CN109519216A - A kind of mine shaft conveyance system and transportation resources based on visible light - Google Patents
A kind of mine shaft conveyance system and transportation resources based on visible light Download PDFInfo
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- CN109519216A CN109519216A CN201811396479.XA CN201811396479A CN109519216A CN 109519216 A CN109519216 A CN 109519216A CN 201811396479 A CN201811396479 A CN 201811396479A CN 109519216 A CN109519216 A CN 109519216A
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- 238000000034 method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims abstract description 6
- 229910052500 inorganic mineral Inorganic materials 0.000 claims description 16
- 239000011707 mineral Substances 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 14
- 238000011897 real-time detection Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000010365 information processing Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 238000005065 mining Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000003137 locomotive effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
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- 230000005021 gait Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 210000001525 retina Anatomy 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
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- 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
- E21F13/00—Transport specially adapted to underground conditions
-
- 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
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Geochemistry & Mineralogy (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of mine shaft conveyance system based on visible light and transportation resources.This mine shaft conveyance system and transportation resources based on visible light constantly detects the brightness of smart machine ambient enviroment by photosensitive sensor, light intensity information value in smart machine ambient enviroment is judged, smart machine can be made to reach the strong position of light, it allows smart machine to advance always towards highlighting direction, eventually finds outlet；Realize the automation and serialization transported from stope to earth's surface, to shorten haulage time, information transmission is carried out using wireless telecommunications, the information that each component is detected realizes that intelligent working face transportational process, IT application in management and operation are unmanned by the receiving device of wireless communication transmission to conveying people.
Description
Technical field
The present invention relates to the technical field of transportation in underground mining, in particular to a kind of mining conveying system based on visible light
System and transportation resources.
Background technique
Usually there is problem in the following areas in underground mining operation, that is, by all demand articles from transport on the ground to
The use of underground or consumption position, or transported in the cross traffic of underground between underground storehouse and each use or consumption position
Defeated demand article, or using or consuming the position transportation demand article in the cross traffic of underground between each other.Thus exist
The problem of be characterized in, on the one hand use or consume in underground mine tunnel position part place change always, another party
Face additionally changes in underground mine exploiting field for the transportation route used；Therefore since externalities causes slowly to travel section
Alternating set up or transportation route route segment down or up aspect have different characteristics.
As high efficiency adopts, fill, transport the appearance of equipment and largely falls the development of mine mining technique, and it is raw to downhole safety
The requirement of production is higher and higher, and underground mine production is just being intended to enlargement, serialization, automation.Traditional underground mine exploitation
Mode, mine barren rock need to concentrate rolling, main shaft hooist to go out earth's surface from stope to earth's surface by stope haulage, level haulage, main chute
Etc. links can not achieve continuative transport, wherein level haulage due to mutually disconnecting between links: at present mainly according to
By rail electric locomotive transport or automobile flexible transport, is transported with electric locomotive or automobile, have the disadvantage in that 1, using vapour
The running cost of vehicle transport is higher, and there are the drawbacks such as seriously polluted to subsurface environment and unfavorable ventilation；2, it is transported using electric locomotive
Defeated, tunnel needs to lay a railway track, long construction period, requires roadway gradient high；3, continuative transport, and electric car or vapour are difficult to realize
All there is the departure interval in vehicle transport.
Summary of the invention
The object of the present invention is to provide a kind of automations and serialization by transport, realize working face transportational process intelligence
Change, management in workface is information-based and the unmanned mine shaft conveyance system and transportation resources based on visible light of operation.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of mine shaft conveyance system based on visible light, including smart machine and backstage Cloud Server, the smart machine include
The bottom of smart machine is arranged in mobile module and drive module, the mobile module, and the drive module drives the movement
Module is mobile, further includes:
Positioning unit, for detecting user position；
Accommodating chamber, for placing mineral；
Grabbing device, for mineral to be put into accommodating chamber or take out mineral from receiving is intracavitary；
Wireless communication module carries out network configuration to the smart machine and the backstage Cloud Server, convenient for smart machine
Networking；
Control module is connect with the drive module, for handling smart machine program and control smart machine；
Photosensitive identification module is arranged at the top of smart machine, for detecting light intensity, sends light intensity information value to institute
State control module.
The above-mentioned mine shaft conveyance system based on visible light, the positioning unit include the position indicator that is worn on human body and
The detector of installation on intelligent devices.
The above-mentioned mine shaft conveyance system based on visible light, the control module include:
Information sub-module stored, for presetting the first light luminance absolute threshold N；
Information processing submodule, for being worth maximum light strong according to the light intensity information of the photosensitive identification module detection
Spend value of information M.
The above-mentioned mine shaft conveyance system based on visible light, the light intensity letter that the photosensitive identification module real-time detection arrives
The light intensity that breath value is greater than or equal to the first light luminance absolute threshold N or the photosensitive identification module real-time detection arrives
The value of information is greater than or equal to the 60% ~ 70% of maximum light intensity information value M.
The above-mentioned mine shaft conveyance system based on visible light, the mobile module include detection barrier and judgement position
Detection device.
A kind of transportation resources of mine shaft conveyance system, according to any of the above-described mine shaft conveyance system, including following step
It is rapid:
Step A opens program, identifies user and detects the position of the user；
Step B calculates the relative positional relationship of smart machine and user between the two；
Step C, smart machine are moved to the position of user, and when smart machine stops moving, mineral are put in grabbing device work
Enter in accommodating chamber；
Step D detects whether after mineral are put into accommodating chamber there are also user, if without user, smart machine move and
The constantly light intensity of detection environment；
Step E, the light intensity information value that will test are compared, and obtain maximum light intensity information value M；
Step F, judges whether the real-time light intensity information value for detecting environment is greater than or equal to maximum light intensity information value M's
The light intensity information value that predetermined condition value or real-time detection arrive is greater than or equal to the first light luminance absolute threshold N；
Step G, when real-time light intensity information value be greater than or equal to maximum light intensity information value M when or light intensity information value
More than or equal to the first light luminance absolute threshold N, then smart machine stops movement；
Step H, when smart machine stops moving, grabbing device works, and the mineral in accommodating chamber are taken out.
The transportation resources of above-mentioned mine shaft conveyance system, the step B include step B1, and smart machine is in mobile process
In, the information of detection barrier send information to control module by controlling amplifying circuit, after control module processing
Mobile module cut-through object is controlled again.
The transportation resources of above-mentioned mine shaft conveyance system, the step D further include step D1, when detecting there are also user
When, then return step A, continues to identify user and detects the position of the user.
The transportation resources of above-mentioned mine shaft conveyance system, maximum light intensity information value M described in the step F make a reservation for
Condition value refers to that real-time light intensity information value is the 60-70% of maximum light intensity information value M.
The transportation resources of above-mentioned mine shaft conveyance system, the step G further include step G1, when real-time light intensity is believed
When breath value is less than maximum light intensity information value M or when light intensity information value is less than the first light luminance absolute threshold N, then intelligence
Energy equipment continues to move to.
In conclusion the invention has the following advantages: this mine shaft conveyance system and transporter based on visible light
Method constantly detects the brightness of smart machine ambient enviroment by photosensitive sensor, to the light intensity in smart machine ambient enviroment
The value of information judges, and smart machine can be made to reach the strong position of light, allow smart machine always towards highlighting side
It marches forward, eventually finds outlet；The automation and serialization transported from stope to earth's surface is realized to adopt to shorten haulage time
Information transmission is carried out with wireless telecommunications, the information that each component detects is set by the reception of wireless communication transmission to conveying people
It is standby, realize that intelligent working face transportational process, IT application in management and operation are unmanned.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of mine shaft conveyance system based on visible light of the invention.
Specific embodiment
Invention is further described in detail below.
Refering to fig. 1, a kind of mine shaft conveyance system based on visible light, including smart machine and backstage Cloud Server, it is described
Smart machine includes mobile module 5 and drive module, and the bottom of smart machine, the driving mould is arranged in the mobile module 5
Block drives the mobile module 5 mobile, further includes:
Positioning unit 4, for detecting user position；
Accommodating chamber, for placing mineral；
Grabbing device, for mineral to be put into accommodating chamber or take out mineral from receiving is intracavitary；
Wireless communication module 3 carries out network configuration to the smart machine and the backstage Cloud Server, convenient for smart machine
Networking；
Control module 1 is connect with the drive module, for handling smart machine program and control smart machine；
Photosensitive identification module 2 is arranged at the top of smart machine, for detecting light intensity, light intensity information value is sent to
The control module 1.
Further, in a kind of preferred embodiment of the mine shaft conveyance system based on visible light of the present invention, the positioning
Unit 4 includes the detector of the position indicator being worn on human body and installation on intelligent devices, detector test body and positioning
The relative position of instrument and confirm current location.
Recognition of face, speech recognition, retina identification, fingerprint recognition, Gait Recognition or wireless can also be used in smart machine
Radio-frequency technique identifies personnel, and using wireless radio-frequency, video camera, sound tracing, image tracing, global positioning system
Or indoor locating system to be to identify personnel position, and uses in combination with map.
Further, in a kind of preferred embodiment of the mine shaft conveyance system based on visible light of the present invention, the control
Module 1 includes:
Information sub-module stored 11, for presetting the first light luminance absolute threshold N；
Information processing submodule 12, the light intensity information for being detected according to the photosensitive identification module 2 are worth maximum light
Line strength information value M.
Further, described photosensitive in a kind of preferred embodiment of the mine shaft conveyance system based on visible light of the present invention
The light intensity information value that 2 real-time detection of identification module arrives is greater than or equal to the first light luminance absolute threshold N or the light
The light intensity information value that quick 2 real-time detection of identification module arrives is greater than or equal to the 60% ~ 70% of maximum light intensity information value M.
Preferably, when bright be not less than maximum light intensity information value M 67%, it can better ensure that intelligence is set
It is standby to be located at indoor more spacious position.
Preferably, the first light luminance absolute threshold N is obtained when light is 300 ~ 350lux.
Further, in a kind of preferred embodiment of the mine shaft conveyance system based on visible light of the present invention, the movement
Module 5 includes detection barrier and the detection device for determining position.
A kind of transportation resources of mine shaft conveyance system, according to any of the above-described mine shaft conveyance system, including following step
It is rapid:
Step A opens program, identifies user and detects the position of the user, during smart machine positioning,
The location point of itself is first calculated, the position of detector (such as the position sensor of integrated GPS) detection position indicator on smart machine,
To calculate relative positional relationship between the two；
Step B calculates the relative positional relationship of smart machine and user between the two；
Step C, smart machine are moved to the position of user, and when smart machine stops moving, mineral are put in grabbing device work
Enter in accommodating chamber；
Step D detects whether after mineral are put into accommodating chamber there are also user, if without user, smart machine move and
The constantly light intensity of detection environment；
Step E, the light intensity information value that will test are compared, and obtain maximum light intensity information value M；
Step F, judges whether the real-time light intensity information value for detecting environment is greater than or equal to maximum light intensity information value M's
The light intensity information value that predetermined condition value or real-time detection arrive is greater than or equal to the first light luminance absolute threshold N；
Step G, when real-time light intensity information value be greater than or equal to maximum light intensity information value M when or light intensity information value
More than or equal to the first light luminance absolute threshold N, then smart machine stops movement；
Step H, when smart machine stops moving, grabbing device works, and the mineral in accommodating chamber are taken out.
Further, in a kind of preferred embodiment of the transportation resources of mine shaft conveyance system of the present invention, the step B packet
Step B1 is included, in the process of moving, information is passed through control amplification electricity to smart machine by the information of detection barrier
Road is sent to control module, controls mobile module cut-through object again after control module processing.
Further, in a kind of preferred embodiment of the transportation resources of mine shaft conveyance system of the present invention, the step D is also
Including step D1, when detecting also user, then return step A, continues to identify user and detects the institute of the user
In position.
Further, in a kind of preferred embodiment of the transportation resources of mine shaft conveyance system of the present invention, in the step F
The predetermined condition value of the maximum light intensity information value M refers to real-time light intensity information value for maximum light intensity information value
The 60-70% of M.
Preferably, the real-time light intensity information value is the 67% of maximum light intensity information value M.First light
Brightness absolute threshold N is obtained when light is 300 ~ 350lux.
Further, in a kind of preferred embodiment of the transportation resources of mine shaft conveyance system of the present invention, the step G is also
Including step G1, when real-time light intensity information value is less than maximum light intensity information value M or light intensity information value is less than
When the first light luminance absolute threshold N, then smart machine continues to move to.
In conclusion this mine shaft conveyance system and transportation resources based on visible light is constantly detected by photosensitive sensor
The brightness of smart machine ambient enviroment judges the light intensity information value in smart machine ambient enviroment, can make intelligence
Energy equipment reaches the strong position of light, allows smart machine to advance always towards highlighting direction, eventually finds outlet；It realizes
The automation and serialization transported from stope to earth's surface carry out information transmission using wireless telecommunications to shorten haulage time, will
The information that each component detects realizes working face transportational process intelligence by the receiving device of wireless communication transmission to conveying people
Change, IT application in management and operation are unmanned.
The present embodiment is only explanation of the invention, is not limitation of the present invention, and those skilled in the art exist
It can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as in the present invention
Scope of the claims in all by the protection of Patent Law.
Claims (10)
1. a kind of mine shaft conveyance system based on visible light, including smart machine and backstage Cloud Server, the smart machine packet
Containing mobile module (5) and drive module, the bottom of smart machine, the drive module driving is arranged in the mobile module (5)
The mobile module (5) is mobile, it is characterised in that: further include:
Positioning unit (4), for detecting user position；
Accommodating chamber, for placing mineral；
Grabbing device, for mineral to be put into accommodating chamber or take out mineral from receiving is intracavitary；
Wireless communication module (3) carries out network configuration to the smart machine and the backstage Cloud Server, is convenient for smart machine
Networking；
Control module (1), connect with the drive module, for handling smart machine program and control smart machine；
Photosensitive identification module (2) is arranged at the top of smart machine, for detecting light intensity, light intensity information value is transmitted
Give the control module (1).
2. a kind of mine shaft conveyance system based on visible light as described in claim 1, it is characterised in that: the positioning unit
It (4) include the detector of the position indicator being worn on human body and installation on intelligent devices.
3. a kind of mine shaft conveyance system based on visible light as described in claim 1, it is characterised in that: the control module
(1) include:
Information sub-module stored (11), for presetting the first light luminance absolute threshold N；
Information processing submodule (12), for being worth most according to the light intensity information of photosensitive identification module (2) detection
Big light intensity information value M.
4. a kind of mine shaft conveyance system based on visible light as described in claim 1, it is characterised in that: the photosensitive identification mould
The light intensity information value that block (2) real-time detection arrives is greater than or equal to the first light luminance absolute threshold N or the photosensitive knowledge
The light intensity information value that other module (2) real-time detection arrives is greater than or equal to the 60% ~ 70% of maximum light intensity information value M.
5. a kind of mine shaft conveyance system based on visible light as described in claim 1, it is characterised in that: the mobile module
It (5) include the detection device for detecting barrier and determining position.
6. a kind of transportation resources of mine shaft conveyance system, it is characterised in that: transported according to mine described in any of the above claim
Defeated system, comprising the following steps:
Step A opens program, identifies user and detects the position of the user；
Step B calculates the relative positional relationship of smart machine and user between the two；
Step C, smart machine are moved to the position of user, and when smart machine stops moving, mineral are put in grabbing device work
Enter in accommodating chamber；
Step D detects whether after mineral are put into accommodating chamber there are also user, if without user, smart machine move and
The constantly light intensity of detection environment；
Step E, the light intensity information value that will test are compared, and obtain maximum light intensity information value M；
Step F, judges whether the real-time light intensity information value for detecting environment is greater than or equal to maximum light intensity information value M's
The light intensity information value that predetermined condition value or real-time detection arrive is greater than or equal to the first light luminance absolute threshold N；
Step G, when real-time light intensity information value be greater than or equal to maximum light intensity information value M when or light intensity information value
More than or equal to the first light luminance absolute threshold N, then smart machine stops movement；
Step H, when smart machine stops moving, grabbing device works, and the mineral in accommodating chamber are taken out.
7. a kind of transportation resources of mine shaft conveyance system as claimed in claim 6, it is characterised in that: the step B includes step
Rapid B1, in the process of moving, the information of detection barrier send information by controlling amplifying circuit to smart machine
To control module, mobile module cut-through object is controlled again after control module processing.
8. a kind of transportation resources of mine shaft conveyance system as claimed in claim 6, it is characterised in that: the step D further includes
Step D1, when detecting also user, then return step A, continues to identify user and detects the institute of the user in place
It sets.
9. a kind of transportation resources of mine shaft conveyance system as claimed in claim 6, it is characterised in that: described in the step F
The predetermined condition value of maximum light intensity information value M refers to that real-time light intensity information value is maximum light intensity information value M
60-70%。
10. a kind of transportation resources of mine shaft conveyance system as claimed in claim 6, it is characterised in that: the step G further includes
Step G1, when real-time light intensity information value is less than maximum light intensity information value M or light intensity information value is less than first
When light luminance absolute threshold N, then smart machine continues to move to.
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| CN201811396479.XA CN109519216A (en) | 2018-11-22 | 2018-11-22 | A kind of mine shaft conveyance system and transportation resources based on visible light |
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| CN106737700A (en) * | 2015-11-23 | 2017-05-31 | 芋头科技（杭州）有限公司 | A kind of smart machine system and method for being moved to bright light place |
| CN107010521A (en) * | 2017-06-08 | 2017-08-04 | 长沙有色冶金设计研究院有限公司 | A kind of mine hoisting transportation system and method |
| CN107701234A (en) * | 2017-09-01 | 2018-02-16 | 郭亚晋 | A kind of intelligent mine supervisory systems |
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