Monorail cranes (MCs) are the emerging transportation in the downhole and often work in dangerous deep confined spaces. To improve the safety production efficiency, a driving behavior decision-making method is proposed for unmanned MC. First, a multisource perception data layering method is presented. Based on the results of sensor performance testing in the downhole, an onboard perceptual platform is designed, and the sensor information are layered and integrated in a structured manner, considering the significance of different sensor information on safe driving. Second, a driving behavior decision-making framework for unmanned MCs is proposed. The decision-making objective and constraints are derived from the coal mine safety regulations, the MC driving manual, and the downhole testing results. This framework logic is novel in unmanned MC, which can achieve downhole driving by combining rule-based driving behavior decision-making and reactive one. The experiments in the heading area and the upper yard show that the proposed method increases the perception distance by $3.62\times $ compared with that of remote driving and reduces the decision-making response time by 96%. MC has enough distance and time to slow down first until it has to brake. In contrast, this MC driving behavior is more stable and safe in the downhole.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Driving Behavior Decision-Making for Unmanned Monorail Cranes Based on Multisource Layering Perception Information


    Contributors:
    Zhang, Xin (author) / Zhang, Yidong (author) / Yang, Chunyu (author) / Yan, Wanzi (author) / Ma, Lei (author) / Yu, Qiu (author)


    Publication date :

    2025-08-01


    Size :

    6030197 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Monorail cranes on turntables

    Bresnick, W. | Engineering Index Backfile | 1949


    Unmanned driving perception and decision-making system

    WU SONGHUA / ZHANG YING / ZHOU LITING | European Patent Office | 2024

    Free access


    Monorail crane unmanned driving control system and method

    TIAN HONGXIAN / LI JINSHANG / XU DONGDONG et al. | European Patent Office | 2022

    Free access

    Monorail driving unit

    HOU RENPENG / GAO DEFANG / YANG CHAO et al. | European Patent Office | 2020

    Free access