LU102024B1 - Mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation - Google Patents
Mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation Download PDFInfo
- Publication number
- LU102024B1 LU102024B1 LU102024A LU102024A LU102024B1 LU 102024 B1 LU102024 B1 LU 102024B1 LU 102024 A LU102024 A LU 102024A LU 102024 A LU102024 A LU 102024A LU 102024 B1 LU102024 B1 LU 102024B1
- Authority
- LU
- Luxembourg
- Prior art keywords
- air door
- monorail crane
- disposed
- automatic opening
- closing device
- Prior art date
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- 239000003245 coal Substances 0.000 claims description 7
- 239000011435 rock Substances 0.000 claims description 7
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000005674 electromagnetic induction Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000013459 approach Methods 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F1/00—Ventilation of mines or tunnels; Distribution of ventilating currents
- E21F1/10—Air doors
- E21F1/12—Devices for automatically opening air doors
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The present invention discloses a mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation. The automatic opening and closing device includes a mine air door, a suspended monorail track, a monorail crane system, an automatic opening and closing device body and an intelligent recognition system. The mine air door is fixed to a bottom of a roadway, and includes an air door frame. Air door bodies in symmetrical distribution are disposed on the air door frame. Air door hinges in symmetrical distribution are disposed between the air door frame and the air door bodies. The air door frame and the air door bodies are rotationally connected through the air door hinges. An air door driving module is horizontally and slidably disposed on the air door body. The mine air door automatic opening and closing device of the present invention adopts electromagnetic induction and photoelectric sensing technologies to obtain the degree of a monorail crane auxiliary transportation system approaching an air door, so as to achieve the goal of automatically opening the air door. The automatic opening and closing of the air door is realized. The operation efficiency of the monorail crane auxiliary transportation is improved. Maintenance personnel and cost are reduced.
Description
P100559LU00 ! LU102024
BACKGROUND Technical Field The present invention relates to an air door automatic opening and closing device, | more particularly to a mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation. Related Art A mine air door is an important underground apparatus to ensure safe production of a mine, stabilize a ventilation system and reduce ineffective air leakage. A mine air door frame is fixed to the bottom of a roadway. Firstly, a groove is cut at the bottom of the roadway, and is flattened. Then, the door frame and a door beam are assembled to enable the door frame and the door beam to form a right angle with each other. At the same time, in order to ensure that the air door can be opened and closed flexibly, the door frame needs to be installed at a certain inclination degree, the forward door leaf opening direction is opposite to the air flow direction, and the reverse door leaf opening direction is consistent with the air flow direction. However, at present, manual operation is mostly adopted for mine air door opening and closing, automatic opening and closing are difficult to achieve especially when a monorail crane needs to pass, and the air door needs to be manually opened in an assisted way. The transportation efficiency is influenced. The maintenance personnel and the cost are also increased.
SUMMARY An objective of the present invention is to provide a mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation. Electromagnetic induction and photoelectric sensing technologies are adopted to obtain the degree of a monorail crane auxiliary transportation system approaching an air door, so as to achieve the goal of automatically opening an air door. The automatic opening and closing of the air door is realized. The operation efficiency of the monorail crane auxiliary transportation is improved. Maintenance personnel and cost are reduced. The objective of the present invention may be realized through the following technical solution: A mine air door automatic opening and closing device applicable to monorail crane ee ,,,,
, P1005S9LU00 LU102024 auxiliary transportation is provided. The automatic opening and closing device includes a mine air door, a suspended monorail track, a monorail crane system, an automatic opening and closing device body and an intelligent recognition system.
The mine air door is fixed to a bottom of a roadway, and includes an air door frame.
Air door bodies in symmetrical distribution are disposed on the air door frame. Air door hinges in symmetrical distribution are disposed between the air door frame and the air door bodies. The air door frame and the air door bodies are rotationally connected through the air door hinges.
An air door driving module is horizontally and slidably disposed on the air door body.
The monorail crane system includes a monorail crane body. Monorail crane connecting members in symmetrical distribution are disposed on the monorail crane body. A monorail crane connecting hole is formed in the monorail crane connecting member. Connecting roller balls in array distribution are disposed on the monorail crane connecting member.
The automatic opening and closing device body includes a lead screw and a motor seat. One end of the lead screw is provided with second connecting hinges in symmetrical distribution, and the other end is rotationally connected with a rotating sleeve with internal screw threads. A second hinge through hole is formed in the second connecting hinge.
One end of the rotating sleeve is rotationally connected with the lead screw, and the other end is provided with a connecting shaft. A motor is disposed on the motor seat. A shaft coupler is disposed on an output shaft of the motor. One end of the shaft coupler is fastened and connected with the output shaft of the motor, and the other end is provided with the connecting shaft.
The intelligent recognition system includes slideways in symmetrical distribution. A proximity switch, a confirming proximity switch and a laser judging module are disposed on the slideways. A laser emitting end is disposed on the slideway on one side, and a laser receiving end is disposed on the slideway on the other side. The laser receiving end receives lasers emitted from the laser emitting end.
Further, an I-shaped hole is formed in a center position of a top of the air door bodies. The suspended monorail track passes through the I-shaped hole. Rubber is disposed among the air door bodies, the air door frame and the I-shaped hole.
HE ee
P100559LU00 3 LU102024 Further, the air door driving module includes driving slideways in symmetrical distribution and slideway fixing blocks. Two ends of the driving slideway are respectively fixed to the two slideway fixing blocks. The air door driving module includes a driving slide block. Slideway holes in symmetrical distribution are formed in the driving slide block. The driving slide block is positioned and slides on the driving slideways through the slideway holes.
Slideway through holes in symmetrical distribution are formed in the slideway fixing block. The air door driving module is fixed to the air door body by passing screw rods through the slideway through holes.
A first connecting hinge is disposed on the driving slide block. A first hinge through hole is formed in the first connecting hinge.
Further, the suspended monorail track includes an I-shaped beam. Connecting chains in array distribution are disposed on two sides of the I-shaped beam. One end of the connecting chain is fastened and connected with the I-shaped beam, and the other end is fastened and connected with a first anchor rod. The first anchor rod is fixed in coal rock. The suspended monorail track passes through the I-shaped hole through the I-shaped beam.
Further, the monorail crane connecting member is fixed to the monorail crane body by passing a screw rod through the monorail crane connecting hole. The monorail crane connecting member is in a hook shape.
Further, the monorail crane system is clamped on the I-shaped beam through the monorail crane connecting members, and is positioned and rolls on the I-shaped beam through the connecting roller balls. A driving member is disposed on the monorail crane system. The driving member drives the monorail crane system to be positioned and move on the suspended monorail track.
Further, the automatic opening and closing device body is rotationally connected with the air door driving modules by sequentially passing screw rods through the second hinge through holes and the first hinge through holes.
Further, telescopic movement of the lead screw is realized by controlling the rotation of the rotating sleeve, so that the driving slide block is positioned and slides on the driving slideways.
Further, a bearing seat fixing member is disposed on the motor seat. Bearing seats in symmetrical distribution are rotationally disposed on the rotating sleeve. One end of the
P100559LU00 4 LU102024 bearing seat is fixed to the bearing seat fixing member. A second anchor rod is disposed on the motor seat. The motor and the bearing seat fixing member are positioned on the same side of the motor seat. The motor and the second anchor rod are positioned on different sides of the motor seat. The second anchor rod is fixed in coal rock. The present invention has the following beneficial effects: The mine air door automatic opening and closing device of the present invention adopts the electromagnetic induction and photoelectric sensing technologies to obtain the degree of the monorail crane auxiliary transportation system approaching the air door, so as to achieve the goal of automatically opening the air door. The automatic opening and closing of the air door is realized. The operation efficiency of the monorail crane auxiliary transportation is improved. Maintenance personnel and cost are reduced.
BRIEF DESCRIPTION OF THE DRAWINGS The present invention is further described below with reference to the accompanying drawings.
Figure 1 is a schematic structure diagram of an air door automatic opening and closing device of the present invention; Figure 2 is a schematic structure diagram of a mine air door of the present invention; Figure 3 is a schematic structure diagram of an air door driving module of the present invention; Figure 4 is a schematic structure diagram of the air door driving module of the present invention; Figure 5 is a schematic structure diagram of the air door driving module of the present invention; Figure 6 is a schematic structure diagram of a suspended monorail track of the present invention; Figure 7 is a schematic structure diagram of a monorail crane system of the present invention; Figure 8 is a schematic structure diagram of an automatic opening and closing device body of the present invention; and Figure 9 is a schematic structure diagram of an intelligent recognition system of the present invention.
DETAILED DESCRIPTION The technical solutions in the embodiments of the present invention are clearly and
; P1005S9LU00 LU102024 completely describe below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are merely some of rather than all of the embodiments of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
A mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation is provided. The automatic opening and closing device includes a mine air door 1, a suspended monorail track 2, a monorail crane system 3, an automatic opening and closing device body 4 and an intelligent recognition system 5, as shown in Figure 1.
The mine air door 1 is fixed to a bottom of a roadway, and includes an air door frame
101. Air door bodies 102 in symmetrical distribution are disposed on the air door frame
101. Air door hinges 103 in symmetrical distribution are disposed between the air door frame 101 and the air door bodies 102. The air door frame 101 and the air door bodies 102 are rotationally connected through the air door hinges 103.
An air door driving module 104 is horizontally and slidably disposed on the air door body 102. An I-shaped hole 105 is formed in a center position of a top of the air door bodies 102. The suspended monorail track 2 passes through the I-shaped hole 105.
Rubber 106 is disposed among the air door bodies 102, the air door frame 101 and the I-shaped hole 105, and is used for sealing, air blocking and buffering.
The air door driving module 104 includes driving slideways 1042 in symmetrical distribution and slideway fixing blocks 1043. Two ends of the driving slideway 1042 are respectively fixed to the two slideway fixing blocks 1043. The air door driving module 104 includes a driving slide block 1041. Slideway holes 1045 in symmetrical distribution are formed in the driving slide block 1041, as shown in Figure 4. The driving slide block 1041 is positioned and slides on the driving slideways 1042 through the slideway holes
1045. Slideway through holes 1044 in symmetrical distribution are formed in the slideway fixing block 1043. The air door driving module 104 is fixed to the air door body 102 by passing screw rods through the slideway through holes 1044.
A first connecting hinge 1046 is disposed on the driving slide block 1041, as shown in Figure 5. A first hinge through hole 1047 is formed in the first connecting hinge 1046.
P100559LU00 6 LU102024 The suspended monorail track 2 includes an I-shaped beam 201, as shown in Figure 6. Connecting chains 202 in array distribution are disposed on two sides of the I-shaped beam 201. One end of the connecting chain 202 is fastened and connected with the I-shaped beam 201, and the other end is fastened and connected with a first anchor rod
203. The first anchor rod 203 is fixed in coal rock. The suspended monorail track 2 passes through the I-shaped hole 105 through the I-shaped beam 201.
The monorail crane system 3 includes a monorail crane body 301, as shown in Figure
7. Monorail crane connecting members 302 in symmetrical distribution are disposed on the monorail crane body 301. A monorail crane connecting hole 303 is formed in the monorail crane connecting member 302. The monorail crane connecting member 302 is fixed to the monorail crane body 301 by passing a screw rod through the monorail crane connecting hole 303. The monorail crane connecting member 302 is in a hook shape. Connecting roller balls 304 in array distribution are disposed on the monorail crane connecting member 302. The monorail crane system 3 is clamped on the I-shaped beam 201 through the monorail crane connecting members 302, and is positioned and rolls on the I-shaped beam 201 through the connecting roller balls 304. A driving member is disposed on the monorail crane system 3. The driving member drives the monorail crane system 3 to be positioned and move on the suspended monorail track 2.
The automatic opening and closing device body 4 includes a lead screw 403 and a motor seat 4012, as shown in Figure 8. One end of the lead screw 403 is provided with second connecting hinges 401 in symmetrical distribution, and the other end is rotationally connected with a rotating sleeve 404 with internal screw threads. A second hinge through hole 402 is formed in the second connecting hinge 401. The automatic opening and closing device body 4 is rotationally connected with the air door driving modules 104 by sequentially passing screw rods through the second hinge through holes 402 and the first hinge through holes 1047.
Telescopic movement of the lead screw 403 is realized by controlling the rotation of the rotating sleeve 404, so that the driving slide block 1041 is positioned and slides on the driving slideways 1042.
One end of the rotating sleeve 404 is rotationally connected with the lead screw 403, and the other end is provided with a connecting shaft 408. A motor 4011 is disposed on the motor seat 4012. A shaft coupler 409 is disposed on an output shaft of the motor 4011. One end of the shaft coupler 409 is fastened and connected with the output shaft of the
, P100559LU00 LU102024 motor 4011, and the other end is provided with the connecting shaft 408. A bearing seat fixing member 406 is disposed on the motor seat 4012. Bearing seats 405 in symmetrical distribution are rotationally disposed on the rotating sleeve 404. One end of the bearing seat 405 is fixed to the bearing seat fixing member 406. A second anchor rod 4013 is disposed on the motor seat 4012. The motor 4011 and the bearing seat fixing member 406 are positioned on the same side of the motor seat 4012. The motor 4011 and the second anchor rod 4013 are positioned on different sides of the motor seat
4012. The second anchor rod 4013 is fixed in the coal rock. The intelligent recognition system 5 includes slideways 505 in symmetrical distribution, as shown in Figure 9. A proximity switch 501, a confirming proximity switch 502 and a laser judging module are disposed on the slideways 505. A laser emitting end 504 is disposed on the slideway 505 on one side. A laser receiving end 503 is disposed on the slideway 505 on the other side. The laser receiving end 503 receives lasers emitted from the laser emitting end 504. In use, when the monorail crane system 3 approaches the air door bodies 102, and passes through the proximity switch 501, the proximity switch 501 outputs an instruction and waits for confirmation to avoid misoperation. When the monorail crane system 3 continuously approaches the air door bodies 102, and passes through the confirming proximity switch 502, the confirming proximity switch 502 outputs an instruction to confirm the instruction. At this time, the motor is started. Through a transmission mechanism, the air door bodies 102 are driven to be opened. When a non-iron mechanism needs to pass, laser transmission is blocked when the non-iron mechanism approaches the air door body 102 and passes through the laser judging module. The laser receiving end 503 cannot receive information of the laser emitting end 504, and a distance of approaching the air door body 102 is marked on the basis, and is used as a basis for judging the operation of the automatic opening and closing device body 4. After the triggering of the proximity switch 501, the confirming proximity switch 502 and the laser judging module, the motor reverses to close the air door body 102 after delaying for a certain time, and the delay time is a movement time of passing through the air door system, and is specifically determined by the signal receiving response interval time of the proximity switch 501 and the confirming proximity switch 502. Its speed may also be obtained by dividing the distance of the proximity switch and the confirming proximity switch by the response time. When the non-iron system passes, the delay time is the
P100559LU00 8 LU102024 maximum time of the system. The proximity switch 501, the confirming proximity switch 502 and the laser judging module are fixed to the surface of the coal rock through the slideways 505.
In the descriptions of this specification, a description of a reference term such as "an embodiment”, "an example", or "a specific example" means that a specific feature, structure, material, or characteristic that is described with reference to the embodiment or the example is included in at least one embodiment or example of the present invention.
In this specification, schematic descriptions of the foregoing terms do not necessarily directed at the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in an appropriate manner.
The basic principles, main features, and advantages of the present invention are shown and described above. A person skilled in the art should understand that the present invention is not limited by the foregoing embodiments. The foregoing embodiments and the descriptions of the specification merely explain the principles of the present invention. Various variations and improvements of the present invention can be made without departing from the spirit and scope of the present invention, and the variations and improvements fall within the protection scope of the present invention.
Claims (9)
1. A mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation, wherein the automatic opening and closing device comprises a mine air door (1), a suspended monorail track (2), a monorail crane system (3), an automatic opening and closing device body (4) and an intelligent recognition system (5); the mine air door (1) is fixed to a bottom of a roadway, and comprises an air door frame (101), air door bodies (102) in symmetrical distribution are disposed on the air door frame (101), air door hinges (103) in symmetrical distribution are disposed between the air door frame (101) and the air door bodies (102), and the air door frame (101) and the air door bodies (102) are rotationally connected through the air door hinges (103); an air door driving module (104) is horizontally and slidably disposed on the air door body (102); the monorail crane system (3) comprises a monorail crane body (301), monorail crane connecting members (302) in symmetrical distribution are disposed on the monorail crane body (301), a monorail crane connecting hole (303) is formed in the monorail crane connecting member (302), and connecting roller balls (304) in array distribution are disposed on the monorail crane connecting member (302); the automatic opening and closing device body (4) comprises a lead screw (403) and a motor seat (4012), one end of the lead screw (403) is provided with second connecting hinges (401) in symmetrical distribution, the other end is rotationally connected with a rotating sleeve (404) with internal screw threads, a second hinge through hole (402) is formed in the second connecting hinge (401); one end of the rotating sleeve (404) is rotationally connected with the lead screw (403), and the other end is provided with a connecting shaft (408), a motor (4011) is disposed on the motor seat (4012), a shaft coupler (409) is disposed on an output shaft of the motor (4011), one end of the shaft coupler (409) is fastened and connected with the output shaft of the motor (4011), and the other end is provided with the connecting shaft (408); and the intelligent recognition system (5) comprises slideways (505) in symmetrical distribution, a proximity switch (501), a confirming proximity switch (502) and a laser judging module are disposed on the slideway (505), a laser emitting end (504) is disposed
P100559LU00 10 LU102024 on the slideway (505) on one side, a laser receiving end (503) is disposed on the slideway (505) on the other side, and the laser receiving end (503) receives lasers emitted from the laser emitting end (504).
2. The mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation according to claim 1, wherein an I-shaped hole (105) is formed in a center position of a top of the air door bodies (102), the suspended monorail track (2) passes through the I-shaped hole (105), and rubber (106) is disposed among the air door bodies (102), the air door frame (101) and the I-shaped hole (105).
3. The mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation according to claim 1, wherein the air door driving module (104) comprises driving slideways (1042) in symmetrical distribution and slideway fixing blocks (1043), two ends of the driving slideway (1042) are respectively fixed to the two slideway fixing blocks (1043), the air door driving module (104) comprises a driving slide block (1041), slideway holes (1045) in symmetrical distribution are formed in the driving slide block (1041), and the driving slide block (1041) is positioned and slides on the driving slideways (1042) through the slideway holes (1045); slideway through holes (1044) in symmetrical distribution are formed in the slideway fixing block (1043), and the air door driving module (104) is fixed to the air door body (102) by passing screw rods through the slideway through holes (1044); and a first connecting hinge (1046) is disposed on the driving slide block (1041), and a first hinge through hole (1047) is formed in the first connecting hinge (1046).
4. The mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation according to claim 3, wherein the suspended monorail track (2) comprises an I-shaped beam (201), connecting chains (202) in array distribution are disposed on two sides of the I-shaped beam (201), one end of the connecting chain (202) is fastened and connected with the I-shaped beam (201), and the other end is fastened and connected with a first anchor rod (203), the first anchor rod (203) is fixed in coal rock, and the suspended monorail track (2) passes through the I-shaped hole (105) through the I-shaped beam (201).
5. The mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation according to claim 1, wherein the monorail crane connecting member (302) is fixed to the monorail crane body (301) by passing a screw rod through the monorail crane connecting hole (303), and the monorail crane connecting
P100559LU00 Il LU102024 member (302) is in a hook shape.
6. The mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation according to claim 4, wherein the monorail crane system (3) is clamped on the I-shaped beam (201) through the monorail crane connecting members (302), and is positioned and rolls on the I-shaped beam (201) through the connecting roller balls (304), a driving member is disposed on the monorail crane system (3), and the driving member drives the monorail crane system (3) to be positioned and move on the suspended monorail track (2).
7. The mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation according to claim 3, wherein the automatic opening and closing device body (4) is rotationally connected with the air door driving modules (104) by sequentially passing screw rods through the second hinge through holes (402) and the first hinge through holes (1047).
8. The mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation according to claim 3, wherein telescopic movement of the lead screw (403) is realized by controlling the rotation of the rotating sleeve (404), so that the driving slide block (1041) is positioned and slides on the driving slideways (1042).
9. The mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation according to claim 1, wherein a bearing seat fixing member (406) is disposed on the motor seat (4012), bearing seats (405) in symmetrical distribution are rotationally disposed on the rotating sleeve (404), one end of the bearing seat (405) is fixed to the bearing seat fixing member (406), a second anchor rod (4013) is disposed on the motor seat (4012), the motor (4011) and the bearing seat fixing member (406) are positioned on the same side of the motor seat (4012), the motor (4011) and the second anchor rod (4013) are positioned on different sides of the motor seat (4012), and the second anchor rod (4013) is fixed in coal rock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LU102024A LU102024B1 (en) | 2020-09-03 | 2020-09-03 | Mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LU102024A LU102024B1 (en) | 2020-09-03 | 2020-09-03 | Mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| LU102024B1 true LU102024B1 (en) | 2021-03-03 |
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ID=74758423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| LU102024A LU102024B1 (en) | 2020-09-03 | 2020-09-03 | Mine air door automatic opening and closing device applicable to monorail crane auxiliary transportation |
Country Status (1)
| Country | Link |
|---|---|
| LU (1) | LU102024B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023024476A1 (en) * | 2021-08-25 | 2023-03-02 | 中国矿业大学 | Digital twin drive-based autonomous driving system and method for monorail crane |
-
2020
- 2020-09-03 LU LU102024A patent/LU102024B1/en active IP Right Grant
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023024476A1 (en) * | 2021-08-25 | 2023-03-02 | 中国矿业大学 | Digital twin drive-based autonomous driving system and method for monorail crane |
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| FG | Patent granted |
Effective date: 20210303 |