Anti-slip control method and system for unattended mobile unloading vehicle for belt conveyor

Abstract

The present invention relates to a method and system for preventing an unattended mobile unloading vehicle from slipping when used with a belt conveyor. The method comprises obtaining position difference data between the unloading vehicle at present and at the previous moment, a travel drive feedback signal of the unloading vehicle and an operation feedback signal of the belt conveyor, judging an operation state according to the travel drive feedback signal of the unloading vehicle and the operation feedback signal of the belt conveyor, judging a slipping situation in combination with the operation state, the current position difference data or the position difference data accumulated backward, and controlling the travel correction of the unloading vehicle, the emergency stop of the unloading vehicle, the emergency stop of the belt conveyor or an alarm according to the slipping situation. The system comprises a positioning system, an Ethernet switch, a host computer, a controller, the unloading vehicle and the belt conveyor, and realizes anti-slipping control of the unattended mobile unloading vehicle for the belt conveyor by dynamic correction when the slipping situation is not serious, emergency stop or an alarm when the slipping situation is serious in combination with the operation state and the position difference data of the unloading vehicle, thereby solving the slipping problem of the unloading vehicle and facilitating unmanned and intelligent production in the steel industry.

Description

Technical Field

[0001] The invention belongs to the field of belt conveyor unloading vehicles, and in particular relates to an anti-slip control method and system for an unattended mobile unloading vehicle for a belt conveyor. Background Art

[0002] The metal smelting industry involves a conveying system that uses a belt conveyor to transport multiple materials to multiple silos through a mobile unloading vehicle, such as Figure 2 As shown, the silos 11 of the conveying system are arranged in a row, two tracks 12 and a belt conveyor bracket located between the two tracks 12 are laid above the silo openings 11, and a discharge vehicle 6 driven by a travel drive 15 to travel along the track 12 is installed on the track 12, and the belt 13 on the belt conveyor bracket passes through the roller on the movable discharge vehicle 6, and the discharge vehicle 6 moves along the track 12 to the top of the selected numbered silo 11 and stops, and the belt conveyor 7 runs and passes through the unloading port on the discharge vehicle 6, and unloads the materials on the belt conveyor 7 to the corresponding silo 11 through its transfer silo 14, thereby realizing the unloading of various materials into silos 11 with different numbers.

[0003] In the early days, the operation and control of the unloading car was controlled by the operator on the box next to the unloading car. With the advancement of unmanned and intelligent transformation in the steel industry, according to the set material transportation process, the unloading car can automatically move on the track through program control and automatically deliver materials to the top of the silo selected in the process. Although the unloading car is equipped with a mechanical brake device to control the car from slipping, the following problems still exist in unmanned applications:

[0004] (1) Effect of belt conveyor material flow: When the belt conveyor is feeding materials to the silo, it will exert a certain thrust on the unloading vehicle. The greater the material flow on the belt conveyor and the greater the thrust, the wheels of the unloading vehicle will slide on the track and the vehicle will slip. As the amount of micro-slippage accumulates, the material drop point will gradually shift away from the silo, causing the risk of material leakage or mixing.

[0005] (2) Failure of the brake device of the unloading vehicle: When the brake fails, the unloading vehicle may slip seriously due to the drag of the belt conveyor, the slope of the track, etc. If it is not discovered in time and appropriate measures are not taken, on the one hand, it is easy to cause the mixing of different types of materials, affecting the quality of the products in the next process; on the other hand, due to the continuous drag of the feeding belt conveyor, it may cause the unloading vehicle to run away, and then cause a serious safety accident.

[0006] (3) The unloading vehicle slips or malfunctions: When the unloading vehicle cannot move normally due to malfunction or accumulation of materials, or when the unloading vehicle slips, timely feedback is not given. Summary of the invention

[0007] The present invention aims to solve at least one of the above-mentioned technical problems to a certain extent. The present invention provides a method and system for preventing an unmanned mobile unloading vehicle for a belt conveyor from slipping. The method and system are combined with the operating status and the position difference data of the unloading vehicle to realize the anti-slipping control of the unmanned mobile unloading vehicle for the belt conveyor through dynamic correction when the slipping situation is not serious, emergency stop or alarm when the slipping situation is serious, which is beneficial to unmanned and intelligent production in the steel industry.

[0008] The technical solution adopted by the present invention to solve its technical problem is:

[0009] A method for preventing a belt conveyor from slipping by an unattended mobile unloading vehicle includes:

[0010] Obtain the position difference data between the current and the previous moment of the unloading vehicle, the unloading vehicle travel drive feedback signal and the belt conveyor operation feedback signal;

[0011] Determine the running status based on the unloading vehicle travel drive feedback signal and the belt conveyor operation feedback signal;

[0012] Determine the vehicle slipping condition by combining the running status, current position difference data or backward accumulated position difference data;

[0013] According to the slipping situation, the unloading vehicle can be controlled to make corrections in its movement, stop the unloading vehicle urgently, stop the conveyor belt urgently or give an alarm.

[0014] The above anti-slip control method further collects the position data of the unloading vehicle every 1 second based on the Gray bus signal.

[0015] The above anti-slip control method further sets a first threshold value and a second threshold value, when the running state is in the state where the unloading vehicle travel drive is closed and the belt conveyor is running:

[0016] If the current position difference data is ≤ the first threshold, indicating that the unloading vehicle is not slipping seriously, then when the accumulated position difference data is greater than the second threshold, the unloading vehicle is controlled to move backward for correction, and the accumulated position difference data is cleared at the same time, and the current position data is returned to compare with the first threshold, and the slipping is controlled by dynamically correcting the position of the unloading vehicle.

[0017] If the current position difference data is greater than the first threshold, indicating that the unloading vehicle is slipping seriously, the belt conveyor is controlled to stop urgently and give a slip alarm.

[0018] In the above anti-slip control method, further, the first threshold value ≤ 0.1*belt conveyor running speed < the second threshold value ≤ 0.4*belt conveyor running speed.

[0019] The above-mentioned anti-slip control method further sets a third threshold value. When the operating state is in the walking drive operation of the unloading vehicle and the belt conveyor operation state: if the current position data is greater than the third threshold value, indicating that the unloading vehicle slipping situation is more serious, the unloading vehicle and the belt conveyor are controlled to stop urgently and the slipping alarm is given.

[0020] In the above anti-slip control method, further, the third threshold value is ≤2*the walking speed of the unloading vehicle.

[0021] The above anti-slip control method further, when the running state is in the unloading vehicle walking drive operation: if the previous position data is 0, indicating that the unloading vehicle cannot move normally, then the fault alarm is controlled to timely repair the unloading vehicle and eliminate the impact of accumulated materials.

[0022] The above anti-slip control method further, when the current operating state is that the unloading vehicle's travel drive is turned off and the belt conveyor is turned off: if the current position data is a positive or negative value, indicating that the unloading vehicle is slipping due to brake failure or the presence of a slope on the track where the unloading vehicle is located, the unloading vehicle is controlled to give an alarm so that the unloading vehicle can be inspected and repaired in time.

[0023] An unattended mobile unloading vehicle anti-slip control system for a belt conveyor, characterized in that it is based on any one of the above methods and includes a positioning system, an Ethernet switch, a host computer, a controller, a unloading vehicle and a belt conveyor;

[0024] The positioning system is used to collect the position data of the unloading vehicle and communicate with the host computer and the controller through the Ethernet switch;

[0025] The host computer is provided with a monitoring screen, and the host computer is used to communicate with the controller via an Ethernet switch;

[0026] The controller is used to control the operation of the unloading car and the belt conveyor, receive feedback from the unloading car and the belt conveyor, and control the sliding car according to the operating status of the unloading car and the belt conveyor, current position difference data or backward accumulated position difference data.

[0027] The above-mentioned anti-slip control system, further, the positioning system includes a Gray bus positioning system and a PLC, the Gray bus positioning system is used to output Gray bus signals to the PLC, the PLC is used to convert the Gray bus signals into analog-to-digital, obtain the position data of the unloading vehicle and communicate with the Ethernet switch.

[0028] In the above anti-slip control system, further, the controller is used to output remote walking task instructions to the unloading vehicle based on the positioning system, and the unloading vehicle is used to receive the remote walking task instructions and automatically move to the specified position through the driving of the walking motor.

[0029] In the above anti-slip control system, further, the PLC adopts S7-1200 and the controller adopts S7-400H.

[0030] The above-mentioned anti-slip control system obtains the position difference data of the unloading vehicle between the current and the previous moment based on the positioning system of the Gray bus signal, obtains the unloading vehicle travel drive feedback signal and the belt conveyor operation feedback signal through the feedback controller, so that the controller determines the operating status according to the unloading vehicle travel drive feedback signal and the belt conveyor operation feedback signal, and determines the slipping situation in combination with the operating status, the current position difference data or the backward accumulated position difference data, and communicates with the host computer through the Ethernet switch, and remotely monitors with the monitoring screen, and controls the unloading vehicle travel correction, the unloading vehicle emergency stop, the belt conveyor emergency stop or alarm according to the slipping situation.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] Obtain the current and previous position difference data of the unloading vehicle, the unloading vehicle travel drive feedback signal and the belt conveyor operation feedback signal, and judge the slipping situation by combining the operation status, the current position difference data or the backward accumulated position difference data:

[0033] (1) When the unloading car does not slip seriously, the controller dynamically corrects the position of the unloading car, which can solve the problem of slight slippage of the unloading car wheels on the track caused by the thrust of the belt conveyor material flow, and controls the slippage by accumulating and correcting the slight slippage, so as to avoid the risk of leakage or mixing caused by the gradual deviation of the material drop point from the warehouse.

[0034] (2) When the unloading car slips seriously, the controller controls the unloading car to stop suddenly, the belt conveyor to stop suddenly or alarm to take timely measures. On the one hand, it can solve the problem of different types of materials mixing caused by slipping, which in turn affects the quality of the next process. On the other hand, it can prevent the occurrence of brake failure and runaway, thereby improving production safety.

[0035] (3) When the unloading vehicle cannot move normally or slips, the controller controls the unloading vehicle to stop suddenly or give an alarm, and takes timely feedback and measures to ensure smooth production and avoid safety hazards.

[0036] In summary, the anti-slip control of the unattended mobile unloading vehicle for the belt conveyor solves the slipping problem of the unloading vehicle, which is beneficial to the unmanned and intelligent production in the steel industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0038] Figure 1 is a system structure diagram of an embodiment of the present invention;

[0039] Figure 2 It is a schematic structural diagram of a belt conveyor unloading vehicle according to one embodiment of the present invention;

[0040] Figure 3 is a method flow chart of an embodiment of the present invention;

[0041] Markings in the figure: Gray bus positioning system 1, PLC 2, Ethernet switch 3, host computer 4, controller 5, unloading car 6, belt conveyor 7, antenna box 8, electrical cabinet 9, Gray code bus 10, silo 11, track 12, belt 13, transfer silo 14, travel drive 15, wheel 16. DETAILED DESCRIPTION

[0042] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] like Figure 1 As shown, it is a preferred embodiment of the unattended mobile unloading vehicle anti-slip control system for the belt conveyor of the present invention, and the anti-slip control system includes a positioning system, an Ethernet switch 3, a host computer 4, a controller 5, an unloading vehicle 6 and a belt conveyor 7;

[0046] The positioning system is used to collect the position data of the unloading vehicle 6 and communicate with the host computer 4 and the controller 5 through the Ethernet switch 3;

[0047] The host computer 4 is provided with a monitoring screen, and the host computer 4 is used to communicate with the controller 5 through the Ethernet switch 3;

[0048] The controller 5 is used to control the operation of the unloading car 6 and the belt conveyor 7, receive feedback from the unloading car 6 and the belt conveyor 7, and control the sliding car according to the operating status of the unloading car 6 and the belt conveyor 7, the current position difference data or the backward accumulated position difference data.

[0049] like Figure 2 As shown, the above-mentioned anti-slip control system, further, the positioning system includes a Gray bus positioning system 1 and a PLC2, the Gray bus positioning system 1 is used to output a Gray bus signal to the PLC2, the PLC2 is used to convert the Gray bus signal into analog-to-digital, obtain the position data of the unloading vehicle 6 and communicate with the Ethernet switch 3.

[0050] Furthermore, the Gray bus positioning system 1 includes an antenna box 8 and an electrical cabinet 9 arranged on the unloading vehicle 6, and a Gray code bus 10 installed on one side of the walking belt conveyor bracket of the unloading vehicle 6 and laid along the walking direction. The address encoder of the electrical cabinet 9 sends an address carrier signal, and the address carrier signal is transmitted to the induction loop of the Gray code bus 10 through the antenna box 8. The Gray code bus 10 generates a Gray bus signal and transmits it to PLC2. PLC2 processes the Gray bus signal and converts it into a digital signal represented in meters, which is used to communicate with the host computer 4 and the controller 5 through the Ethernet switch 3 to realize the collection and acquisition of real-time position data of the unloading vehicle 6.

[0051] Furthermore, PLC2 uses S7-1200, which can realize simple but highly precise automation tasks. When converting Gray bus signals, floating point numbers can be accurate to millimeters to improve the accuracy and reliability of positioning and sliding control.

[0052] The above-mentioned anti-skid control system, further, the controller 5 outputs a remote walking task instruction to the unloading vehicle 6 based on the positioning system, and the unloading vehicle 6 is used to receive the remote walking task instruction, drive the unloading vehicle 6 along the track 12 through the walking motor until the positioning system detects that the unloading vehicle 6 is at the specified position and the walking motor drive stops, thereby realizing automatic movement to the specified position.

[0053] Furthermore, the controller 5 is used to adopt S7-400H, which can meet the dual requirements of fault safety function and redundancy. It receives the position data of the unloading car 6, the travel drive feedback signal of the unloading car 6 and the operation feedback signal of the belt conveyor 7 through the input module, and controls the built-in unattended remote unloading car 6 control program, so that after the program is processed, it exchanges control signals with the electrical cabinet 9 through the output module to control the operation of the unloading car 6 and the belt conveyor 7. The controller 5 communicates with the host computer 4 through the Ethernet switch 3 to realize remote operation and monitoring of the monitoring screen, so as to remotely supervise, receive warning signals in time and handle slipping or fault conditions, thereby solving the existing application problems of unattended mobile unloading cars with belt conveyors 7.

[0054] like Figure 3 As shown in FIG. 1 , a preferred embodiment of the anti-slip control method for the unattended mobile unloading vehicle of the belt conveyor of the present invention is shown. Based on the anti-slip control system, as Figure 2 As shown, the starting position of the Gray busbar is assumed to be position A, the end position of the Gray busbar is assumed to be position B, the running speed of the unloading vehicle 6 is 0.3 m / s, and the running speed of the belt conveyor 7 passing through the unloading vehicle 6 is 2 m / s.

[0055] The above control method comprises the following steps:

[0056] S1: Based on the Gray bus signal of the positioning system, PLC2 collects the position data of the unloading vehicle 6 every 1 second, exchanges information through the Ethernet switch 3, and the controller 5 calculates ΔD t =D t -D t-1 , D t represents the current position data at time t, D t-1 Represents the position data of the previous time t-1, and obtains the current position difference data ΔD t ;

[0057] S2: Feedback is sent to the controller 5 through the unloading vehicle 6 and the belt conveyor 7, and the controller 5 obtains the current unloading vehicle 6 travel drive feedback signal and the belt conveyor 7 operation feedback signal;

[0058] The running state is judged according to the travel drive feedback signal of the unloading vehicle 6 and the running feedback signal of the belt conveyor 7. The travel drive feedback signal of the unloading vehicle 6 is set to "1" to indicate that the unloading vehicle 6 is driven by the travel motor, and is set to "0" to indicate that the travel motor drive of the unloading vehicle 6 is not running; the running feedback signal of the belt conveyor 7 is set to "1" to indicate that the belt conveyor 7 is driven by the motor, and is set to "0" to indicate that the belt conveyor 7 is not driven;

[0059] S3: In the controller 5 program, the first threshold is set to 0.2m, the second threshold is set to 0.8m, and the third threshold is set to 0.6m. The controller 5 determines the slipping condition based on the running state, the current position difference data, or the backward accumulated position difference data:

[0060] S301: If the feedback signal of the travel drive of the unloading vehicle 6 is "0" and the feedback signal of the running of the belt conveyor 7 is "0", there will be no slipping of the vehicle on the horizontal track 12, ΔD t is 0; if the track 12 where the unloading vehicle 6 is currently located has a certain inclination, when ΔD t If it is a positive or negative value, it means that the brake fails, and the controller 5 outputs a slip warning and interacts with the host computer 4 through the Ethernet switch 3. The monitoring screen of the host computer 4 outputs a slip warning to remind the maintenance personnel to check the brake system of the unloading vehicle 6;

[0061] S302: If the travel drive feedback signal of the unloading vehicle 6 is "0" and the operation feedback signal of the belt conveyor 7 is "1", compare the current position difference data with the first threshold;

[0062] If ΔD t ≤0.2m, calculation Where D t+n represents the position data at the time t+n, ΔD' represents the accumulated position difference data backward, compares ΔD' with the second threshold, and when ΔD'>0.8m, the controller 5 controls the unloading vehicle 6 to move backward, i.e., in the direction A, to correct ΔD', and at the same time clears ΔD' and returns to compare ΔD t with the first threshold;

[0063] If ΔD t >0.2m, it indicates that the car is slipping seriously, and the controller 5 controls the belt conveyor 7 to stop urgently, and the monitoring screen outputs a car slipping alarm to remind the maintenance personnel to repair the brake system of the unloading car 6 and check whether the material flow is too large;

[0064] S303: If the feedback signal of the travel drive of the unloading vehicle 6 is "1" and the feedback signal of the running of the belt conveyor 7 is "0", there will be no slipping of the vehicle. However, if ΔD t If it is 0, it indicates that the unloading vehicle 6 cannot move normally, and the controller 5 outputs a fault alarm to the monitoring screen to remind the maintenance personnel to perform on-site maintenance or clean up the accumulated materials;

[0065] S304: If the travel drive feedback signal of the unloading vehicle 6 is "1" and the running feedback signal of the belt conveyor 7 is "1", compare the current position difference data with the third threshold value;

[0066] If ΔD t If it is 0, it indicates that the unloading vehicle 6 cannot move normally, and the controller 5 outputs a fault alarm to the monitoring screen;

[0067] If ΔD t ≤0.6m, it indicates that the unloading vehicle 6 operates normally;

[0068] If ΔD t >0.6m, it indicates that the unloading car 6 is slipping, and the slipping situation is serious. The controller 5 controls the unloading car 6 to stop urgently, the belt conveyor 7 to stop urgently, and the monitoring screen outputs a slipping alarm to remind the maintenance personnel to repair the brake system of the unloading car 6 and check whether the material flow is too large.

[0069] S4: The host computer 4 communicates with the controller 5 via the Ethernet switch 3, and remotely monitors the operation of the unloading vehicle 6 and the belt conveyor 7 through the monitoring screen.

[0070] Other ΔD not listed t , the combination of the travel drive feedback signal of the unloading vehicle 6 and the operation feedback signal of the belt conveyor 7 is a normal situation or a situation that will not occur.

[0071] The above-mentioned anti-slip control method and system obtains the position difference data of the unloading vehicle 6 at the current moment and the previous moment through the positioning system based on the Gray bus signal, obtains the walking drive feedback signal of the unloading vehicle 6 and the running feedback signal of the belt conveyor 7 through the feedback controller 5, and the controller 5 program judges the running state according to the walking drive feedback signal of the unloading vehicle 6 and the running feedback signal of the belt conveyor 7, and judges the slipping situation in combination with the running state, the current position difference data or the backward accumulated position difference data, and communicates with the host computer 4 through the Ethernet switch 3, remotely monitors with the monitoring screen, and controls the walking correction of the unloading vehicle 6, the emergency stop of the unloading vehicle 6, the emergency stop of the belt conveyor 7 or the alarm according to the slipping situation:

[0072] ① When the unloading car 6 does not slip seriously, the position of the unloading car 6 can be dynamically corrected to solve the slight slip of the wheels of the unloading car 6 on the track 12 caused by the thrust of the material flow of the belt conveyor 7, and the slip can be controlled by accumulating and correcting the slight slippage to avoid the risk of leakage or mixing caused by the gradual deviation of the material drop point from the warehouse.

[0073] ② When the unloading car 6 slips seriously, timely measures can be taken by emergency stopping the unloading car 6 and the belt conveyor 7 or by giving an alarm. On the one hand, the problem of mixing of different types of materials caused by slipping can be solved, which in turn affects the quality of the products in the next process. On the other hand, it can prevent the occurrence of brake failure and runaway, thereby improving production safety.

[0074] ③ When the unloading car 6 cannot move normally or the unloading car 6 slips, timely feedback and measures are taken through the unloading car 6 emergency stop or alarm to ensure smooth production and avoid safety hazards.

[0075] In summary, the anti-slip control of the unmanned mobile unloading vehicle for the belt conveyor is realized, further promoting the unmanned and intelligent production in the steel industry.

[0076] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for preventing a belt conveyor from slipping by an unattended mobile unloading vehicle, characterized in that: The methods include: Obtaining the position difference data between the current position and the previous position of the unloading vehicle (6), the travel drive feedback signal of the unloading vehicle (6) and the running feedback signal of the belt conveyor (7); Determine the running state according to the travel drive feedback signal of the unloading vehicle (6) and the running feedback signal of the belt conveyor (7); Determine the vehicle slipping condition by combining the running status, current position difference data or backward accumulated position difference data; The first threshold value and the second threshold value are set. When the running state is that the travel drive of the unloading vehicle (6) is turned off and the belt conveyor (7) is running: If the current position difference data is less than or equal to the first threshold, then when the accumulated position difference data is greater than the second threshold, the unloading vehicle (6) is controlled to move backward for correction, and the accumulated position difference data is cleared at the same time, and the current position data is returned for comparison with the first threshold; If the current position difference data is greater than the first threshold value, the belt conveyor (7) is controlled to stop urgently or to give a slip warning; According to the slipping situation, the unloading vehicle (6) is controlled to make running corrections, the unloading vehicle (6) is controlled to stop suddenly, and the belt conveyor (7) is controlled to stop suddenly or give an alarm.

2. The anti-slip control method for an unattended mobile unloading vehicle for a belt conveyor according to claim 1 is characterized in that: Based on the Gray bus signal, the position data of the unloading vehicle (6) is collected every 1 second.

3. The anti-slip control method for an unattended mobile unloading vehicle for a belt conveyor according to claim 1 is characterized in that: A third threshold is set. When the operation state is in the unloading vehicle (6) travel drive operation state and the belt conveyor (7) operation state: if the current position data is greater than the third threshold, the unloading vehicle (6) is controlled to stop suddenly, the belt conveyor (7) is controlled to stop suddenly, and a car slip alarm is given.

4. The anti-slip control method for an unattended mobile unloading vehicle for a belt conveyor according to claim 1 is characterized in that: When the running state is in the unloading vehicle (6) travel drive operation: if the front position data is 0, a control fault alarm is given.

5. The anti-slip control method for an unattended mobile unloading vehicle for a belt conveyor according to claim 1 is characterized in that: When the current operating state is that the travel drive of the unloading vehicle (6) is turned off and the belt conveyor (7) is turned off: if the current position data is a positive or negative value, the vehicle will be controlled to slip and give an alarm. 6.Anti-slip control system for unattended mobile unloading vehicle for belt conveyor, characterized in that: Based on the method described in any one of claims 1 to 5, comprising a positioning system, an Ethernet switch (3), a host computer (4), a controller (5), a discharge vehicle (6) and a belt conveyor (7); The positioning system is used to collect position data of the unloading vehicle (6) and communicate with the host computer (4) and the controller (5) through the Ethernet switch (3); The host computer (4) is provided with a monitoring screen, and the host computer (4) is used to communicate with the controller (5) via the Ethernet switch (3); The controller (5) is used to control the operation of the unloading vehicle (6) and the belt conveyor (7), receive feedback from the unloading vehicle (6) and the belt conveyor (7), and control the sliding vehicle according to the operation status of the unloading vehicle (6) and the belt conveyor (7), current position difference data or backward accumulated position difference data.

7. The anti-slip control system for the unattended mobile unloading vehicle for the belt conveyor according to claim 6 is characterized in that: The positioning system comprises a Gray bus positioning system (1) and a PLC (2), wherein the Gray bus positioning system (1) is used to output a Gray bus signal to the PLC (2), and the PLC (2) is used to perform analog-to-digital conversion on the Gray bus signal, obtain position data of the unloading vehicle (6), and communicate with an Ethernet switch (3).

8. The anti-slip control system for the unattended mobile unloading vehicle for the belt conveyor according to claim 7 is characterized in that: The controller (5) is used to output a remote walking task instruction to the unloading vehicle (6) based on the positioning system, and the unloading vehicle (6) is used to receive the remote walking task instruction and automatically move to a designated position through the driving of a walking motor.

9. The anti-slip control system for the unattended mobile unloading vehicle for the belt conveyor according to claim 8 is characterized in that: The PLC (2) adopts S7-1200, and the controller (5) adopts S7-400H.

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