College of Mechanical Engineering, Xi'an University of Science and Technology
Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Detection and Control

分析了目前常用的5种矿用单轨吊（即防爆柴油机单轨吊、防爆蓄电池单轨吊、气动单轨吊、绳牵引单轨吊和电缆拖挂单轨吊）的优缺点，指出防爆柴油机单轨吊和防爆蓄电池单轨吊因运输能力强，已广泛应用于煤矿井下设备及物料运输，防爆蓄电池单轨吊因其绿色清洁的特点，逐渐成为煤矿井下辅助运输的重点研发装备。从电池驱动、定位、测控、信息传输4个方面分析了矿用单轨吊系统的研究现状，指出目前的矿用单轨吊系统存在自动化、智能化水平低等问题，要实现单轨吊智能化运输，需研究单轨吊锂电池防爆及电池管理、全局与局部融合精确定位、多传感器信息融合智能测控、边缘计算信息传输等关键技术。针对锂电池防爆及电池管理技术，提出了基于变密度法的防爆大容量锂电池结构拓扑优化设计方法，及基于改进麻雀搜索算法/遗传算法的均衡管理方案；针对精确定位技术，提出了惯导+里程计融合的全局定位方法，及基于视觉+UWB组合的局部定位方法；针对智能测控技术，提出了基于递推最小二乘算法/二阶近似扩展卡尔曼滤波的智能检测方法、随动电子围栏实时构建方法和基于模糊规则的矢量控制方法；针对信息传输技术，提出了基于融合5G网络的“本地−近程−地面”通信系统架构，及基于边缘计算的分布式数据计算及传输方法。煤矿智能单轨吊关键技术问题和解决方案的提出，为加快煤矿智能单轨吊发展提供了一种新思路。

The advantages and disadvantages of five commonly used mining monorail cranes, namely explosion-proof diesel engine monorail crane, explosion-proof battery monorail crane, pneumatic monorail crane, rope traction monorail crane, and cable dragging monorail crane, are analyzed. It is pointed out that explosion-proof diesel engine monorail crane and explosion-proof battery monorail crane have been widely used for underground equipment and material transportation in coal mines due to their strong transportation capacity. The explosion-proof battery monorail crane has green and clean features. It has gradually become a key research and development equipment for underground auxiliary transportation in coal mines. This paper analyzes the research status of the mining monorail crane system from four aspects of battery drive, positioning, measurement and control, and information transmission. It is pointed out that the current mining monorail crane system has low automation and intelligence levels. To achieve intelligent transportation of the monorail crane, it is necessary to study the key technologies such as lithium battery explosion-proof and battery management of the monorail crane, global and local fusion precise positioning, multi-sensor information fusion intelligent measurement and control, edge computing information transmission, etc. For the explosion-proof and battery management technology of lithium battery, a topology optimization design method of explosion-proof large capacity lithium battery structure based on variable density method, and a balanced management scheme based on improved sparrow search algorithm/genetic algorithm are proposed. For precise positioning technology, a global positioning method based on inertial navigation and odometer fusion, and a local positioning method based on visual+UWB combination are proposed. For intelligent measurement and control technology, an intelligent detection method based on recursive least squares algorithm/second-order approximate extended Kalman filter , the real-time construction method for follow-up electronic fences, and vector control method based on fuzzy rules are proposed. For the information transmission technology, the "local-short range-ground" communication system architecture based on the fusion of 5G network and the distributed data calculation and transmission method based on edge computing are proposed. The proposal of key technical issues and solutions for intelligent monorail cranes in coal mines provides a new approach to accelerate the development of intelligent monorail cranes in coal mines.

国家自然科学基金面上项目（51975468，52174150）；国家重点研发计划项目（2022YFF0605300）；西安市科技计划项目（22GXFW0067）。

0 引言
1 煤矿单轨吊辅助技术研究现状
1.1 煤矿单轨吊辅助运输设备研究现状
1.2 煤矿单轨吊辅助运输系统电池驱动技术研究现状
1.3 煤矿单轨吊辅助运输系统定位技术研究现状
1.4 煤矿单轨吊辅助运输系统测控技术研究现状
1.5 煤矿单轨吊辅助运输系统信息传输技术研究现状
2 智能单轨吊关键技术
2.1 煤矿智能单轨吊电池驱动技术
2.2 煤矿智能单轨吊精确定位技术
2.3 煤矿智能单轨吊测控技术
2.4 煤矿智能单轨吊信息传输技术
3 智能单轨吊关键技术解决方案
3.1 煤矿智能单轨吊锂电池防爆及电池管理技术
3.2 煤矿智能单轨吊精准定位技术
3.3 煤矿智能单轨吊测控技术
3.4 煤矿智能单轨吊通信技术
4 结论

马宏伟，段优优，薛旭升，等. 煤矿智能单轨吊研究进展与关键技术[J]. 工矿自动化，2023，49(6)：57-67.

MA Hongwei, DUAN Youyou, XUE Xusheng, et al. Research progress and key technologies of intelligent monorail cranes in coal mines[J]. Journal of Mine Automation，2023，49(6)：57-67.