Crusher allows unloading control method, device, medium and electronic equipment

Abstract

The application discloses a crusher unloading control method, device, medium and electronic equipment. The method comprises the following steps: obtaining a first state of a current crusher, wherein the first state comprises an operation state of the crusher and an operation state of a belt conveyor; based on a first preset condition and the first state, if the first state meets the first preset condition, obtaining a second state of the current crusher, wherein the second state comprises a crusher bore material level state, a crusher inlet state, a crusher outlet state and a current state of the crusher; and if the second state meets a second preset condition, determining that the crusher allows unloading. The technical scheme provided by the application can improve the accuracy of the crusher allowing the mine car to unload.

Description

Technical Field

[0001] This application belongs to the field of crusher control, and in particular relates to a control method, device, medium and electronic equipment for allowing crusher to be overturned. Background Technology

[0002] During crusher operation, the unloading of crushers is often judged and controlled manually. Relying on manual judgment to determine whether the crusher is allowed to unload reduces the accuracy of the crusher's decision on when to allow mine cars to unload. Furthermore, human error in judgment and operation can lead to low crusher operating efficiency and even safety issues. Therefore, there is an urgent need for a method to improve the accuracy of the crusher's decision on when to allow mine cars to unload. Summary of the Invention

[0003] The embodiments of this application provide a control method, device, medium, and electronic equipment for allowing the crusher to overturn. The method can improve the accuracy of allowing the crusher to overturn mine cars, thereby improving the operating efficiency of the crusher and ensuring the operating safety of the crusher and the safety of personnel.

[0004] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part by practice of this application.

[0005] According to a first aspect of the embodiments of this application, a control method for allowing the overturning of a crusher is provided, characterized in that the method includes: acquiring a first state of the current crusher, the first state including the operating state of the crusher and the operating state of the belt conveyor; based on the first preset condition and the first state, if the first state satisfies the first preset condition, acquiring a second state of the current crusher, the second state including the crusher chamber material level state, the crusher inlet state, the crusher outlet state, and the current state of the crusher; if the second state satisfies the second preset condition, determining that the crusher is allowed to overturn.

[0006] In some embodiments of this application, based on the foregoing scheme, the step of obtaining the second state of the current crusher if the first state satisfies the first preset condition includes: if the operating state of the crusher in the first state is normal and the operating state of the belt conveyor is normal, then it is determined that the first state satisfies the first preset condition, and the second state of the current crusher is obtained.

[0007] In some embodiments of this application, based on the aforementioned scheme, the step of determining that the crusher is allowed to be overturned if the second state meets the second preset condition includes: if the material level in the crusher chamber in the second state is lower than the preset material level value, the crusher inlet is in a state without blockage, the crusher outlet is in a state without blockage, and the crusher is in an unloaded state, then it is determined that the second state meets the second preset condition, and the crusher is allowed to be overturned.

[0008] In some embodiments of this application, based on the aforementioned scheme, the state of the crusher outlet being unblocked includes: obtaining the inflow rate of the crusher feed inlet and setting the crusher outlet throughput coefficient; detecting the actual throughput of the crusher outlet based on the inflow rate and the throughput coefficient; if the actual throughput of the crusher outlet is greater than or equal to the product of the inflow rate and the throughput coefficient, then determining that the state of the crusher outlet is unblocked.

[0009] In some embodiments of this application, based on the foregoing scheme, the method further includes: identifying vehicle information after the crusher is allowed to unload; and obtaining vehicle information through radio frequency identification technology to control the vehicle to unload.

[0010] In some embodiments of this application, based on the aforementioned scheme, the step of obtaining vehicle information through radio frequency identification technology to control vehicle unloading includes: controlling vehicle unloading according to the vehicle information; if a vehicle is being unloaded, setting the current vehicle to a waiting state to wait for the vehicle to complete unloading and to wait for the crusher to allow the vehicle to unload.

[0011] In some embodiments of this application, based on the foregoing scheme, the method further includes: setting a preset time according to the first state; and controlling the operation of the crusher after the preset time has elapsed, if the crusher is allowed to unload.

[0012] This application obtains the first state of the crusher, namely the current state of the crusher and the current state of the belt conveyor. Since normal operation of both the crusher and the belt conveyor is a necessary condition for allowing unloading, unloading is impossible if either is stopped. When the current states of the crusher and the belt conveyor are determined to be normal, the second state of the crusher is obtained, namely the crusher chamber material level, the crusher inlet state, the crusher outlet state, and the crusher current state. Then, the second state is evaluated. If the second state meets the second preset conditions—that is, the crusher chamber material level is lower than a preset value, the crusher inlet state is free of obstructions, the crusher outlet state is free of blockages, and the crusher state is unloaded—then it is determined that the crusher allows the mine car to unload. Based on the method described in this application, the accuracy of allowing the crusher to unload from the mine car can be improved, thereby improving the crusher's operating efficiency and ensuring the crusher's operational safety and personnel safety.

[0013] According to a second aspect of the embodiments of this application, a control device for allowing the crusher to be overturned is provided, characterized in that the device includes: an acquisition unit, configured to acquire a first state of the current crusher, the first state including the operating state of the crusher and the operating state of the belt conveyor; a first judgment unit, configured to acquire a second state of the current crusher based on a first preset condition and the first state, if the first state satisfies the first preset condition, the second state including the crusher chamber material level state, the crusher inlet state, the crusher outlet state, and the current state of the crusher; and a second judgment unit, configured to determine that the crusher is allowed to be overturned if the second state satisfies a second preset condition.

[0014] According to a third aspect of the embodiments of this application, a computer-readable storage medium is provided, characterized in that the computer-readable storage medium stores at least one piece of program code, the at least one piece of program code being loaded and executed by a processor to implement the operations performed as described in the method.

[0015] According to a fourth aspect of the present application, an electronic device is provided, characterized in that the electronic device includes one or more processors and one or more memories, wherein the one or more memories store at least one piece of program code, the at least one piece of program code being loaded and executed by the one or more processors to implement the operation performed by the method.

[0016] The beneficial effects of the embodiments of the second to fourth aspects described above can be referred to the beneficial effects of the first aspect and the embodiments of the first aspect described above, and will not be repeated here.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0019] Figure 1 A flowchart of a control method for allowing overturning of a crusher according to an embodiment of this application is shown;

[0020] Figure 2 This document illustrates a flowchart of a process for determining whether the crusher outlet is in a non-blocked state, as described in an embodiment of this application.

[0021] Figure 3 A flowchart illustrating the identification of vehicle information in an embodiment of this application is shown;

[0022] Figure 4 A flowchart illustrating the control of the vehicle for unloading in an embodiment of this application is shown;

[0023] Figure 5 A schematic diagram of two-dimensional lidar scanning in an embodiment of this application is shown;

[0024] Figure 6 A schematic diagram of three-dimensional lidar scanning in an embodiment of this application is shown;

[0025] Figure 7 A flowchart illustrating the unloading sequence of the vehicle in an embodiment of this application is shown;

[0026] Figure 8 A schematic diagram of the control device for allowing overturning of a crusher in an embodiment of this application is shown;

[0027] Figure 9 A schematic diagram of the structure of an electronic device in an embodiment of this application is shown. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0030] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0031] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0032] The following section will elaborate on this application:

[0033] Figure 1 A flowchart illustrating a control method for allowing crusher to tip over according to an embodiment of this application is shown. This control method for allowing crusher to tip over can be executed by a device with computational processing capabilities, such as a control device for allowing crusher to tip over. (Refer to...) Figure 1 As shown, the control method for allowing the crusher to tip over includes at least steps 110 to 150, which are detailed below:

[0034] In step 110, the first state of the current crusher is obtained, which includes the operating state of the crusher and the operating state of the belt conveyor.

[0035] In this application, when determining whether the crusher allows mine car tipping, the first step is to obtain the initial state of the crusher, namely, the operating state of the crusher and the belt conveyor. Normal operation of both the crusher and the belt conveyor is a necessary condition for allowing tipping; if either is stopped, tipping cannot be performed. The states of the crusher and the belt conveyor are determined through the crusher and belt conveyor operating status signals in the control system.

[0036] Continue to refer to Figure 1In step 130, based on the first preset condition and the first state, if the first state satisfies the first preset condition, the second state of the current crusher is obtained. The second state includes the crusher chamber material level state, the crusher inlet state, the crusher outlet state, and the current state of the crusher.

[0037] In this application, the first preset condition is that both the crusher and the belt conveyor are in normal operating condition. After obtaining the operating conditions of the crusher and the belt conveyor, a judgment is made on their operating conditions. If the first condition satisfies the first preset condition, then the second condition of the current crusher is obtained.

[0038] The crusher chamber material level status includes both situations where the crusher chamber material level is below a preset value and above a preset value. There are two main reasons for controlling the crusher chamber material level. First, because the crushing speed is greater than the conveyor belt speed, unloading when the crusher chamber material level is too high will cause ore to accumulate in the crusher. Second, it ensures that if the conveyor belt stops for any reason after the unloading operation, the crusher chamber can accommodate the entire load of unloaded material.

[0039] The crusher inlet status includes both no jamming at the crusher inlet and jamming at the crusher inlet. Determining whether jamming occurs at the crusher inlet requires detecting the shape of the material and its relative position at the crusher inlet. Based on the size and position of the material, a decision is made on whether unloading is permitted.

[0040] The crusher discharge port status includes both unblocked and blocked discharge ports. A blocked discharge port prevents the crushed material from being properly conveyed by the belt conveyor, causing it to accumulate in the crusher hopper. Whether the discharge port is blocked or not depends on the weight of the material flowing out. If the weight of the material flowing out of the discharge port reaches the expected weight, then the discharge port is unblocked; otherwise, it indicates a blockage.

[0041] The current state of the crusher includes both a working state and an unloaded state. A working state means the crusher is performing a crushing operation. An unloaded state means the crusher is in a ready-to-go state, awaiting the start of a crushing operation.

[0042] In one embodiment of this application, obtaining the second state of the current crusher if the first state satisfies the first preset condition may specifically include step 131:

[0043] Step 131: If the crusher's operating state in the first state is normal and the belt conveyor's operating state is normal, then it is determined that the first state satisfies the first preset condition, and the second state of the current crusher is obtained.

[0044] In this application, the first preset condition is that both the crusher and the belt conveyor are operating normally. If both the crusher and the belt conveyor are operating normally, then the second state of the crusher is obtained. The second state includes the crusher chamber material level state, the crusher inlet state, the crusher outlet state, and the current state of the crusher. Based on the first state, the second state of the crusher can be obtained, thereby enabling the determination of whether the crusher is currently operating a mine car for unloading based on the obtained second state triggered by the first state.

[0045] Continued reference Figure 1 In step 150, if the second state meets the second preset condition, it is determined that the crusher is allowed to unload.

[0046] In this application, a second state, triggered by a first state, can be used to determine whether the crusher is currently operating to unload ore cars. The second preset conditions include: the material level in the crusher chamber is below a preset value; the crusher inlet is free of obstructions; the crusher outlet is free of blockages; and the crusher is in an unloaded state. Before the crusher performs the crushing operation, if the second state meets the second preset conditions, the crusher allows the ore cars to unload, and simultaneously, the crusher performs the crushing operation.

[0047] In one embodiment of this application, determining that the crusher is allowed to be overturned if the second state meets the second preset condition may specifically include step 151:

[0048] Step 151: If the material level in the crusher chamber in the second state is lower than the preset material level value, the crusher inlet is in a state without jamming, the crusher outlet is in a state without blockage, and the crusher is in a state of no load, then it is determined that the second state meets the second preset condition, and it is determined that the crusher is allowed to unload.

[0049] In this application, after determining that the first state meets the first preset condition, i.e., the crusher and the belt conveyor are both operating normally, the second state of the crusher is obtained. Based on the second state of the crusher and the second preset condition, it can be determined whether the crusher is currently operating the mine car for unloading. The second preset condition includes four aspects.

[0050] Firstly, the material level in the crusher's chamber is determined by a level gauge. The crusher detects the material level using a radar level gauge installed inside the chamber, which needs to be highly resistant to dust interference. The level gauge is a key sensor for detecting the material level inside the crusher's chamber. However, in actual operation, level gauges can experience data distortion due to malfunctions such as system crashes. To ensure the system can promptly diagnose the condition of the level gauge, a fault diagnosis program can be developed. When the crusher allows unloading by mine cars, the unloading process begins. The material level in the crusher initially rises and then falls. Utilizing this pattern, a diagnostic logic is developed: after the crusher receives material, the level gauge shows a change in data. If the change exceeds a set threshold, the level gauge is considered intact; otherwise, it is considered faulty. In this case, the system will no longer allow unloading and will alert personnel for inspection and repair.

[0051] Secondly, there's the issue of determining whether there are obstructions at the crusher's feed inlet. If obstructions are present, and the material isn't cleared before unloading, the unloaded material will become blocked at the feed inlet, preventing it from entering the crusher's chamber for crushing. In existing technology, this can be done manually using a video device installed above the feed inlet. If obstructions are found, they are manually cleared before unloading can proceed. However, manual inspection has low accuracy and efficiency, and cannot achieve long-term, high-intensity monitoring. Therefore, an automated method is needed to determine whether there are obstructions at the crusher's feed inlet.

[0052] Reference Figure 5 This diagram illustrates a two-dimensional lidar scanning method in an embodiment of this application. For detecting the status of the feed inlet, the lidar's high detection accuracy, high scanning frequency, long-distance wide-angle scanning range, and all-weather operation are utilized to acquire environmental data. Algorithms and software are developed based on the site conditions to achieve automatic detection of the crusher's feed inlet status. A lidar is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of a target. It is an advanced detection method combining laser technology and modern photoelectric detection technology, consisting of a high-frequency infrared laser transmitter and receiver, a precision brushless motor, a DSP signal processing system, a precision optical system, and a control coding system. The laser generates and emits a light pulse, which strikes an object and reflects back, ultimately being received by the receiver. The receiver accurately measures the propagation time of the light pulse from emission to reflection. A lidar is a two-dimensional photoelectric measurement system. One dimension is a laser ranging system, which uses a laser to measure the distance between the lidar and the surrounding environment. The other dimension is an angle control system, which controls the angle between the measuring laser and the surrounding environment by controlling the motor. The scanning surface of the surrounding environment is determined by the distance measurement value and the angle value.

[0053] However, when automatically determining whether there is any blockage at the crusher's feed inlet, it is necessary to detect the shape of the material and its relative position at the feed inlet, and to determine whether the mine car can be unloaded based on the size and position of the material. Since point and line detection methods, or two-dimensional lidar scanning, cannot accurately determine the material shape or its relative position at the crusher's feed inlet, this application employs three-dimensional lidar scanning technology to accurately measure and scan the target object, and transmits the scan data to the lidar application unit. Simultaneously, three-dimensional modeling and model comparison are performed within the application unit to provide real-time and reliable data to the backend PLC system, and to determine whether there is any blockage at the feed inlet, thereby automating the crusher feed inlet detection process.

[0054] Reference Figure 6 This diagram illustrates a three-dimensional lidar scanning process in an embodiment of this application. When using three-dimensional lidar scanning technology, the target object is accurately measured and scanned, and the scanned data is transmitted to the lidar application unit. Within the application unit, three-dimensional modeling and model comparison are performed, providing real-time and reliable data to the backend PLC system, thus automating the crusher feed inlet detection process. Specifically, an XYZ coordinate system is established with the crusher feed inlet as the origin of the spatial coordinates. The spatial coordinates of the material flowing into the crusher feed inlet are obtained through three-dimensional lidar scanning. Based on the obtained spatial coordinates, a real-time model of the material is established. The real-time model is compared with a standard model. If the real-time model exceeds the range set by the standard model, it is determined that there is a blockage at the feed inlet, and a signal is promptly sent to the PLC system to terminate the unloading operation.

[0055] Thirdly, the condition of the crusher's discharge port can be determined based on the weight of the material flowing out. Blockage at the crusher's discharge port will prevent the crushed material from being properly conveyed by the belt conveyor, causing it to accumulate in the crusher's hopper. Therefore, a belt scale is installed on the belt conveyor below the crusher's hopper to establish a relationship between the amount of material unloaded into the crusher and the weighing value detected by the belt scale. By measuring the throughput with the belt scale and establishing this relationship, the determination of whether there is blockage at the crusher's discharge port can be achieved.

[0056] Fourthly, the status of the crusher can be determined by its current current value. Unloading is prohibited when the crusher is in crushing mode, but is permitted when it is in no-load mode. The crusher's current is used to determine whether it is in crushing or no-load mode. A current value is set based on the current during no-load operation; if the current is greater than the set value, the crusher is considered to be in crushing mode; if it is lower than the set value, it is considered to be in no-load mode.

[0057] After determining the crusher chamber material level status, crusher inlet status, crusher outlet status, and crusher current status, if the crusher chamber material level in the second status is lower than the preset material level value, the crusher inlet status is a non-blocking status, the crusher outlet status is a non-blocking status, and the crusher status is an unloaded status, then it is determined that the second status meets the second preset condition, and it is determined that the crusher is allowed to unload.

[0058] In one embodiment of this application, the crusher discharge port is in a non-blocked state, and can perform actions such as... Figure 2 The steps are shown.

[0059] See Figure 2 This document illustrates a flowchart of a process for determining whether the crusher outlet is in a non-blocked state, as described in an embodiment of this application. Specifically, it includes steps 210 to 250:

[0060] Step 210: Obtain the inflow rate at the crusher feed inlet and set the discharge rate coefficient at the crusher discharge outlet.

[0061] Step 230: Detect the actual throughput of the crusher outlet based on the inflow rate and throughput coefficient.

[0062] Step 250: If the actual throughput of the crusher outlet is greater than or equal to the product of the inflow and the throughput coefficient, then the state of the crusher outlet is determined to be unblocked.

[0063] In this application, the weight of the material flowing out of the discharge port can be used to determine whether the discharge port is unblocked. By obtaining the inflow rate at the crusher's feed inlet and setting a discharge port throughput coefficient, it is possible to determine whether the crusher's discharge port is unblocked. For example, if the crusher's unloading material tonnage is set to T1 and the throughput coefficient is set to a, then a*T1 can be defined as the required throughput. When the value of a is set to 0.6, that is, when the unloading amount of material passing through the belt scale a*T1 is greater than or equal to 0.6T1, it is determined that the discharge port is unblocked.

[0064] Because a throughput coefficient is introduced, cumulative errors will occur. Therefore, a zeroing count is set. This means that after a certain number of unloading trips, the instantaneous volume of the belt scale must be zeroed, i.e., the instantaneous volume is lower than the set minimum value. After the belt scale is zeroed, it takes a certain amount of time for the material unloaded again to reach the belt scale, which will prolong the time for the next trip after zeroing to reach the required throughput. A throughput reduction amount is set (which can be set to T2). The throughput of the next trip after zeroing is a*T1-T2.

[0065] By installing a belt scale to measure the throughput, a relationship is established between the amount of material unloaded into the crusher and the weighing value detected by the belt scale, enabling the determination of whether there is blockage at the crusher's discharge port.

[0066] In one embodiment of this application, the control method for allowing the crusher to tip over can also perform actions such as... Figure 3 The steps are shown.

[0067] See Figure 3 This document illustrates a flowchart of vehicle information identification in an embodiment of this application. Specifically, it includes steps 310 to 330:

[0068] Step 310: After the crusher allows unloading, identify the vehicle information.

[0069] Step 330: Obtain vehicle information through radio frequency identification technology in order to control the vehicle to unload.

[0070] In this application, after the crusher allows the mine car to unload, the mine car can be identified using radio frequency identification (RFID) technology to control the unloading process. RFID technology is a short-range wireless communication technology that identifies specific targets and reads / writes related data via radio signals. It does not require mechanical or optical contact between the identification system and the target, making it a non-contact automatic identification technology that is stable and reliable in operation.

[0071] Referring to Table 1, a comparison table of vehicle recognition technologies in the embodiments of this application is shown.

[0072]

[0073] Table 1

[0074] Table 1 shows four vehicle identification technologies: laser identification, 3D LiDAR identification, image recognition, and radio frequency identification (RFID). Referring to Table 1, the technologies are categorized based on three aspects: detection reliability, vehicle model recognition, and vehicle number recognition. Laser identification has poor detection reliability, failing to identify either the vehicle model or the vehicle number. 3D LiDAR identification has relatively poor detection reliability, recognizing the vehicle model but not the vehicle number. Image recognition has relatively poor detection reliability, recognizing both the vehicle model and the vehicle number. RFID has high detection reliability, recognizing both the vehicle model and the vehicle number. Therefore, this application employs RFID technology for vehicle identification to effectively control vehicle overturning.

[0075] For example, RFID tags are installed on the side of the mine car driver's cab. Simultaneously, RFID devices and antennas are installed at both side feed inlets to identify the vehicle number information within the tags. The RFID devices communicate with the PLC system via Ethernet. The center of the tag and the center of the antenna are at the same height to ensure optimal detection. The control program binds the tag ID to the vehicle number. When the system recognizes a specific tag, it determines the corresponding vehicle information and transmits the tag information from the host computer to the PLC control system. The control system can then identify the vehicle information at the corresponding feed inlet. After determining the vehicle information, the vehicle can be efficiently scheduled for unloading, improving unloading efficiency.

[0076] In one embodiment of this application, the step of acquiring vehicle information through radio frequency identification (RFID) technology to control the vehicle for unloading can perform actions such as... Figure 4 The steps are shown.

[0077] See Figure 4 This document illustrates a flowchart of the process of controlling the vehicle to unload cargo, as described in an embodiment of this application. Specifically, it includes steps 410 to 430:

[0078] Step 410: Based on the vehicle information, control the vehicle to unload.

[0079] Step 430: If a vehicle is being unloaded, set the current vehicle to a waiting state to wait for the vehicle to complete unloading and for the crusher to allow the vehicle to unload.

[0080] In this application, after determining that the crusher is allowed to tip over and obtaining vehicle information through radio frequency identification (RFID) technology, the vehicle is controlled to tip over based on this information. An automatic tipping guidance program directs the mine cars on both sides of the crusher to tip over. According to the vehicle detection time, a green light illuminates on the side of the vehicle that arrives first at the feed inlet. The crusher current is used to determine if the mine car has entered the crushing state, and the green light is turned off after a delay. There are three possible vehicle control scenarios during the tipping process; for details, please refer to [reference needed]. Figure 7 To explain, Figure 7 A flowchart illustrating the unloading sequence of the vehicle in an embodiment of this application is shown.

[0081] The first type, referring to Figure 7 In (a), the crusher is ready for unloading. If a vehicle is detected on side A first, and then a vehicle is detected on side B or no vehicle is detected, the green light on side A illuminates and the red light on side B illuminates. Unloading is permitted on side A, and side B waits for unloading.

[0082] The second method, refer to Figure 7 In (b), the crusher is ready for unloading. If a vehicle is detected first on side B and then not on side A, the green light on side B illuminates and the red light on side A illuminates. Unloading is permitted on side B, and side A waits for unloading.

[0083] The third type, refer to Figure 7 In (c), the crusher is ready for unloading. No vehicle is detected on side A and side B. The red light is on on side A and side B. Both sides are waiting to unload.

[0084] During the entire process of vehicle tipping, the green light at the tipping point is first activated. The start of tipping is detected by changes in current, and the green light is deactivated after a delay. The system then waits for the conditions to allow tipping to be met before entering the next cycle.

[0085] In one embodiment of this application, the control method for allowing the crusher to tip over may further include steps 161 to 162:

[0086] Step 161: Set a preset time based on the first state.

[0087] Step 162: After the preset time has elapsed since the crusher began running, if the crusher is allowed to unload, then control the crusher to continue running.

[0088] In this application, in order to reasonably control the unloading rhythm and avoid production and equipment failures caused by excessively dense unloading, a preset time is set as the unloading time interval. The preset time is calculated from the time when the crusher is in the ore crushing state, that is, from the time when the crusher current is greater than the no-load current setting value.

[0089] Since the belt conveyor has three speeds—high, medium, and low—the preset time is also set with high-speed, medium-speed, and low-speed time intervals. When the belt conveyor speed changes, the preset time is automatically switched.

[0090] This application obtains the first state of the crusher, namely the current state of the crusher and the current state of the belt conveyor. Since normal operation of both the crusher and the belt conveyor is a necessary condition for allowing unloading, unloading is impossible if either is stopped. After determining that the current states of the crusher and the belt conveyor are normal, the application obtains the second state of the crusher, namely the crusher chamber material level, the crusher inlet state, the crusher outlet state, and the crusher current state. Then, the second state is evaluated. If the second state meets the second preset conditions—that is, the crusher chamber material level is lower than a preset value, the crusher inlet is free of obstructions, the crusher outlet is free of blockages, and the crusher is unloaded—then it is determined that the crusher allows the mine car to unload. Based on the method described in this application, the accuracy of allowing the crusher to unload is improved, thereby increasing the crusher's operating efficiency and ensuring the crusher's operational safety and personnel safety.

[0091] Based on the same inventive concept, this application also provides a control device for allowing the crusher to tip over, referring to... Figure 8 The diagram illustrates a structural schematic of a crusher-allowing-to-tumble control device according to an embodiment of this application. The crusher-allowing-to-tumble control device 800 includes: an acquisition unit 801, configured to acquire a first state of the current crusher, the first state including the crusher's operating state and the belt conveyor's operating state; a first judgment unit 802, configured to, based on a first preset condition and the first state, acquire a second state of the current crusher if the first state satisfies the first preset condition, the second state including the crusher's chamber material level state, the crusher's feed inlet state, the crusher's discharge outlet state, and the crusher's current state; and a second judgment unit 803, configured to determine that the crusher is allowed to tumble if the second state satisfies a second preset condition.

[0092] For details not disclosed in the device embodiments of this application, please refer to the embodiments of the methods described above in this application.

[0093] Based on the same inventive concept, this application also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to perform the operations as described in the method.

[0094] Based on the same inventive concept, this application also provides an electronic device, referring to... Figure 9 , Figure 9 A schematic diagram of the structure of an electronic device in an embodiment of this application is shown.

[0095] The electronic device includes one or more memories 904, one or more processors 902, and at least one computer program (program code) stored in the memory 904 and executable on the processor 902, wherein the processor 902 executes the computer program to implement the method described above.

[0096] Among them, Figure 9In this document, a bus architecture (represented by bus 900) is used. Bus 900 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 902 and memory represented by memory 904. Bus 900 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 905 provides an interface between bus 900 and receiver 901 and transmitter 903. Receiver 901 and transmitter 903 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 902 is responsible for managing bus 900 and general processing, while memory 904 can be used to store data used by processor 902 during operation.

[0097] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0098] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0099] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0100] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0101] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for allowing tipping in a crusher, characterized in that, The method includes: Obtain the current first state of the crusher, which includes the operating state of the crusher and the operating state of the belt conveyor; Based on the first preset condition and the first state, if the first state satisfies the first preset condition, then the second state of the current crusher is obtained. The second state includes the crusher chamber material level state, the crusher feed port state, the crusher discharge port state, and the current state of the crusher. If the second state meets the second preset condition, then it is determined that the crusher is allowed to be overturned; If the first state satisfies the first preset condition, then the second state of the current crusher is obtained, including: If the crusher is in normal operating condition in the first state and the belt conveyor is in normal operating condition, then the first state is determined to meet the first preset condition, and the second state of the crusher is obtained. The step of determining that the crusher is allowed to be overturned if the second state meets the second preset condition includes: If the material level in the crusher chamber in the second state is lower than the preset material level, the crusher inlet is in a non-blocking state, the crusher outlet is in a non-blocking state, and the crusher is in an unloaded state, then it is determined that the second state meets the second preset condition, and it is determined that the crusher is allowed to unload. The status of the crusher and belt conveyor is determined by the crusher and belt conveyor operating status signals in the control system; The crusher discharge port is in a non-blocked state, including: Obtain the inflow rate at the crusher feed inlet and set the discharge rate coefficient at the crusher discharge outlet; Based on the inflow rate and throughput coefficient, the actual throughput of the crusher outlet is detected; If the actual throughput of the crusher outlet is greater than or equal to the product of the inflow and the throughput coefficient, then the state of the crusher outlet is determined to be unblocked. The state of the crusher feed inlet being free of jamming includes: obtaining the spatial coordinates of the material flowing into the crusher feed inlet through three-dimensional laser radar scanning; establishing a real-time model of the material based on the obtained spatial coordinates; comparing the real-time model with a standard model; and determining that the state of the crusher feed inlet is free of jamming if the real-time model does not exceed the range set by the standard model. The crusher is in an unloaded state, which includes: determining the state by the current value of the crusher, setting a current value based on the current of the crusher in the unloaded state, and determining that the crusher is in an unloaded state if the current value of the crusher is lower than the set current value.

2. The method according to claim 1, characterized in that, The method further includes: After the crusher is allowed to unload, the vehicle information is identified; Radio frequency identification (RFID) technology is used to obtain vehicle information in order to control the vehicle for unloading.

3. The method according to claim 2, characterized in that, The method of acquiring vehicle information through radio frequency identification (RFID) technology to control vehicle unloading includes: Based on the vehicle information, control the vehicle to overturn and unload; If a vehicle is currently unloading, set the current vehicle to a waiting state to wait for the vehicle to complete unloading and for the crusher to allow the vehicle to unload.

4. The method according to claim 1, characterized in that, The method further includes: Based on the first state, a preset time is set; After the preset time has elapsed since the crusher began operation, if the crusher is allowed to be overturned, the operation of the crusher is controlled.

5. A control device for allowing overturning of a crusher, characterized in that, The device includes: The acquisition unit is used to acquire the first state of the current crusher, which includes the operating state of the crusher and the operating state of the belt conveyor. The first judgment unit is used to obtain the second state of the current crusher based on the first preset condition and the first state. If the first state satisfies the first preset condition, the second state includes the crusher chamber material level state, the crusher feed port state, the crusher discharge port state, and the current state of the crusher. The second judgment unit is used to determine that the crusher is allowed to be overturned if the second state meets the second preset condition. If the first state satisfies the first preset condition, then the second state of the current crusher is obtained, including: If the crusher is in normal operating condition in the first state and the belt conveyor is in normal operating condition, then the first state is determined to meet the first preset condition, and the second state of the crusher is obtained. The step of determining that the crusher is allowed to be overturned if the second state meets the second preset condition includes: If the material level in the crusher chamber in the second state is lower than the preset material level, the crusher inlet is in a non-blocking state, the crusher outlet is in a non-blocking state, and the crusher is in an unloaded state, then it is determined that the second state meets the second preset condition, and it is determined that the crusher is allowed to unload. The status of the crusher and belt conveyor is determined by the crusher and belt conveyor operating status signals in the control system; The crusher discharge port is in a non-blocked state, including: Obtain the inflow rate at the crusher feed inlet and set the discharge rate coefficient at the crusher discharge outlet; Based on the inflow rate and throughput coefficient, the actual throughput of the crusher outlet is detected; If the actual throughput of the crusher outlet is greater than or equal to the product of the inflow and the throughput coefficient, then the state of the crusher outlet is determined to be unblocked. The state of the crusher feed inlet being free of jamming includes: obtaining the spatial coordinates of the material flowing into the crusher feed inlet through three-dimensional laser radar scanning; establishing a real-time model of the material based on the obtained spatial coordinates; comparing the real-time model with a standard model; and determining that the state of the crusher feed inlet is free of jamming if the real-time model does not exceed the range set by the standard model. The crusher is in an unloaded state, which includes: determining the state by the current value of the crusher, setting a current value based on the current of the crusher in the unloaded state, and determining that the crusher is in an unloaded state if the current value of the crusher is lower than the set current value.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to perform the operations performed by the method as described in any one of claims 1 to 4.

7. An electronic device, characterized in that, The electronic device includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to perform the operation performed by the method as described in any one of claims 1 to 4.

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