CN104085812A - Comprehensive electronic control system of mineral rope traction transportation devices - Google Patents
Comprehensive electronic control system of mineral rope traction transportation devices Download PDFInfo
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Abstract
The invention provides a comprehensive electronic control system of mineral rope traction transportation devices. The comprehensive electronic control system comprises a signal collecting device, a signal device, a video device and a display device, and is characterized by further comprising a control device and a driving brake device; the control device is electrically connected with the signal collecting device; the control device is respectively in two-way signal electric connection with the signal device, the display device and the driving brake device; the video device is electrically connected with the control device through signals. Compared with the mode that two control systems including a winch and a mine cableway in the prior art are adopted, frequency conversion adjusting devices in the control device, the display device and the driving brake part can be omitted, the device allocation and maintaining cost can be substantially reduced, and layout space of the devices in a coal mine tunnel is saved; when the comprehensive electronic control system is used, control over the winch and the mine cableway can be conveniently achieved through only one driver, human cost is saved, and meanwhile the operation efficiency and the safety level of the two sets of auxiliary transportation devices can be effectively improved.
Description
Technical field
The present invention relates to colliery control panel technical field, be specifically related to the comprehensive electric-control system of a kind of mining rope traction transportation device.
Background technology
Colliery rope traction transportation device (auxiliary conveying equipments) refers generally to the equipment such as continuous rope continuous drafter, rope traction road railer, overhead manned equipment.Current domestic coal mine user is in order to carry out the efficient transportation of personnel and goods in same transport lane (particularly inclined gallery), a set of overhead manned equipment (being commonly called as monkey car) is installed and a set of continuous rope continuous drafter (being commonly called as winch) is respectively used to conveying people and mineral respectively at the upper and lower in same transport lane.National regulation is in same transport lane, and overhead manned equipment and continuous rope continuous drafter need be realized interlocking, and section at one time only allows wherein a set of transportation device to put into operation.The above-mentioned two cover transportation devices that colliery adopts at present arrange respectively 1 cover electric-control system conventionally separately, be equipped with 2 operation drivers the operation of this 2 cover transportation device is operated to control, its weak point is: the one, and adopt 2 cover electric-control systems to increase cost and the operation expense of equipment investment to colliery; The 2nd, in relatively narrow tunnel, occupy more arrangement space, increase mounting arrangements difficulty; The 3rd, need to interlock under the prerequisite of operation overlapping transportation device according to national regulation two, this 2 cover transportation device is operated respectively by 2 operation drivers, need each other frequent coordination, be unfavorable for realizing safe, the efficiently operation of two cover auxiliary conveying equipments, also increased human cost simultaneously.
Summary of the invention
The object of the invention is: overcome the deficiencies in the prior art, only need be by 1 driver operation when a kind of use is provided, can realize effectively interlocking, monitoring to the operation of the winch in same transport lane and monkey car, control with the mining rope of protection and draw the comprehensive electric-control system of transportation device.
Technical scheme of the present invention is: the comprehensive electric-control system of mining rope traction transportation device of the present invention, comprise signal pickup assembly, signalling apparatus, video unit and read out instrument, and its constructional feature is: also comprise actuation means and drive brake equipment;
Above-mentioned signal pickup assembly is provided with signal output part; Actuation means is provided with collection signal input end, the first communication ends, second communication end, video control output end and drives signal input output end; Video unit is provided with control signal input end; Signalling apparatus, read out instrument and driving brake equipment are provided with signal input output end;
The collection signal input end of actuation means is electrically connected with the signal output part signal of signal pickup assembly; The first communication ends of actuation means is electrically connected with the signal input output end two-way signaling of signalling apparatus; The second communication end of actuation means is electrically connected with the signal input output end two-way signaling of read out instrument; The control signal input end of video unit is electrically connected with the video control output end signal of actuation means; Drive the signal input output end of brake equipment and the driving signal input output end two-way signaling of actuation means to be electrically connected.
Further scheme is: above-mentioned actuation means comprises operator's station and centralized-control box; Centralized-control box comprises anti-explosion box body and is arranged on CPU module, input isolation module, load module, communication isolation module, output module, output isolation module, relay module and the power module in anti-explosion box body;
Above-mentioned CPU module is provided with the first communication ends, signal input part, signal output part and second communication end; Input isolation module is provided with the first to the 3rd signal input part and signal output part; Load module is provided with signal input part and signal output part; Communication isolation module is provided with internal communication ends and correspondence with foreign country end; Output module is provided with signal input part, the first control signal mouth and the second control signal mouth; Output isolation module is provided with signal input part and signal output part; Relay module is provided with signal input part and the first to the 3rd signal output part;
The first communication ends of CPU module is electrically connected with operator's station two-way signaling; The signal input part of load module is electrically connected with the signal output part signal of input isolation module; The signal input part of CPU module is electrically connected with the signal output part signal of load module; The second communication end of CPU module is electrically connected with the internal communication ends two-way signaling of communication isolation module; The signal input part of output module is electrically connected with the signal output part signal of CPU module; The output signal input part of isolation module and the first control signal output end signal of output module are electrically connected; The signal input part of relay module is electrically connected with the second control signal output end signal of output module;
The first signal input end of input isolation module is the collection signal input end of above-mentioned actuation means; Common the first communication ends that forms above-mentioned actuation means of the input secondary signal input end of isolation module and the first signal mouth of relay module; The correspondence with foreign country end of communication isolation module is the second communication end of above-mentioned actuation means; The secondary signal mouth of relay module is the video control output end of above-mentioned actuation means; The common driving signal input output end that forms above-mentioned actuation means of signal output part of the 3rd signal input part of input isolation module, the 3rd signal output part of relay module and output isolation module; Power module provides working power for other modules in centralized-control box.
Further scheme is: above-mentioned operator's station is provided with winch/monkey car knob, automatic/hand/maintenance universal seclector, off line/normal/emergent universal seclector, heavy duty/underloading knob, forward/backward knob, early warning, startup, stop, turn over screen, reset and scram button, governor handle, disconnected/logical knob and be used to indicate equipment running status power supply, allow to drive, operation, suddenly stop, the indicator lamp such as fault.
Further scheme is: above-mentioned driving brake equipment comprises variable-frequency governor, motor switching mechanism, winch drive motor, monkey car drive motor, winch the first braking motor, monkey car the first braking motor, winch the second braking motor and monkey car the second braking motor; Motor switching mechanism comprises drive motor change-over switch, the first braking change-over switch and the second braking change-over switch;
Variable-frequency governor and motor switching mechanism are respectively equipped with control signal input end and feedback signal mouth, the common signal input output end that forms above-mentioned driving brake equipment of the control signal input end of variable-frequency governor control signal input end and feedback signal mouth and motor switching mechanism and feedback signal mouth; Above-mentioned variable-frequency governor by motor switching mechanism under the control of actuation means, control the first braking motor and the first braking motor of the second braking motor and monkey car and the operation of the second braking motor of winch drive motor, monkey car drive motor, winch, move, stop, suddenly stopping action thereby control winch execution corresponding to monkey car.
Further scheme is: above-mentioned signal pickup assembly each 1 cover that arranges respectively on winch and monkey car; Signal pickup assembly comprises travel switch, approach switch, tachogen, shaft encoder, pressure transformer, temperature sensor, bracing wire latch switch and infrared pickoff; The signal output part of each constituent elements of signal pickup assembly forms the signal output part of signal pickup assembly jointly.
Further scheme is: above-mentioned signalling apparatus comprises wireless base station, handheld terminal, power line carrier acousto-optic signal and combined aural and visual alarm; Above-mentioned wireless base station and power line carrier acousto-optic signal are respectively equipped with communication ends; Combined aural and visual alarm is provided with signal input part; The common signal input output end that forms above-mentioned signalling apparatus of communication ends, the communication ends of power line carrier acousto-optic signal and the signal input part of combined aural and visual alarm of wireless base station; Above-mentioned wireless base station is along coal mine roadway setting, and the mutual two-way signaling in each wireless base station is electrically connected; The mutual two-way signaling electrical connection of each power line carrier acousto-optic signal; Handheld terminal and wireless base station radio communication; Power line carrier acousto-optic signal and combined aural and visual alarm, along coal mine roadway setting, arrange a set of power line carrier acousto-optic signal and combined aural and visual alarm in 1 coal mine roadway.
Further scheme is: above-mentioned video unit comprises wireless camera instrument, wireless video signal projector, portable power source, video processing controller and video monitor; Above-mentioned video processing controller is provided with switch-over control signal input end, and the switch-over control signal input end of video processing controller is the control signal input end of above-mentioned video unit; Video monitor is electrically connected with video processing controller signals; Video processing controller is electrically connected with the wireless base station two-way signaling of signalling apparatus; Wireless camera instrument is electrically connected with wireless video signal projector two-way signaling; Wireless video signal projector and wireless base station radio communication; Portable power source is wireless camera instrument and the power supply of wireless video signal projector.
Further scheme also has: above-mentioned read out instrument is built-in type integrated industrial control computer; Read out instrument is arranged on the operator's station of actuation means.
The present invention has positive effect: the comprehensive electric-control system of (1) mining rope traction transportation device of the present invention, the winch and the monkey car 2 that compare to prior art overlap control system, can omit 1 sets of operating and controlling equipment, read out instrument and drive the frequency conversion in brake portion to adjust device, thereby can reduce significantly equipment configure and maintenance cost, the arrangement space of saving equipment in coal mine roadway.(2) the comprehensive electric-control system of mining rope traction transportation device of the present invention, when use, only need can realize easily the manipulation to winch and monkey car by 1 driver, when saving human cost, can effectively improve efficiency and the security level of this 2 cover auxiliary conveying equipments operation.
Brief description of the drawings
Fig. 1 is structural representation block diagram of the present invention;
Fig. 2 is the structured flowchart of the signal pickup assembly in Fig. 1;
Fig. 3 is the structured flowchart of the actuation means in Fig. 1;
Fig. 4 is the structured flowchart of the signalling apparatus in Fig. 1;
Fig. 5 is the structured flowchart of the video unit in Fig. 1, has also shown the correspondence of itself and wireless base station in figure;
Fig. 6 is the structured flowchart of the driving brake equipment in Fig. 1.
Reference numeral in above-mentioned accompanying drawing is as follows:
Signal pickup assembly 1,
Actuation means 2, operator's station 20, centralized-control box 21, CPU module 22, input isolation module 23, load module 24, communication isolation module 25, output module 26, output isolation module 27, relay module 28, power module 29,
Signalling apparatus 3, video unit 4, read out instrument 5, drives brake equipment 6.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
(embodiment 1)
See Fig. 1, the comprehensive electric-control system of mining rope traction transportation device of the present embodiment, is mainly made up of signal pickup assembly 1, actuation means 2, signalling apparatus 3, video unit 4, read out instrument 5 and driving brake equipment 6.
Signal pickup assembly 1 is provided with signal output part; Actuation means 2 is provided with collection signal input end, the first communication ends, second communication end, video control output end and drives signal input output end; Video unit 4 is provided with control signal input end; Signalling apparatus 3, read out instrument 5 and driving brake equipment 6 are provided with signal input output end.
The collection signal input end of actuation means 2 is electrically connected with the signal output part signal of signal pickup assembly 1; The first communication ends of actuation means 2 is electrically connected with the signal input output end two-way signaling of signalling apparatus 3; The second communication end of actuation means 2 is electrically connected with the signal input output end two-way signaling of read out instrument 5; The control signal input end of video unit 4 is electrically connected with the video control output end signal of actuation means 2; Drive the signal input output end of brake equipment 6 and the driving signal input output end two-way signaling of actuation means 2 to be electrically connected.
See Fig. 2, signal pickup assembly 1 each 1 cover that arranges respectively on winch and monkey car.Signal pickup assembly 1 mainly comprises travel switch, approach switch, tachogen, shaft encoder, pressure transformer, temperature sensor, bracing wire latch switch and infrared pickoff.The signal output part of each constituent elements of signal pickup assembly 1 forms the signal output part of signal pickup assembly 1 jointly.
See Fig. 3, actuation means 2 is mainly made up of operator's station 20 and centralized-control box 21.
Operator's station 20 is provided with winch/monkey car knob, automatic/hand/maintenance universal seclector, off line/normal/emergent universal seclector, heavy duty/underloading knob, forward/backward knob, early warning, startup, stops, turns over screen, reset and scram button, governor handle (or speed governing knob), disconnected/logical knob and be used to indicate winch and the power supply of monkey car running state, allow to drive, operation, suddenly stop, the indicator lamp such as fault.
Centralized-control box 21 comprises anti-explosion box body and is arranged on CPU module 22, input isolation module 23, load module 24, communication isolation module 25, output module 26, output isolation module 27, relay module 28 and the power module 29 in anti-explosion box body.
CPU module 22 is provided with the first communication ends, signal input part, signal output part and second communication end; Input isolation module 23 is provided with the first to the 3rd signal input part and signal output part; Load module 24 is provided with signal input part and signal output part; Communication isolation module 25 is provided with internal communication ends and correspondence with foreign country end; Output module 26 is provided with signal input part, the first control signal mouth and the second control signal mouth; Output isolation module 27 is provided with signal input part and signal output part; Relay module 28 is provided with signal input part and the first to the 3rd signal output part.
The first communication ends of CPU module 22 is electrically connected with operator's station 20 two-way signalings; The signal input part of load module 24 is electrically connected with the signal output part signal of input isolation module 23; The signal input part of CPU module 22 is electrically connected with the signal output part signal of load module 24; The second communication end of CPU module 22 is electrically connected with the internal communication ends two-way signaling of communication isolation module 25; The signal input part of output module 26 is electrically connected with the signal output part signal of CPU module 22; The output signal input part of isolation module 27 and the first control signal output end signal of output module 26 are electrically connected; The signal input part of relay module 28 is electrically connected with the second control signal output end signal of output module 26;
The first signal input end of input isolation module 23 is the collection signal input end of aforesaid actuation means 2; Common the first communication ends that forms aforesaid actuation means 2 of the input secondary signal input end of isolation module 23 and the first signal mouth of relay module; The correspondence with foreign country end of communication isolation module 25 is the second communication end of aforesaid actuation means 2; The secondary signal mouth of relay module 28 is the video control output end of aforesaid actuation means 2; The common driving signal input output end that forms aforesaid actuation means 2 of signal output part of the 3rd signal input part of input isolation module 23, the 3rd signal output part of relay module 28 and output isolation module 27; Power module 29 provides working power for other modules in centralized-control box 21.
See Fig. 4, signalling apparatus 3 is mainly made up of wireless base station, handheld terminal, power line carrier acousto-optic signal and combined aural and visual alarm.Wireless base station and power line carrier acousto-optic signal are respectively equipped with communication ends; Combined aural and visual alarm is provided with signal input part; The common signal input output end that forms aforesaid signalling apparatus 3 of communication ends, the communication ends of power line carrier acousto-optic signal and the signal input part of combined aural and visual alarm of wireless base station.Wireless base station is along coal mine roadway setting, and the mutual two-way signaling in each wireless base station is electrically connected; Handheld terminal and wireless base station radio communication, handheld terminal is used for exporting sending dotter signal.Power line carrier acousto-optic signal and combined aural and visual alarm, along coal mine roadway setting, share a set of power line carrier acousto-optic signal and combined aural and visual alarm in 1 coal mine roadway.The mutual two-way signaling electrical connection of each power line carrier acousto-optic signal.
See Fig. 5, video unit 4 is mainly made up of wireless camera instrument, wireless video signal projector, portable power source, video processing controller and video monitor.Video processing controller is provided with switch-over control signal input end, and the switch-over control signal input end of video processing controller is the control signal input end of aforesaid video unit 4; Video monitor is electrically connected with video processing controller signals; Video processing controller is electrically connected with the wireless base station two-way signaling of signalling apparatus 3; Wireless camera instrument is electrically connected with wireless video signal projector two-way signaling; Wireless video signal projector and wireless base station radio communication; Portable power source is wireless camera instrument and the power supply of wireless video signal projector.
Read out instrument 5 is mainly made up of built-in type integrated industrial control computer.Read out instrument 5 is arranged on operator's station 20.
See Fig. 6, drive brake equipment 6 mainly to be formed by variable-frequency governor (or selecting switching magnetic-resistance adjuster, reversible soft initiator, reversible electromagnetic starter), motor switching mechanism, winch drive motor, monkey car drive motor, winch the first braking motor, monkey car the first braking motor, winch the second braking motor and monkey car the second braking motor.Motor switching mechanism comprises drive motor change-over switch, the first braking change-over switch and the second braking change-over switch.Variable-frequency governor and motor switching mechanism are respectively equipped with control signal input end and feedback signal mouth, the common signal input output end that forms aforesaid driving brake equipment 6 of the control signal input end of variable-frequency governor control signal input end and feedback signal mouth and motor switching mechanism and feedback signal mouth.Variable-frequency governor by motor switching mechanism under the control of actuation means 2, control the first braking motor and the first braking motor of the second braking motor and monkey car and the operation of the second braking motor of winch drive motor, monkey car drive motor, winch, thereby control the actions such as winch execution corresponding to monkey car moves, stops, suddenly stopping.
In sum, the comprehensive electric-control system of mining rope traction transportation device of the present embodiment, the winch and the monkey car 2 that compare to prior art overlap control system, can omit 1 sets of operating and controlling equipment, read out instrument and drive the frequency conversion in brake portion to adjust device, thereby can reduce significantly equipment configure and maintenance cost, the arrangement space of saving equipment in coal mine roadway; When use, only need the manipulation to winch and monkey car can be realized easily by 1 driver, when saving human cost, efficiency and the security level of this 2 cover auxiliary conveying equipments operation can be effectively improved.
Above embodiment is the explanation to the specific embodiment of the present invention; but not limitation of the present invention; person skilled in the relevant technique without departing from the spirit and scope of the present invention; can also make various conversion and variation and obtain the corresponding technical scheme being equal to, therefore all technical schemes that are equal to all should be included into scope of patent protection of the present invention.
Claims (8)
1. the comprehensive electric-control system of mining rope traction transportation device, comprises signal pickup assembly (1), signalling apparatus (3), video unit (4) and read out instrument (5), it is characterized in that: also comprise actuation means (2) and drive brake equipment (6);
Described signal pickup assembly (1) is provided with signal output part; Actuation means (2) is provided with collection signal input end, the first communication ends, second communication end, video control output end and drives signal input output end; Video unit (4) is provided with control signal input end; Signalling apparatus (3), read out instrument (5) and driving brake equipment (6) are provided with signal input output end;
The collection signal input end of actuation means (2) is electrically connected with the signal output part signal of signal pickup assembly (1); The first communication ends of actuation means (2) is electrically connected with the signal input output end two-way signaling of signalling apparatus (3); The second communication end of actuation means (2) is electrically connected with the signal input output end two-way signaling of read out instrument (5); The control signal input end of video unit (4) is electrically connected with the video control output end signal of actuation means (2); Drive the signal input output end of brake equipment (6) to be electrically connected with the driving signal input output end two-way signaling of actuation means (2).
2. the comprehensive electric-control system of mining rope traction transportation device according to claim 1, is characterized in that: described actuation means (2) comprises operator's station (20) and centralized-control box (21); Centralized-control box (21) comprises anti-explosion box body and is arranged on CPU module (22), input isolation module (23), load module (24), communication isolation module (25), output module (26), output isolation module (27), relay module (28) and the power module (29) in anti-explosion box body;
Described CPU module (22) is provided with the first communication ends, signal input part, signal output part and second communication end; Input isolation module (23) is provided with the first to the 3rd signal input part and signal output part; Load module (24) is provided with signal input part and signal output part; Communication isolation module (25) is provided with internal communication ends and correspondence with foreign country end; Output module (26) is provided with signal input part, the first control signal mouth and the second control signal mouth; Output isolation module (27) is provided with signal input part and signal output part; Relay module (28) is provided with signal input part and the first to the 3rd signal output part;
The first communication ends of CPU module (22) is electrically connected with operator's station (20) two-way signaling; The signal input part of load module (24) is electrically connected with the signal output part signal of input isolation module (23); The signal input part of CPU module (22) is electrically connected with the signal output part signal of load module (24); The second communication end of CPU module (22) is electrically connected with the internal communication ends two-way signaling of communication isolation module (25); The signal input part of output module (26) is electrically connected with the signal output part signal of CPU module (22); The signal input part of output isolation module (27) is electrically connected with the first control signal output end signal of output module (26); The signal input part of relay module (28) is electrically connected with the second control signal output end signal of output module (26);
The first signal input end of input isolation module (23) is the collection signal input end of described actuation means (2); Common the first communication ends that forms described actuation means (2) of the secondary signal input end of input isolation module (23) and the first signal mouth of relay module; The correspondence with foreign country end of communication isolation module (25) is the second communication end of described actuation means (2); The secondary signal mouth of relay module (28) is the video control output end of described actuation means (2); The common driving signal input output end that forms described actuation means (2) of signal output part of the 3rd signal input part of input isolation module (23), the 3rd signal output part of relay module (28) and output isolation module (27); Power module (29) is that other modules in centralized-control box (21) provide working power.
3. the comprehensive electric-control system of mining rope according to claim 2 traction transportation device, is characterized in that: described operator's station (20) is provided with winch/monkey car knob, automatic/hand/maintenance universal seclector, off line/normal/emergent universal seclector, heavy duty/underloading knob, forward/backward knob, early warning, startup, stop, turn over screen, reset and scram button, governor handle (or speed governing knob), disconnected/logical knob and be used to indicate equipment running status power supply, allow to drive, operation, suddenly stop, the indicator lamp such as fault.
4. the comprehensive electric-control system of mining rope traction transportation device according to claim 1, is characterized in that: described driving brake equipment (6) comprises variable-frequency governor, motor switching mechanism, winch drive motor, monkey car drive motor, winch the first braking motor, monkey car the first braking motor, winch the second braking motor and monkey car the second braking motor; Motor switching mechanism comprises drive motor change-over switch, the first braking change-over switch and the second braking change-over switch;
Variable-frequency governor and motor switching mechanism are respectively equipped with control signal input end and feedback signal mouth, the common signal input output end that forms described driving brake equipment (6) of the control signal input end of variable-frequency governor control signal input end and feedback signal mouth and motor switching mechanism and feedback signal mouth; Described variable-frequency governor by motor switching mechanism under the control of actuation means (2), control the first braking motor and the first braking motor of the second braking motor and monkey car and the operation of the second braking motor of winch drive motor, monkey car drive motor, winch, move, stop, suddenly stopping action thereby control winch execution corresponding to monkey car.
5. the comprehensive electric-control system of mining rope according to claim 1 traction transportation device, is characterized in that: described signal pickup assembly (1) each 1 cover that arranges respectively on winch and monkey car; Signal pickup assembly (1) comprises travel switch, approach switch, tachogen, shaft encoder, pressure transformer, temperature sensor, bracing wire latch switch and infrared pickoff; The signal output part of each constituent elements of signal pickup assembly (1) forms the signal output part of signal pickup assembly (1) jointly.
6. the comprehensive electric-control system of mining rope traction transportation device according to claim 1, is characterized in that: described signalling apparatus (3) comprises wireless base station, handheld terminal, power line carrier acousto-optic signal and combined aural and visual alarm; Described wireless base station and power line carrier acousto-optic signal are respectively equipped with communication ends; Combined aural and visual alarm is provided with signal input part; The common signal input output end that forms described signalling apparatus (3) of communication ends, the communication ends of power line carrier acousto-optic signal and the signal input part of combined aural and visual alarm of wireless base station; Described wireless base station is along coal mine roadway setting, and the mutual two-way signaling in each wireless base station is electrically connected; The mutual two-way signaling electrical connection of each power line carrier acousto-optic signal; Handheld terminal and wireless base station radio communication; Power line carrier acousto-optic signal and combined aural and visual alarm, along coal mine roadway setting, arrange a set of power line carrier acousto-optic signal and combined aural and visual alarm in 1 coal mine roadway.
7. the comprehensive electric-control system of mining rope traction transportation device according to claim 1, is characterized in that: described video unit (4) comprises wireless camera instrument, wireless video signal projector, portable power source, video processing controller and video monitor; Described video processing controller is provided with switch-over control signal input end, and the switch-over control signal input end of video processing controller is the control signal input end of described video unit (4); Video monitor is electrically connected with video processing controller signals; Video processing controller is electrically connected with the wireless base station two-way signaling of signalling apparatus (3); Wireless camera instrument is electrically connected with wireless video signal projector two-way signaling; Wireless video signal projector and wireless base station radio communication; Portable power source is wireless camera instrument and the power supply of wireless video signal projector.
8. the comprehensive electric-control system of mining rope traction transportation device according to claim 1, is characterized in that: described read out instrument (5) is built-in type integrated industrial control computer; Read out instrument (5) is arranged on the operator's station (20) of actuation means (2).
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| CN106698226A (en) * | 2016-12-07 | 2017-05-24 | 安徽理工大学 | Underground auxiliary transportation inclined shaft dotting signal centralized control system and control method |
| CN107244324A (en) * | 2017-06-06 | 2017-10-13 | 龙岩学院 | A kind of Intelligent mining monkey car and its control system and control method |
| CN109587653A (en) * | 2019-01-11 | 2019-04-05 | 贵州远诚自控科技有限公司 | It is a kind of based between somewhere non-transformer and two places again be not easy to wiring signal synchronizing device |
| CN113845053A (en) * | 2021-10-13 | 2021-12-28 | 中国矿业大学 | Unmanned endless rope winch transportation system and control method thereof |
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