Interval automatic operation system of mining anti-explosion monorail crane

Abstract

The utility model discloses a mining explosion-proof monorail crane locomotive interval automatic operation system which comprises a coal mine tunnel area control system, a WIFI (Wireless Fidelity) 6 network communication and positioning system, a vehicle-mounted sensing system and a vehicle-mounted control system, and the coal mine tunnel area control system comprises a control and display integrated terminal and an explosion-proof power supply device; the vehicle-mounted sensing system comprises an AI network camera, a vehicle-mounted controller, a laser radar and a millimeter wave radar; the vehicle-mounted controller carries out fusion processing on image information fed back by the AI network camera, 3D point cloud data fed back by the laser radar and distance information fed back by the millimeter wave radar and transmits a fusion processing result to the vehicle-mounted control system, so that operation condition detection, operation track detection and locomotive surrounding personnel detection of the monorail crane are realized; and the vehicle-mounted control system controls the operation of the monorail crane according to the fusion processing result transmitted by the vehicle-mounted controller so as to realize autonomous operation, autonomous obstacle avoidance induction and remote monitoring of the monorail crane.

Description

Technical Field

[0001] This utility model relates to an automatic operation system for mine explosion-proof monorail crane locomotives in sections, belonging to the field of coal mine machinery and equipment. Background Technology

[0002] With the development of my country's coal mining industry and the improvement of underground automation, the requirements for coal mine auxiliary transportation equipment are becoming increasingly stringent. Explosion-proof monorail locomotives for mining, as important auxiliary transportation equipment in coal mines, are widely used for transporting materials, personnel, and equipment. Their power is generally provided by explosion-proof diesel engines or explosion-proof batteries. The locomotives have advantages such as continuous transportation, runaway prevention, no limitation by the floor, strong climbing and breaking ability, and modular drive.

[0003] Currently, there are several operating modes for explosion-proof monorail cranes in coal mines: First, the locomotive driver sits in the front and rear cabs and operates the vehicle by using control levers, while a train attendant and operator are also present to perform lifting operations and track the operation of the locomotive; second, the explosion-proof monorail crane is equipped with a short-range remote control for operation, and the locomotive driver stands under the monorail crane to use the remote control to start the vehicle; third, some coal mines have responded to the requirements of intelligentization and proposed to remotely control the operation from the ground dispatch room.

[0004] Currently, explosion-proof monorail cranes in coal mines face several major problems: First, because the locomotive rails are suspended from the tunnel ceiling, in some mines with poor working conditions, the rails may detach during operation, causing the monorail to derail and resulting in accidents for those riding in the cab. Second, remote control requires a driver to accompany the monorail, which is physically demanding due to the steep gradients of underground mine roads, thus affecting the overall transportation efficiency of the underground monorail cranes. Third, remote operation from the ground control room requires very high real-time network transmission speeds. Due to the harsh underground environment, there is a certain delay between the underground network and the surface, resulting in untimely and inaccurate control, affecting vehicle operation. Furthermore, to ensure safety, a safety officer must accompany the underground locomotive, further increasing transportation costs. With the development of the coal mining industry, the requirements for intelligent and safe underground transportation equipment are increasing. Achieving autonomous vehicle operation, autonomous obstacle avoidance sensing, and remote monitoring is a crucial issue that urgently needs to be addressed for explosion-proof monorail cranes. Utility Model Content

[0005] The purpose of this utility model is to provide an automatic operation system for mine explosion-proof monorail crane locomotives in sections, so as to realize autonomous vehicle operation, autonomous obstacle avoidance sensing, and remote monitoring.

[0006] To achieve the above-mentioned technical objectives, the present invention will adopt the following technical solution:

[0007] An automated operation system for a mine explosion-proof monorail crane includes a coal mine roadway area control system, a WIFI6 network communication and positioning system, an on-board sensing system, and an on-board control system, wherein:

[0008] The coal mine roadway area control system includes an integrated control and display terminal and an explosion-proof power supply device; the integrated control and display terminal is installed at the end of the roadway where the monorail crane travels and is electrically connected to the explosion-proof power supply device.

[0009] The WIFI6 network communication and positioning system is composed of several wireless multi-functional base stations cascaded together; the integrated control and display terminal is connected to the nearest wireless multi-functional base station via Ethernet cable and is in the same local area network as the WIFI6 network communication and positioning system.

[0010] The vehicle-mounted perception system includes an AI network camera, an on-board controller, a lidar, and a millimeter-wave radar. The AI ​​network camera, lidar, and millimeter-wave radar are all installed on the monorail crane and can transmit the data they detect to the on-board controller. The on-board controller fuses the image information fed back by the AI ​​network camera, the 3D point cloud data fed back by the lidar, and the distance information fed back by the millimeter-wave radar, and transmits the fusion processing result to the on-board control system, thereby realizing the detection of the monorail crane's operating conditions, the detection of the running track, and the detection of people around the crane.

[0011] The onboard control system controls the operation of the monorail crane based on the fusion processing results transmitted from the onboard controller.

[0012] Preferably, it also includes an in-vehicle voice and light warning system;

[0013] When the vehicle control system determines that there is an obstacle to the operation of the monorail crane based on the fusion processing results transmitted from the vehicle controller, it activates the vehicle voice and light warning system and issues a warning message.

[0014] Preferably, the vehicle-mounted voice and light warning system includes a voice signal device and an LED display screen;

[0015] When the vehicle control system determines that there is an obstacle to the monorail crane operation based on the fusion processing results transmitted from the vehicle controller, it triggers the voice signal device to issue a voice warning; the LED display screen receives the information from the voice signal device and displays text synchronously.

[0016] Preferably, it also includes an on-board autonomous operation overrun protection system;

[0017] The onboard autonomous operation overrun protection system includes RFID radio frequency cards; the RFID radio frequency cards include two sets, corresponding to the first RFID radio frequency cards and the second RFID radio frequency cards; the first RFID radio frequency cards and the second RFID radio frequency cards are respectively installed at points A and B on the running track, with point A set as the anti-overrun protection for the front of the locomotive and point B set as the anti-overrun protection for the rear of the locomotive;

[0018] When the monorail crane travels along the track and triggers the first RFID card, the first RFID card sends tag information to the vehicle control system; the vehicle control system controls the monorail crane to stop at point A based on the tag information received from the first RFID card.

[0019] When the monorail crane travels along the track and triggers the second RFID card, the second RFID card sends tag information to the vehicle control system. Based on the tag information received from the second RFID card, the vehicle control system controls the monorail crane to stop at point B.

[0020] Preferably, the on-board autonomous operation overrun protection system further includes a mechanical overrun switch; the mechanical overrun switch includes two sets, corresponding to a first mechanical overrun switch and a second mechanical overrun switch; the first and second mechanical overrun switches are respectively installed at points A and B on the running track;

[0021] When the monorail crane travels along the running track and touches the first mechanical overtravel switch, the switch signal of the first mechanical overtravel switch is connected to the vehicle parking circuit of the on-board control system, realizing the emergency stop of the monorail crane at point A.

[0022] When the monorail crane travels along the track and touches the second mechanical overtravel switch, the switch signal is connected to the vehicle parking circuit of the on-board control system, enabling the monorail crane to stop urgently at point B.

[0023] Preferably, the on-board autonomous operation overrun protection system includes a locomotive position calculation module; the locomotive position calculation module compares the locomotive position value with the preset locomotive running end position in real time, and stops the monorail locomotive operation when the distance between the locomotive position value and the preset locomotive running end position is greater than the safe range.

[0024] Preferably, the wireless multi-functional base station includes a WIFI6 wireless module and a UWB positioning module; both the WIFI6 wireless module and the UWB positioning module have wireless transmission capabilities and can respectively achieve bidirectional wireless interconnection with the vehicle-mounted sensing system.

[0025] Preferably, the vehicle controller includes a power module, a communication and positioning client module, a sensing and computing module, and a bus communication module.

[0026] The communication and client positioning module has wireless communication capabilities, enabling it to receive signals from the wireless multi-functional base station in real time, and also to send vehicle data signals to the wireless multi-functional base station.

[0027] The perception and computing module receives data collected by AI network cameras, LiDAR, and millimeter-wave radar, processes the data, and then transmits it to the vehicle control host through the bus communication module.

[0028] Preferably, the vehicle control system includes an on-board drive unit and an integrated frequency converter;

[0029] The vehicle-mounted drive unit includes a drive module and a communication module. The communication module is responsible for receiving data from the vehicle-mounted controller bus communication module inside the vehicle perception system, processing it, and outputting it to the inverter unit through the drive module to perform actions. At the same time, the communication module receives data information from the inverter unit and the drive module and transmits it to the bus communication module of the vehicle controller.

[0030] Preferably, the monorail crane is a bidirectional locomotive, including two traveling cars; a coal mine roadway area control system, a WIFI6 network communication and positioning system, and an on-board sensing system are each equipped with one set for each traveling car.

[0031] Based on the above-mentioned technical objectives, compared with the prior art, this utility model has the following advantages:

[0032] 1. The automatic operation system for mine explosion-proof monorail cranes can automatically sense the operating path environment and road conditions, and adopt corresponding operation control strategies to achieve autonomous operation without relying on a ground-based backend server. This effectively solves the technical shortcomings of existing unmanned mine monorail cranes that rely on underground mine ring networks and ground servers. Operation is safer and more reliable.

[0033] 2. The various subsystems in the explosion-proof monorail crane section automatic operation system adopt an integrated design, with a simple overall structure and low cost. It can be quickly retrofitted to existing manually or remotely operated monorail cranes, offering excellent cost performance.

[0034] 3. The mine explosion-proof monorail locomotive section automatic operation system has accurate real-time positioning. The lidar, millimeter-wave radar and AI network camera installed on the monorail locomotive are connected to the on-board controller to realize the detection of locomotive operating conditions, track detection and personnel detection around the locomotive, so as to ensure the safe and reliable operation of the monorail locomotive in the complex environment of underground coal mine roadways.

[0035] 4. The automatic operation system for mine explosion-proof monorail crane locomotives is more suitable for realizing the autonomous operation of monorail crane locomotives in coal mines compared with existing technologies, thereby achieving the goal of reducing manpower and increasing efficiency in the operation of monorail crane locomotives in coal mines. Attached Figure Description

[0036] Figure 1 This is a flowchart of the automatic operation system for mine explosion-proof monorail crane locomotives in the section described in this utility model;

[0037] Figure 2 This is a flowchart of the vehicle controller described in this utility model;

[0038] Figure 3 This is a flowchart of the anti-overrunning device described in this utility model. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model. Unless otherwise specifically stated, the relative arrangement, expressions, and values ​​of components and steps set forth in these embodiments do not limit the scope of the present utility model. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0040] like Figure 1-3 As shown, the automatic operation system for mine explosion-proof monorail crane locomotives of this utility model mainly includes a coal mine roadway area control system, a WIFI6 network communication and positioning system, an on-board sensing system, an on-board control system, an on-board voice and light warning system, and an on-board autonomous operation overrun protection system; wherein:

[0041] The coal mine roadway control system includes an integrated control and display terminal and an explosion-proof power supply. The integrated control and display terminal is installed at the end of the roadway where the monorail crane operates and is electrically connected to the explosion-proof power supply. The integrated control and display terminal is equipped with a touchscreen, allowing operators to control the system. It also provides real-time display of vehicle information and video. The integrated control and display terminal can be equipped with a PH12(B) intrinsically safe mining display screen.

[0042] The WIFI6 network communication and positioning system is composed of several cascaded wireless multi-functional base stations. The integrated control and display terminal connects to the nearest wireless multi-functional base station via Ethernet cable and is located within the same local area network as the WIFI6 network communication and positioning system. The wireless multi-functional base stations are connected via optical fiber. Each wireless multi-functional base station has a WIFI6 wireless module and a UWB positioning module. The WIFI6 wireless module has a wireless network directional antenna, while the UWB positioning module has a UWB directional antenna. Therefore, both the WIFI6 wireless module and the UWB positioning module have wireless transmission capabilities, enabling bidirectional wireless interconnection with the vehicle-mounted sensing system. The core chip models for the wireless multi-functional base stations can be IPQ5000 or DW1000.

[0043] The vehicle-mounted perception system includes an AI network camera, a vehicle-mounted controller, a LiDAR, and a millimeter-wave radar. These components are all installed on the monorail crane and transmit their respective detected data to the vehicle-mounted controller. The controller fuses the image information from the AI ​​network camera, the 3D point cloud data from the LiDAR, and the distance information from the millimeter-wave radar, transmitting the fusion result to the vehicle-mounted control system. This enables detection of the monorail crane's operating conditions, track conditions, and personnel around the crane. The vehicle-mounted controller includes a power module, a communication and positioning client module, a perception and computing module, and a bus communication module. The communication and positioning client module has wireless communication capabilities, receiving signals from a wireless multi-functional base station in real time and simultaneously sending vehicle-mounted data signals to the base station. The perception and computing module receives information from the AI ​​network camera and LiDAR, processes the data, and transmits it to the vehicle-mounted control host via the bus communication module. The core chip for the vehicle-mounted controller can be either IPQ5018+6102 or STM32F407VET6. The GUJ100 intrinsically safe lidar for mining can be selected as the lidar. The AWR1843 chip can be used for the millimeter-wave radar.

[0044] In the complex environment of underground coal mine roadways, the safe and reliable operation of monorail cranes is mainly achieved through the deep fusion and real-time processing of specific multi-sensor data, combined with differentiated fusion strategies designed for special underground working conditions.

[0045] The width of the tunnels is typically 3-5 meters, and the accuracy required for parking and obstacle avoidance is at the centimeter level. LiDAR constructs a high-precision map of the tunnel outline (error <5cm), AI cameras identify irregular obstacles such as suspended cables and temporary material piles, and millimeter-wave radar accurately captures moving targets (such as personnel and mine cars) in real time, compensating for the insufficient resolution of static objects. Millimeter-wave radar can accurately capture information about tunnel edges and obstacles in the narrow and complex environment of underground coal mine tunnels, laying the foundation for subsequent environmental perception and decision-making. Through these strategies, the underground monorail system can achieve centimeter-level environmental perception and second-level emergency response. Compared to surface systems, it places greater emphasis on precise positioning in confined spaces, safety, and explosion-proof design, meeting the autonomous operation capabilities required for the special needs of underground coal mines.

[0046] The onboard controller uses point cloud data fed back by the LiDAR to construct a high-precision tunnel contour map using point cloud cumulative imaging technology. The millimeter-wave radar, integrated with DSP and MCU, performs calculations using Fast Fourier Transform (FFT) and Iterative Closest Point (ICP) algorithms to accurately identify obstacles, distances, tunnel boundaries, and other key information, thus reconstructing the tunnel more precisely. Simultaneously, the millimeter-wave radar integrates a high-precision gyroscope to perceive the monorail locomotive's motion status in real time, including key parameters such as speed, acceleration, and steering angle. By deeply fusing real-time vehicle attitude perception data with semantic information, the locomotive can make more accurate and reliable decisions in dynamic environments.

[0047] The onboard control system controls the operation of the monorail crane based on the fusion processing results transmitted from the onboard controller. Specifically, the onboard control system of this invention includes an onboard drive unit and an integrated frequency converter; the onboard drive unit internally includes a drive module and a communication module; the communication module is responsible for receiving data from the onboard controller bus communication module within the onboard sensing system, processing it, and outputting it to the integrated frequency converter through the drive module for action. Simultaneously, the communication module receives data information from the integrated frequency converter and the drive module and transmits it to the bus communication module of the onboard controller.

[0048] When the vehicle control system determines that there is an obstacle to the monorail crane's operation based on the fusion processing results transmitted from the vehicle controller, it activates the vehicle-mounted voice and light warning system to issue a warning message. Specifically, the vehicle-mounted voice and light warning system of this invention includes a voice signal device and an LED display screen; when the vehicle control system determines that there is an obstacle to the monorail crane's operation based on the fusion processing results transmitted from the vehicle controller, it triggers the voice signal device to issue a voice warning; the LED display screen receives the information from the voice signal device and displays text synchronously. The LED display screen can be a PH12 intrinsically safe mining display screen.

[0049] The automatic operation system for mine explosion-proof monorail crane locomotives described in this utility model is equipped with an on-board autonomous operation overrun protection system to prevent the locomotive from losing control and crossing the end point during operation. It uses RFID radio frequency technology and mechanical switch control technology to achieve overrun protection.

[0050] Specifically, when using RFID radio frequency technology, the on-board autonomous operation overrun protection system includes RFID radio frequency cards; the RFID radio frequency cards consist of two sets, corresponding to the first and second RFID radio frequency cards; the first and second RFID radio frequency cards are respectively installed at points A and B on the running track, with point A set as the anti-overrun point for the front of the locomotive and point B set as the anti-overrun point for the rear of the locomotive; when the monorail locomotive travels along the running track and triggers the first RFID radio frequency card, the first RFID radio frequency card sends tag information to the on-board control system; the on-board control system, based on the tag information received from the first RFID radio frequency card, controls the monorail locomotive to stop at point A; when the monorail locomotive travels along the running track and triggers the second RFID radio frequency card, the second RFID radio frequency card sends tag information to the on-board control system; the on-board control system, based on the tag information received from the second RFID radio frequency card, controls the monorail locomotive to stop at point B.

[0051] The onboard autonomous operation overrun protection system has a locomotive position calculation module; the locomotive position calculation module compares the locomotive position value with the preset locomotive running end position in real time, and stops the monorail locomotive operation when the distance between the locomotive position value and the preset locomotive running end position is greater than the safe range.

[0052] When using mechanical switch control technology, the on-board autonomous operation overrun protection system also includes mechanical overrun switches; the mechanical overrun switches include two sets, corresponding to the first and second mechanical overrun switches; the first and second mechanical overrun switches are respectively installed at points A and B on the running track; when the monorail crane travels along the running track and touches the first mechanical overrun switch, the switch signal of the first mechanical overrun switch is connected to the vehicle parking circuit of the on-board control system, realizing the emergency stop of the monorail crane at point A; when the monorail crane travels along the running track and touches the second mechanical overrun switch, the switch signal of the second mechanical overrun switch is connected to the vehicle parking circuit of the on-board control system, realizing the emergency stop of the monorail crane at point B.

[0053] Therefore, the automatic operation system for mine explosion-proof monorail cranes described in this utility model can be started with a single touch. Only one person is needed to operate the start-up and lifting operations, realizing the autonomous perception and point-to-point autonomous operation of the monorail crane within a local area.

[0054] During operation, the starting point (point A) and ending point (point B) of the monorail crane are set through the integrated control and display terminal, and the operating mode is set to automatic driving mode. Pressing the forward or reverse operation button on the integrated control and display terminal transmits the signal to the wireless multi-functional base station via Ethernet cable. After receiving the signal, the wireless multi-functional base station transmits it to the network client module of the on-board controller via the wireless network, converts it into bus data, and then transmits it to the on-board control system. After receiving the command, the monorail crane will autonomously complete the start-up self-check and operation judgment, realizing the autonomous operation of the crane.

Claims

1. A mine explosion-proof monorail crane automatic operation system for mining sections, characterized in that, This includes a coal mine roadway area control system, a WIFI6 network communication and positioning system, an onboard sensing system, and an onboard control system, among which: The coal mine roadway area control system includes an integrated control and display terminal and an explosion-proof power supply device; the integrated control and display terminal is installed at the end of the roadway where the monorail crane travels and is electrically connected to the explosion-proof power supply device. The WIFI6 network communication and positioning system is composed of several wireless multi-functional base stations cascaded together; the integrated control and display terminal is connected to the nearest wireless multi-functional base station via Ethernet cable and is in the same local area network as the WIFI6 network communication and positioning system. The vehicle-mounted perception system includes an AI network camera, an on-board controller, a lidar, and a millimeter-wave radar. The AI ​​network camera, lidar, and millimeter-wave radar are all installed on the monorail crane and can transmit the data they detect to the on-board controller. The on-board controller fuses the image information fed back by the AI ​​network camera, the 3D point cloud data fed back by the lidar, and the distance information fed back by the millimeter-wave radar, and transmits the fusion processing result to the on-board control system, thereby realizing the detection of the monorail crane's operating conditions, the detection of the running track, and the detection of people around the crane. The onboard control system controls the operation of the monorail crane based on the fusion processing results transmitted from the onboard controller.

2. The automatic operation system for mine explosion-proof monorail crane locomotives according to claim 1, characterized in that, It also includes in-vehicle voice and light warning systems; When the vehicle control system determines that there is an obstacle to the operation of the monorail crane based on the fusion processing results transmitted from the vehicle controller, it activates the vehicle voice and light warning system and issues a warning message.

3. The automatic operation system for mine explosion-proof monorail crane locomotives according to claim 2, characterized in that, The vehicle-mounted voice and light warning system includes a voice signal device and an LED display screen; When the vehicle control system determines that there is an obstacle to the monorail crane operation based on the fusion processing results transmitted from the vehicle controller, it triggers the voice signal device to issue a voice warning. The LED display screen receives voice signal information and displays it in sync with the text.

4. The automatic operation system for mine explosion-proof monorail crane locomotives according to claim 1, characterized in that, It also includes an onboard autonomous operation overrun protection system; The onboard autonomous operation overrun protection system includes RFID radio frequency cards; the RFID radio frequency cards include two sets, corresponding to the first RFID radio frequency cards and the second RFID radio frequency cards; the first RFID radio frequency cards and the second RFID radio frequency cards are respectively installed at points A and B on the running track, with point A set as the anti-overrun protection for the front of the locomotive and point B set as the anti-overrun protection for the rear of the locomotive; When the monorail crane travels along the track and triggers the first RFID radio frequency card, the first RFID radio frequency card sends tag information to the vehicle control system; The onboard control system controls the monorail crane to stop at point A based on the tag information received from the first RFID radio frequency card. When the monorail crane travels along the track and triggers the second RFID radio frequency card, the second RFID radio frequency card sends tag information to the vehicle control system; The onboard control system controls the monorail crane to stop at point B based on the tag information received from the second RFID radio frequency card.

5. The automatic operation system for mine explosion-proof monorail crane locomotives according to claim 4, characterized in that, The on-board autonomous operation overrun protection system also includes mechanical overrun switches; the mechanical overrun switches include two sets, corresponding to the first and second mechanical overrun switches; the first and second mechanical overrun switches are respectively installed at points A and B on the running track; When the monorail crane travels along the track and touches the first mechanical overtravel switch, the switching signal of the first mechanical overtravel switch is connected to the vehicle parking circuit of the on-board control system, realizing the emergency stop of the monorail crane at point A; when the monorail crane travels along the track and touches the second mechanical overtravel switch, the switching signal of the second mechanical overtravel switch is connected to the vehicle parking circuit of the on-board control system, realizing the emergency stop of the monorail crane at point B.

6. The automatic operation system for mine explosion-proof monorail crane locomotives according to claim 4, characterized in that, The onboard autonomous operation overrun protection system has a locomotive position calculation module; the locomotive position calculation module compares the locomotive position value with the preset locomotive running end position in real time, and stops the monorail locomotive operation when the distance between the locomotive position value and the preset locomotive running end position is greater than the safe range.

7. The automatic operation system for mine explosion-proof monorail crane locomotives according to claim 1, characterized in that, The wireless multi-functional base station includes a WIFI6 wireless module and a UWB positioning module; both the WIFI6 wireless module and the UWB positioning module have wireless transmission capabilities and can achieve bidirectional wireless interconnection with the vehicle-mounted sensing system.

8. The automatic operation system for mine explosion-proof monorail crane locomotives according to claim 1, characterized in that, The vehicle controller includes a power module, a communication and positioning client module, a sensing and computing module, and a bus communication module. The communication and client positioning module has wireless communication capabilities, enabling it to receive signals from the wireless multi-functional base station in real time, and also to send vehicle data signals to the wireless multi-functional base station. The perception and computing module receives data collected by AI network cameras, LiDAR, and millimeter-wave radar, processes the data, and then transmits it to the vehicle control host through the bus communication module.

9. The automatic operation system for mine explosion-proof monorail crane locomotives according to claim 1, characterized in that, The vehicle control system includes the vehicle drive unit and the frequency converter integrated unit; The vehicle-mounted drive unit includes a drive module and a communication module. The communication module is responsible for receiving data from the vehicle controller bus communication module inside the vehicle perception system, processing it, and outputting it to the inverter unit through the drive module to perform actions; at the same time, the communication module receives data information from the inverter unit and the drive module and transmits it to the bus communication module of the vehicle controller.

10. The automatic operation system for mine explosion-proof monorail crane locomotives according to claim 1, characterized in that, The monorail locomotive is a bidirectional locomotive, consisting of two traveling cars; a coal mine roadway area control system, a WIFI6 network communication and positioning system, and an on-board sensing system are each equipped with a set for each traveling car.

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