart of the utility model；
Fig. 3 is the video data transmission flow chart of the utility model.
Specific implementation mode
Below in conjunction with Fig. 1,2,3, the technical scheme in the utility model embodiment is clearly and completely described,
Obviously, the described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.Based on this practicality
Embodiment in novel, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
The utility model is a kind of mining monorail crane Unmanned Systems, including transport monitor system, display system, signal
Collecting unit and locomotive control, the transport monitor system, display system, signal gathering unit and locomotive control it
Between pass through network connection.The transport monitor system includes dispatching management information system, tele-control system and signal locking system, institute
It states and passes through network connection between dispatching management information system, tele-control system and signal locking system.The display system includes liquid
Crystal display, network hard disk video recorder and video data server, the liquid crystal display, network hard disk video recorder and video counts
According to passing through network connection between server.The signal gathering unit includes several cameras and marker.The locomotive control
System includes Vehicle Controller, car wireless terminal, vehicle-mounted vidicon, onboard sensor and vehicle-mounted card-reading device, the vehicle-mounted control
Device processed is electrically connected with car wireless terminal, vehicle-mounted vidicon, onboard sensor and vehicle-mounted card-reading device.The management and running system
System includes management and running computer and the operation and control device that personalizes.The signal locking system includes semaphore, card reader, meter shaft
Device and goat.
Monorail crane locomotive control stream：
Monorail crane locomotive reads marker by vehicle-mounted card-reading device and obtains current locomotive location information and the bat of airborne camera
The real time video data taken the photograph is transferred to transport monitor system.
Transport monitor system undertake locomotive transportation scheduling and signal command, signal locking system according to Design of Signal arrangement and
Interval division realizes that chain section, semaphore and goat chain control, dispatching management information system monitor locomotive driving shape in real time
State issues control locomotive instruction.
By network transmission to locomotive control, locomotive vehicle-mounted wireless terminal receives net for the locomotive control instruction issued
The control instruction that network side issues is transferred to locomotive vehicle-mounted control device, after locomotive vehicle-mounted control device receives control instruction, to trip
Vehicle instructs.
Locomotive vehicle-mounted sensor obtains the information such as current locomotive operation information, such as speed, by network-feedback to transport
Monitoring system, monitoring system re-issue control instruction according to the locomotive information of acquisition, control locomotive driving.
Monorail crane locomotive video monitoring data flow：
The real time video data and the shooting of each monitoring camera that Control system of monorail crane shoots vehicle-mounted camera
Real time video data, the video data server of display system is transmitted to by network, video data server is regarded reception
Frequency evidence, projection on a liquid crystal display, while transferring data to network hard disk video recorder and recording a video.
A kind of setting of mining monorail crane Unmanned Systems dispatching control center is in ground, configuration schedules host, scheduling pipe
Reason machine, the communication server, video data server, network hard disk video recorder, the network switch and several remote terminals.
Magnificent industrial control computer and liquid crystal display (24 cun), display locomotive operation situation, position, control are ground in configuration 2
Data, malfunction coefficient, the report at center processed etc., it is main to complete mine car scheduling and main transport surveillance.Wherein one is loaded on mine car tune
Work station is spent, for mine car scheduling, monitoring；Another is installed on mine control centre, is monitored for mine tune.
Configuration 1 grinds magnificent industrial control computer as dispatching host machine and liquid crystal display (24 cun), controls rail switch
Interlocking of signals equipment, can be spare each other with mine car dispatching workstations.
1 set of video data server, network hard disk video recorder are set, the Video service communication server, model selection are used for
IBM System X3650 M4 servers.
2 network switch of setting are for video network and control net subnet division.In 42U standard cabinets, simultaneously
It is equipped with the KVM switcher of four-way, 19 English inch liquid crystal displays.
1 set of communication server is set, Communication Service Interface software is run, for the data processing forwarding in communications platform.
Communication service software is the round-the-clock running software of unmanned plane operation interface, is the communication pharynx between communications platform and monitoring system
Larynx, realize under the unified platform equipment is public, performance data storage and distribution.
A kind of dispatching management information system setting dispatching host machine of mining monorail crane Unmanned Systems dispatching control center, operation
On the one hand system master software, the software connect with the communication server, are communicated with field device, obtain measuring and controlling equipment work shape
State controls railway switch control case according to transport task and corresponding direction of travel, control semaphore is selected to carry out corresponding row and prohibit instruction,
Realize interlocking monitoring function；On the other hand it is connect with management and running machine, receives the management and running instruction of supervisor, send interlocking system
Section route, equipment real-time status and the driving of system authorize, and management and running record is responsible for preservation by management and running service software, with
Realize Client browse, playback.The design configures 1 and grinds magnificent industrial personal computer as dispatching host machine, is equipped with split screen card, dual screen is aobvious
Show that comfortable property information, screen display transport total looks, a screen shows interlocking signal and scheduling text information.
A kind of dispatching management information system setting management and running machine of mining monorail crane Unmanned Systems dispatching control center, fortune
Row power dispatch system operation and management software, provides management and running service, operation is connect with dispatching host machine twenty four hours, according to operation plan
Data generate motive power control operation task plan；It establishes and connects with Vehicle Controller and hand-held remote control terminal, send to drive and award
Locomotive position and front route section opening and closing situation are fed back to each mobile terminal, carry out intuitive interface simulation and show by power,
Realize reception and registration and the feedback of remote signal instruction.Meanwhile also there is Statistic Management Function, produce production and transport yield, vehicle
Shift report.The design configures 1 and grinds magnificent industrial personal computer as management and running machine, can be spare each other with dispatching host machine.
Letter collection hull closure, system configuration KTF5 " two-in-one " communication base station 35, the base are provided in signal locking system
It stands while building the broadband wireless network communications platform of all standing, the surveys such as semaphore, goat, Card Reader substation can be managed
Equipment is controlled, SIGNAL CENTER BLOCK system is set up.35 regulated power supplies provide 2 hours backup power supplies for communication base station；52 Card Reader substations
For realizing the division in the section, route of locomotive transportation system, 150 passive tags are accurately positioned for locomotive；48 signals
Machine is used for the opening and locking of route；The track switch of 12 sets of department's control switch and control device for main haulage roadway is pulled and is latched.
Marker is mounted in the physical token for reflecting circuit absolute position along circuit, makes with card reader terminal cooperation
With, when train passes through beacon position, the excitation of electromagnetic wave beacon work of vehicle-mounted card-reading terminal antenna transmitting, and transmit exhausted
To location information to train.
Since the positional precision that double frequency hybrid vehicle card beacon provides is very high, centimetres are reached, train can be corrected with beacon
Actual motion distance, this programme use integral double-frequency hybrid vehicle card beacon, are used cooperatively with Vehicle Controller card-reading terminal,
It can be achieved to carry out one-to-one reliable communicating with rail level Beacon Point, to avoid single passive electronic label or single active electronic mark
Sign the defect problem applied in down-hole.
Tele-control system is divided into long-range driver behavior and remote driving operation：
1) long-range driver behavior
GK8109 remote consoles are that ground control centre operating personnel control the remote operation of underground monorail crane locomotive
Platform is connect with communication network, is connect with the management and running software of management and running machine operation, is triggered license number departure requests, obtained
Locomotive position state and signal permit instruction；It is connect with Video service software, obtains real-time video.Operation operation monitoring management is soft
Part, the software mainly carry out human-machine operation management to remote console, receive the dispatch command that dispatching management information system transmits, knot
Video operating mode image is closed, the devices such as operation handle and button are completed to the opening/stop of electric motor car, plus/minus speed, set direction, ring
The long-range driving behavior such as flute, illumination, to realize the remote control automatic Pilot to underground monorail crane locomotive.
2) remote driving operates
Realize that remote driving function nearby, remote controler connect with communication network by FCS3.7 essential safe type handheld operation devices
It connects, the control of operation department drives monitoring and embeds management software, the dispatch command transmitted by dispatching management information system, and combines single-rail crane
Operating mode, the scene of vehicle, manual operation remote controller key are completed to the opening/stop of monorail crane locomotive, plus/minus speed, crawl/Half Speed/complete
The driving behaviors such as fast operation, set direction, whistle, illumination.
When setting when being remotely controlled operating mode nearby, by taking haul operation as an example, dispatcher inputs in control centre by hand
Instruction, including monorail crane locomotive number, shipping point of origin, marshalling vehicle number, approach circuit, execution time, this instruction are transmitted to
The hand-held remote controller of mandate is in pending state.
When having arrived the execution time, locomotive is controlled by hand-held remote controller by the Field Force of material parking lot operation area, is reached
Charging position.It if desired carries out moving vehicle operation in loading process：It is accomplished manually by charging scene, just by hand-held remote control unit
Nearly control monorail crane locomotive carries out moving vehicle operation, and the control authority of this process monorail crane locomotive is remote control mode, for monorail crane
For locomotive, it is still within remote control pattern, only control instruction derives from hand-held remote control unit.
After the completion of waiting for railway carriage charging, completion is reported to confirm by the button of live hand-held remote control unit by loading personnel, it is right
The control authority of monorail crane locomotive can be transferred to remote control center computer by hand-held remote control unit, on the way by fixed point detection
Device combination video image remotely drives monorail crane locomotive, reaches discharge position parking, and control authority is transferred to by when discharging again
Live hand-held remote control unit waits for that discharging is completed, and confirms that unloading is completed by the button of hand-held remote control unit by rampman, control should
Train, which goes to execute next again, sends a car to instruct.
Control system of monorail crane intelligent control unit is the electromechanical to underground monorail crane locomotive start-up and shut-down control
Change TT&C system, main function is to establish train-ground communication link, uploads locomotive operating mode, road conditions and road condition analyzing as a result, connecing simultaneously
Remote measurement and control instruction is received, realizes the long-range driving to monorail crane locomotive.Mainly by car wireless terminal, Vehicle Controller and several
Sensor and electro-mechanical drive mechanism composition.
Car wireless terminal (also known as vehicle-mounted AP) is mounted in monorail crane locomotive driver's cabin, as the vehicle-mounted control of monorail crane locomotive
The communication transmission passage of device processed, camera, is on the one hand carried out wireless communication by wireless network and the base stations AP, on the other hand
It is attached by Ethernet and mobile unit, with realizing vehicle data transparent transmission.Vehicle-mounted AP configures two omnidirectional antennas, with AP
Base station matches the wireless communication for realizing double-stream mode, and WiMAX is realized with the communication base station along main entry track
Communication and real time roaming switching, use Double channel scheme, it can be achieved that " first connection, then disconnect " soft handoff.
Vehicle Controller is based on existing frequency conversion single-rail crane vehicle controller and carries out intellectualized reconstruction, and what this programme was related to changes
It includes main control part and interface section to make content.
Vehicle Controller can realize three basic roles：Drive locomotive engine frequency-variable controller and parking device, acquisition
Locomotive state transmits video and instruction, and the operating instruction of locomotive is provided according to control logic, and frequency conversion is issued by communication interface
Controller controls locomotive operation.
Main control part is embedded with vehicle-mounted control management software, for receiving remote control commands and parsing execution, while on
Report locomotive work information.External interface includes the Ethernet interface between wireless communication terminal, with variable-frequency speed-regulating controller
RS485/CAN/ Ethernet interfaces, the analog quantity detection interface being connect with sensor, the state being connect with human-machine operation face are adopted
Collection and display interface, the driving interface being connect with electric pushrod motor.
Monorail crane locomotive installs vehicle-mounted vidicon, and road condition analyzing device is configured in Vehicle Controller, and main function is to utilize height
Clear camera obtains road conditions when locomotive advances in real time：On the one hand compressed video signal is transmitted to far by network transport interface
Range monitoring center, is on the other hand transmitted to Vehicle Controller by the information handled well, judges motor supply shop by image analysis technology
The distance for whether having barrier and barrier into road ahead then executes stopping train protection measure when finding barrier, it is ensured that row
Vehicle safety.
In order to realize monorail crane locomotive intelligentized control method, it is also necessary to install following sensing actuator to monorail crane locomotive：
Configure voltage-current sensor, the electric power operating mode for monitoring monorail crane locomotive, including battery tension and pneumatics
Electromechanical source.
Beacon card reader is configured, for detecting the physics terrestrial reference residing for monorail crane locomotive, demarcates mileage, realization is based on
The locomotive locating and tracking of card reader section.
Vehicle speed sensor is configured, for detecting monorail crane locomotive instantaneous velocity, mileage calculation is carried out in conjunction with marker, repaiies
Just.
Electric pushrod is configured, for control of braking, and monitors gate valve mechanism open and-shut mode in real time.
The monitoring monitoring unit of dispatching control center is to transport the image monitoring of road conditions to underground monorail crane locomotive and to well
Lower key position industrial and mineral monitors in real time.Fixed point camera is directly accessed communication network platform by Ethernet interface.Fixed point
Key point including transportation route, such as depot, parking lot entrance, important switch point.
Since video signal data amount is big, transmission occupancy network bandwidth is more, to ensure locomotive Unmanned Systems' network
Information data stablizes transmission, and video monitoring service, storage, downhole video cameras etc. are divided into a video subnet by this programme,
It is separately divided into a control subnet in a network, two S5700-24TP-SI-AC QuidWay switch are configured, by being handed in looped network
Change planes middle division VLAN, is isolated.It is arranged by interchanger QoS in terms of network transmission, the methods of communication bandwidth distribution is drawn
Divide dedicated bandwidth, implement flow control, ensures the prioritised transmission of locomotive Unmanned Systems' network information data.In client meter
Double netcard is configured in calculation machine, video subnet is separately connected and subnet, video data can control separately to be transmitted with network information data, really
Insurance system is run reliable and stable.
Tthe utility model system is using private radio communication and giga industry Ethernet as transmission platform, with signal monitoring system
System transports safely conditioning technology to rely on, using underground locomotive placement technology, video image processing technology and mine locomotive, and ties
The mine safety production transport comprehensive monitoring system for closing monorail crane locomotive frequency control and the long-range operation that personalizes, may be implemented list
Rail loop wheel machine vehicle is unmanned.System has various control operating mode, the beginning and end of transport and parking lot, stock ground with
And the loading and unloading cargo handling operation that necessarily people participates in, it can be equipped with hand-held remote control unit, nearby remote control；Line haul line, it is real
Tunnel closure management is applied, is personalized operation console remote control by ground control centre.
The utility model has the following effects：
1. safe and reliable.System is premised on two particular/special requirements of safety and reliability, and scheduling, signal join according to schedule
Lock, driver behavior, equipment control, network platform My Perspective On The Co-building target, promote production and transport link safety management level.
2. management optimization.Optimize existing management and running flow, share out the work and help one another, monorail crane locomotive operation is unmanned on the way, rule
Underground is needed the link of dislodging hook operation to change and is undertaken by operation area post work by model transport order.
3. cutting payroll to improve efficiency.Underground driver, work of escorting goods on a train, truck, etc. cancel 70%, are only retained in parking lot and material handling dislodging hook operation ring
The personnel of section.Monorail crane locomotive operation drives to be monitored by computer remote, does not need driver；Railway carriage dislodging hook, railway carriage organize into groups work
Make to be undertaken by the fixation hilllock producers for loading and unloading parking lot, cancels underground and drive post, and be transferred to ground.
Remote auto driving mode：2 people of ground maneuvers room per tour, three classes need 6 people, can manipulate the row of monorail crane train 6.
Cancel driver, work of escorting goods on a train, truck, etc. 12 × 3=36 people.
Remote driving pattern on the spot：One train only matches a driver, can complete driving, the work of dislodging hook, and cancellation is escorted goods on a train, truck, etc.
Work.Per tour per car cancels 1 people, totally 3 × 6=18 people.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this practicality is new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing in the equivalent requirements of the claims will be fallen
All changes in justice and range are embraced therein.Any reference numeral in claim should not be considered as limitation
Involved claim.
Claims (7)
1. a kind of mining monorail crane Unmanned Systems, it is characterised in that：It is adopted including transport monitor system, display system, signal
Collect unit and locomotive control, between the transport monitor system, display system, signal gathering unit and locomotive control
Pass through network connection.
2. a kind of mining monorail crane Unmanned Systems according to claim 1, it is characterised in that：The transport monitoring system
System includes dispatching management information system, tele-control system and signal locking system, the dispatching management information system, tele-control system and
Pass through network connection between signal locking system.
3. a kind of mining monorail crane Unmanned Systems according to claim 2, it is characterised in that：The display system packet
It includes liquid crystal display, network hard disk video recorder and video data server, the liquid crystal display, network hard disk video recorder and regards
Pass through network connection between frequency data server.
4. a kind of mining monorail crane Unmanned Systems according to claim 3, it is characterised in that：The signal acquisition list
Member includes several cameras and marker.
5. a kind of mining monorail crane Unmanned Systems according to any one of claim 2 to 4, it is characterised in that：Institute
It includes Vehicle Controller, car wireless terminal, vehicle-mounted vidicon, onboard sensor and vehicle-mounted card-reading device to state locomotive control,
The Vehicle Controller is electrically connected with car wireless terminal, vehicle-mounted vidicon, onboard sensor and vehicle-mounted card-reading device.
6. a kind of mining monorail crane Unmanned Systems according to claim 5, it is characterised in that：The management and running system
System includes management and running computer and the operation and control device that personalizes.
7. a kind of mining monorail crane Unmanned Systems according to claim 6, it is characterised in that：The chain system of signal
System includes semaphore, card reader, wheel counting apparatus and goat.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901954A (en) * | 2017-11-21 | 2018-04-13 | 江苏中机矿山设备有限公司 | A kind of mining monorail crane Unmanned Systems |
| CN109625039A (en) * | 2018-12-27 | 2019-04-16 | 合肥工大高科信息科技股份有限公司 | A kind of mine fortune locomotive transportation Autonomous Scheduling system and method |
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2017
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901954A (en) * | 2017-11-21 | 2018-04-13 | 江苏中机矿山设备有限公司 | A kind of mining monorail crane Unmanned Systems |
| CN109625039A (en) * | 2018-12-27 | 2019-04-16 | 合肥工大高科信息科技股份有限公司 | A kind of mine fortune locomotive transportation Autonomous Scheduling system and method |
| CN109625039B (en) * | 2018-12-27 | 2020-12-18 | 合肥工大高科信息科技股份有限公司 | Autonomous dispatching system and method for transportation of mine transport locomotive |
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