Automatic separation of mining pantograph

Abstract

According to one aspect, there is provided an apparatus and method for separating a current collector of a mining vehicle in advance of the end of a track in response to a sufficient voltage drop. In embodiments, one or more sensor arrangements are utilized to further ensure timely separation of the current collector.

Description

Technical Field

[0001] This application relates to the field of mining vehicles. In particular, some exemplary embodiments relate to the automatic disconnection of the pantograph of a mining vehicle. Background Technology

[0002] The pantograph of a mining vehicle must be detached from the trolley track before the end of the track to prevent damage to the pantograph or other equipment. For example, when the track ends, the pantograph's spring suspension rises to its maximum position and may get stuck on something such as a ventilation duct. To prevent damage to infrastructure or the mining vehicle, the pantograph is usually manually detached from the trolley track. Summary of the Invention

[0003] The objective is to provide an apparatus and method for separating the current collector of a mining vehicle before the end of an overhead line without any user input. Furthermore, a trolley track system capable of automatic separation is provided. This objective is achieved through the features of the independent claims. Several embodiments are described in the dependent claims.

[0004] According to a first aspect, there is provided an apparatus for separating a current collector of a mining vehicle from an overhead line, the apparatus being configured to: monitor the power supply voltage of the overhead line obtained by the current collector; detect a voltage drop in the power supply voltage, wherein the voltage drop exceeds a predefined limit; and trigger separation of the current collector from the overhead line in response to the voltage drop.

[0005] In this embodiment, the predefined limit is greater than the normal fluctuation of the power supply voltage.

[0006] In an embodiment, additionally or alternatively, the device is further configured to: acquire data associated with at least one sensor configured to indicate when a mining vehicle has reached a predetermined location; and, in response to the mining vehicle reaching the predetermined location, trigger the disconnection of the current collector from the overhead line.

[0007] In an embodiment, additionally or alternatively, the device includes at least one pair of lever switches and an indicator rod, wherein the lever switches are configured to be mounted on the indicator rod and the current collector at predetermined positions such that when the position of the switch lever changes in response to a change in the current collector via the indicator rod, the current collector is triggered to disengage.

[0008] In an embodiment, additionally or alternatively, the device includes at least one transmitter and a receiver, wherein at least one of the transmitter or receiver is configured to be positioned at a predetermined location, and the transmitter is configured to provide an indication to the receiver in response to the arrival of a mining vehicle at the predetermined location.

[0009] In an embodiment, additionally or alternatively, the device includes at least one sensor configured to measure distance along the route of the mining vehicle; and the device is configured to: compare the distance measured by the sensor with a predetermined distance obtained from the route traveled by the mining vehicle along the overhead line to determine the current position of the mining vehicle on the route; and determine when the mining vehicle has reached the predetermined position based on the comparison.

[0010] According to the second aspect, a current collector is provided, comprising the device of the first aspect.

[0011] According to the third aspect, a mining vehicle is provided, including a current collector and the equipment of the first aspect.

[0012] According to a fourth aspect, a trolley track system is provided, comprising: at least two overhead lines, wherein the end portions of the overhead lines include more lossy material than the rest of the overhead lines, the lossy material causing a linear voltage drop in the power supply voltage of the overhead lines.

[0013] In one embodiment, the percentage of lossy material increases toward the end of the overhead line, causing the voltage drop to be higher than the normal fluctuations of the power supply voltage.

[0014] In embodiments, additionally or alternatively, additional loss materials include metals different from the rest of the overhead line.

[0015] In embodiments, additionally or alternatively, more loss materials include non-conductive materials.

[0016] In an embodiment, additionally or alternatively, the trolley track system includes at least one of the equipment of the first aspect or the mining vehicle of the third aspect.

[0017] According to a fifth aspect, a method is provided for separating a current collector of a mining vehicle from an overhead line. The method includes: monitoring the power supply voltage of the overhead line obtained by the current collector; detecting a voltage drop in the power supply voltage, wherein the voltage drop exceeds a predefined limit; and triggering the separation of the current collector from the overhead line in response to the voltage drop.

[0018] According to a sixth aspect, a computer program including computer code is provided, which, when executed by at least one processing unit, causes the at least one processing unit to perform the method of the fifth aspect.

[0019] In this embodiment, the computer program is embodied on a computer-readable medium. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the subject matter and form part of this specification, illustrate embodiments of the subject matter and, together with the specification, help to explain the principles of the subject matter.

[0021] In the attached diagram:

[0022] Figure 1 The illustration shows a device configured to separate current collectors for mining vehicles according to an embodiment.

[0023] Figure 2 The illustration shows a mining vehicle according to an embodiment, which includes a device configured to separate the current collector of the mining truck based on the linear voltage drop in the overhead line.

[0024] Figure 3 The illustration shows an overhead line with variations in material properties according to an embodiment.

[0025] Figure 4 The illustration shows a trolley track system according to an embodiment, which includes multiple mechanisms for automatically separating current collectors from mining trucks.

[0026] Figure 5 The illustration shows a device according to one embodiment, including at least one lever switch and an indicator rod, the at least one lever switch and indicator rod being configured to disconnect the current collector of a mining truck.

[0027] Figure 6 The illustration shows a device according to an embodiment, comprising two lever switches and two indicator rods arranged in a row and configured to disconnect the current collector of a mining truck.

[0028] Figure 7 The illustration depicts a method for separating a current collector from a mining truck according to an embodiment. Detailed Implementation

[0029] In mining environments, it can be difficult to detect when overhead lines end so that mining truck drivers can disconnect the truck's current collectors (such as pantographs) from the overhead lines at the correct time. Furthermore, as transportation in the mining industry becomes increasingly automated, automatic pantograph disconnection is essential for achieving full automation. By automatically disconnecting the pantograph before it ends at the end of the trolley track, damage caused by the exhaustion of the overhead line while the pantograph is still in an upward positioning position can be avoided.

[0030] According to an exemplary embodiment, an apparatus is provided to automatically disconnect a current collector of a mining vehicle in response to a detected sufficient voltage drop in an overhead line. The voltage drop may be caused by a portion of the overhead line that has greater losses than other parts of the overhead line. For example, a portion of the overhead line may include a different metal or non-conductive material, such that the supply voltage decreases linearly as the end of the overhead line approaches. In embodiments, the apparatus may be further configured to detect when the overhead line is about to end, for example, in response to a trigger switch or based on the location of the mining vehicle indicated by a transmitter-receiver pair, to ensure the disconnection of the current collector.

[0031] The exemplary embodiment enables the prevention of passage through the track end when the current collector is engaged with the overhead line. Therefore, damage to infrastructure or equipment can be avoided.

[0032] Figure 1 The illustration shows a device 100 configured to separate a current collector from a mining vehicle according to an embodiment. In the embodiment, the current collector or the mining vehicle may include device 100. Although device 100 is illustrated as a single device, it should be appreciated that, in any applicable circumstances, the functionality of device 100 may be distributed among multiple devices.

[0033] Device 100 may include at least one processor 101. Device 100 may further include at least one memory 102, which includes program code 103 that, when executed by the at least one processor 101, causes device 100 to implement one or more exemplary embodiments. Device 100 may include a transceiver 104 configured to enable device 100 to send and / or receive information to / from other devices. Transceiver 104 may be configured to provide at least one radio connection, such as, for example, a 3GPP mobile broadband connection (e.g., 3G, 4G, 5G). However, the communication interface may be configured to provide one or more other types of connectivity, such as a wireless local area network (WLAN) connection, such as those standardized by, for example, the IEEE 802.11 series or the Wi-Fi Alliance; or a short-range wireless network connection, such as, for example, Bluetooth, NFC (Near Field Communication), or RFID connectivity.

[0034] In an embodiment, device 100 may include measurement circuitry 105, such as a voltage measuring device. The voltage measuring device may be configured to measure the power supply voltage obtained from an overhead line by a current collector. Device 100 may further include one or more sensors 106, such as a lever switch, an RFID receiver, an RFID tag, an infrared transmitter, an infrared receiver, or a sensor configured to measure distance and / or the shape of a laser scan of the surrounding environment and objects. The measured distance may include travel distance or the distance to an object.

[0035] Exemplary embodiments and aspects of the subject matter can be included in any suitable device (e.g., including servers, workstations) capable of performing the processes of the exemplary embodiments. Exemplary embodiments may also store information relating to the various processes described herein.

[0036] Exemplary embodiments can be implemented in software, hardware, application logic, or a combination of software, hardware, and application logic. Exemplary embodiments are capable of storing information relating to the various methods described herein. This information can be stored in one or more memories 102 (such as a hard disk, optical disk, magneto-optical disk, RAM, etc.). One or more databases are capable of storing information used to implement exemplary embodiments. The databases can be organized using data structures (e.g., records, tables, arrays, fields, graphs, trees, lists, etc.) included in one or more memories or storage devices listed herein. The methods described with reference to exemplary embodiments can include appropriate data structures for storing data collected and / or generated by the methods of the devices and subsystems of exemplary embodiments in one or more databases.

[0037] As those skilled in the art of computers and / or software will recognize, all or part of the exemplary embodiments can be conveniently implemented using one or more general-purpose processors, microprocessors, digital signal processors, microcontrollers, etc., programmed according to the teachings of the exemplary embodiments. As those skilled in the art of software will recognize, programmers of ordinary skill can easily customize appropriate software based on the teachings of the exemplary embodiments. Furthermore, as those skilled in the art of electrical engineering will recognize, the exemplary embodiments can be implemented by customizing application-specific integrated circuits or by using appropriate networks to interconnect conventional component circuits. Therefore, the examples are not limited to any particular combination of hardware and / or software. Examples stored on any one or a combination of computer-readable media can include software for controlling components of the exemplary embodiments, for driving components of the exemplary embodiments, etc. Such computer-readable media can further include computer programs for performing all or part of the processes performed in implementing the exemplary embodiments (if the processes are distributed). The computer code device of the examples can include any suitable interpretable or executable code mechanism, including but not limited to scripts, interpretable programs, dynamic link libraries (DLLs), Java vA classes and applets, complete executable programs, etc.

[0038] As described above, components of the exemplary embodiments may include computer-readable media or memory for storing instructions programmed according to teachings and for storing data structures, tables, records, and / or other data described herein. In the exemplary embodiments, application logic, software, or instruction sets are maintained on any of a variety of conventional computer-readable media. In the context of this document, "computer-readable media" can be any medium or apparatus capable of containing, storing, transmitting, propagating, or transferring instructions for use by or in connection with an instruction execution system, apparatus, or device (such as a computer). Computer-readable media may include computer-readable storage media that can contain or store any medium or apparatus capable of containing or storing instructions for use by or in connection with an instruction execution system, apparatus, or device (such as a computer). Computer-readable media can include any suitable medium involved in providing instructions to a processor for execution. Such media can take many forms, including but not limited to non-volatile media, volatile media, transmission media, etc.

[0039] Figure 2 The illustration shows a mining vehicle 201 according to an embodiment, which includes a device 100 configured to separate the current collector of the mining truck based on the linear voltage drop in the overhead line 202.

[0040] Mining vehicle 201 may be an electric vehicle configured to collect current from a trolley track system comprising at least two overhead lines 202. The overhead lines 202 may include, for example, lines and / or tracks suspended above the route of mining vehicle 201. A current collector 200 may be mounted on the roof of mining vehicle 201. The current collector 200 may be, for example, a pantograph, a bow current collector, or a current collector pole. The current collector 200 may include a spring-loaded arm to attach to the overhead lines 202 by pressing the current collector 200 and its electrical contacts against the overhead lines 202. The current collector can draw power from the overhead lines 202 to supply power to the mining vehicle by sliding along the overhead lines 202 as the mining vehicle moves.

[0041] Overhead line 202 may include changes in material properties, such as Figure 3As shown. In an embodiment, the end portion of overhead line 202B includes more lossy material than other portions of overhead line 202A. The more lossy overhead line portion 202B may include the entire end portion of the overhead line or a necessary portion of the end portion, allowing the current collector to disengage in time before the trolley track ends. The more lossy overhead line portion 202B may be made of a different metal or with a different profile. The more lossy overhead portion 202B may include, for example, a non-conductive material. The amount of more lossy material may increase towards the end of the trolley track. Therefore, the resistance of overhead line 202 may increase towards the end of the trolley track. The increased resistance causes a decrease in the power supply voltage of the overhead line. The more lossy material may be combined with the conductive material of overhead line 202 such that the voltage drop towards the end of the trolley track is linear. A sudden drop in power supply voltage would cause unnecessary strain on the electrical system, and the direction of current might change abruptly. Therefore, a linear change allows for the prevention of surge current and limitation of voltage deviation. In an embodiment, the percentage of non-conductive material or more losses may increase towards the end of the overhead line. The amount and length of lossy material used can be varied to allow the power supply voltage to decrease linearly, at least above a predefined limit, reducing it below the configured trigger voltage. This predefined limit may correspond to a fault condition. The predefined limit may be greater than the normal fluctuations of the power supply voltage. Typically, the power supply voltage may not be constant and can vary around the nominal voltage value. Normal voltage fluctuations may be, for example, ±3-10% of the nominal voltage. Voltage fluctuations exceeding normal fluctuations may indicate a fault and be detrimental to the system. The permissible normal fluctuations of the power supply voltage may depend on the power supply system. In embodiments, the predetermined limit may be, for example, at least 5% to 10%, 20% to 30%, 5% to 30%, or 5% to 40% of the nominal power supply voltage of the trolley track system. The predetermined limit may depend on the typical power supply voltage of the overhead line 202 and the normal voltage deviations in the trolley track system. A linear voltage drop exceeding the predefined limit allows the trolley track end to separate from other voltage deviations. Therefore, the current collector may not unnecessarily separate due to normal voltage fluctuations.

[0042] Device 100 can monitor the power supply voltage of overhead line 202. In an embodiment, device 100 may include a voltage measuring device configured to monitor the power supply voltage sensed by mining vehicle 201. Alternatively, device 100 may receive measurement data from the voltage measuring device. When the power supply voltage is below a predetermined voltage limit, device 100 may disconnect current collector 200 from overhead line 202. The power supply voltage that triggers the disconnection of current collector may be configured to be lower than the normal overhead line voltage minus a margin of normal voltage fluctuation. Device 100 may trigger the disconnection of current collector based on a voltage drop or based on a detected trigger power supply voltage. Once current collector 200 is disconnected, it can be lowered to a stationary position on the roof of mining vehicle 201.

[0043] In addition to voltage drops caused by modifications to the overhead line, other voltage drops exceeding predefined limits may also cause device 100 to trigger the disconnection of the current collector. For example, in the event of a fault in the power system, such as a power station failure causing a voltage drop, the current collector 200 may automatically disconnect. Trigger disconnection voltage monitoring can prevent the electrical equipment of mining vehicle 201 from supplying power to overhead line 202 in the event of a power failure.

[0044] Figure 4 The illustration shows a trolley track system 403 according to an embodiment, which includes multiple mechanisms for automatically separating a current collector 200 from a mining truck 201. The trolley track system 403 may include a device 100. The device 100 may be configured to monitor data from more than one source to trigger the separation of the current collector 200. The trolley track system 403 includes at least two overhead lines 202 having sections made of a more lossy material 202B than other sections of the overhead line 202A. As previously described, the device 100 may be included in the current collector 200 or the mining truck 201 and detects the voltage drop caused by the more lossy overhead line section 202B. In an embodiment, the device 100 may be configured to trigger separation in response to data obtained from one or more sensors that detect when the mining truck 201 reaches a predetermined position before the end of the overhead line 200. Separation based on the mining truck provides an alternative solution for voltage-monitored separation.

[0045] In one embodiment, one or more sensors 401A, 401B (such as RFID tags or receivers) may be mounted on the trolley track and configured to trigger the disconnect current collector 200. In another embodiment, at least one sensor 402 may be mounted on the mining vehicle 201. The mining vehicle 201 may include, for example, an RFID receiver configured to send and receive data to / from an RFID tag located at another location near the end of the trolley track, mounted on a wall or at the end of an overhead line. When the RFID reader passes near the RFID tag, data received from the RFID tag may trigger the device 100 to disconnect from the current collector 200. The data may include an indication that the position of the mining vehicle 201 corresponds to a predetermined location near the end of the trolley track. Alternatively, the RFID tag may be mounted on the mining vehicle 201, and the RFID receiver may be mounted near the end of the trolley track.

[0046] In an embodiment, device 100 may obtain a route model of mining vehicle 201 on the trolley track and compare it with a detected travel profile of mining vehicle 201 to determine when the current collector 200 needs to be disconnected. For example, the travel profile may be detected by measuring distances based on illuminating surrounding objects with a laser and measuring reflections with a sensor 402 mounted on mining vehicle 201. The sensor may be a lidar system configured to laser scan the shape of a mine including the trolley track system. The route model may include stored information about the shape of the tunnel at each location along the trolley track, which may be compared with the travel profile to determine the current position of mining truck 201. Alternatively or additionally, the travel profile may be detected using any other travel data logger. For example, travel data may be recorded using multiple RFID readers mounted along the trolley track and RFID tags mounted on mining vehicle 201, such that the position of mining vehicle 201 is received each time it passes an RFID reader. Alternatively or additionally, mining vehicle 201 may include a device configured to measure the distance traveled by mining vehicle 201. The length of the trolley track can be known and compared with a measured distance to determine the position of the mining vehicle 201. When it reaches the predetermined position, the device 100 can trigger the separation of the collector 200.

[0047] In this embodiment, sensors 401A and 401B can be configured to establish a light gate or light curtain at a predetermined location. For example, the first sensor 401A can be an infrared transmitter, and the second sensor 401B can be an infrared receiver. The first and second sensors 401A and 401B are mounted on opposite sides of the overhead line 202. Once the light gate or curtain is triggered, the device 100 can obtain information about the position of the mining vehicle 201 near the end of the track and trigger the separation of the current collector 200.

[0048] In one embodiment, device 100 may include one or more sensor arrangements 400A, 400B, each including a lever switch configured to be triggered in response to passing an indicator mounted near overhead line 202 at a predetermined location. The indicator may be a lever configured to change the positioning of the switch lever as current collector 200 passes the lever. Figure 5 An example front view of sensor arrangement 400A, 400B is shown, which includes two lever switches 501 mounted on a current collector 200 and an indicator rod 500 mounted on the ceiling via an overhead line 202, wherein the indicator rod 500 actuates the lever switches 501 in response to a mining vehicle 201 traveling past the indicator rod 500. Figure 5 The diagram illustrates one possible arrangement of the indicator lever and lever switch. The indicator lever and lever switch can also be arranged differently, for example, one after another in a straight line. Figure 6 An exemplary embodiment is illustrated, wherein two indicator rods 500 are mounted in a row on the ceiling, for example via overhead lines, and two lever switches 501 are placed in a row on the current collector 200. Figure 6 The image is depicted from the side relative to the direction of travel of the mining vehicle, including the current collector 200. Two lever switches 501 and two indicator rods 500 can be positioned such that each lever switch 501 is configured to strike both indicator rods 500. Therefore, when one of the switches fails to trigger, the type of fault can be indicated. For example, it can be determined whether one of the lever switches or one of the indicator rods is damaged. In addition to the additional information provided about the origin of the problem, a single trigger signal may be sufficient to trigger pantograph disconnection. Doubling the switches and corresponding indicators can provide a fail-safe system, as a failure in one switch or indicator can be allowed without losing the triggering of the disconnection command, provided that the state of one of the switches is changed by the indicator. Furthermore, in the case where only one trigger switch is used for maintenance, an indication of a fault in one switch or indicator can be received.

[0049] Figure 7 The illustration depicts a method for automatically separating current collectors from mining trucks according to an embodiment. The method can be performed, for example, by device 100.

[0050] At 700, the method includes monitoring the power supply voltage of the overhead line obtained by the current collector. In an embodiment, the power supply voltage may be monitored by a voltage measurement circuit included in device 100.

[0051] At point 701, the method includes detecting a voltage drop in the power supply voltage, wherein the voltage drop exceeds a predefined limit. In an embodiment, the method may include detecting a linear voltage drop to distinguish between a fault condition at the end of the track and that of the trolley track system. The predefined limit may be sufficient to prevent unnecessary disconnection of the current collector, for example, due to normal power supply voltage deviations.

[0052] At 702, the method includes triggering the separation of the current collector from the trolley track in response to a voltage drop. Triggering may include sending a command to separate the current collector or directly controlling the separation, such as by operating an upwardly positioned switch configured to disconnect the current collector from the overhead line.

[0053] While the essential novel features applicable to its preferred embodiments have been shown, described, and pointed out, it will be understood that various omissions, substitutions, and changes in the form and details of the described devices and methods can be made by those skilled in the art without departing from the spirit of this disclosure. For example, all combinations of those elements and / or method operations explicitly intended to perform substantially the same function in substantially the same manner to achieve the same result are within the scope of this disclosure. Furthermore, it should be recognized that the structures and / or elements and / or method operations shown and / or described in conjunction with any disclosed form or embodiment can be incorporated as a general matter of design choice into any other disclosed or described or suggested form or embodiment.

[0054] The applicant hereby discloses each individual feature described herein, as well as any combination of two or more such features, provided that such features or combinations can be performed on the basis of this specification in their entirety, in accordance with common general knowledge of those skilled in the art, regardless of whether such features or combinations of features solve any problem disclosed herein, and not to limit the scope of the claims. The applicant notes that the disclosed aspects / embodiments may consist of any such individual features or combinations of features. In view of the foregoing description, it will be apparent to those skilled in the art that various modifications can be made within the scope of this disclosure.

Claims

1. A device (100) for disconnecting a current collector of a mining vehicle from an overhead line, wherein the current collector draws power from the overhead line to supply power to the mining vehicle while it is moving, the device being configured to: Monitor the power supply voltage of the overhead line obtained by the current collector while the mining vehicle is moving; The voltage drop in the power supply voltage is detected, wherein, The voltage drop exceeds a predefined limit; as well as In response to the voltage drop, if it is determined that the current collector is close to the end of the overhead line, it is triggered to disconnect the current collector from the overhead line.

2. The device (100) according to claim 1, wherein, The predefined limit is greater than the normal fluctuation of the power supply voltage.

3. The device (100) according to claim 1 or 2, wherein, The device is further configured to: Data is acquired associated with at least one sensor, which is configured to detect when the mining vehicle has reached a predetermined position at the overhead line; as well as In response to the mining vehicle arriving at the predetermined location, the current collector is disconnected from the overhead line.

4. The device (100) according to claim 3, comprising at least one pair of lever switches and an indicator rod, wherein, The lever switch is configured to be mounted on the indicator rod and the current collector at the predetermined position, such that when the position of the lever switch changes in response to a change in the current collector's position via the indicator rod, it triggers the separation of the current collector.

5. The device (100) according to claim 3 or 4, comprising at least one transmitter and a receiver, wherein, At least one of the transmitter or the receiver is configured to be positioned at the predetermined location, and The transmitter is configured to provide an instruction to the receiver in response to the mining vehicle arriving at the predetermined location.

6. The device (100) according to any one of claims 3 to 5, comprising at least one sensor configured to measure distance; and The device is configured to: The distance measured by the sensor is compared with a predetermined distance obtained from the route traveled by the mining vehicle along the overhead line to determine the current position of the mining vehicle on the route; and The comparison is used to determine when the mining vehicle arrives at the predetermined location.

7. A current collector (200) comprising the device according to any one of claims 1 to 6.

8. A mining vehicle (202) comprising a current collector and a device (100) according to any one of claims 1 to 6.

9. A method for disconnecting a current collector of a mining vehicle from an overhead line, wherein the current collector draws power from the overhead line to supply power to the mining vehicle while it is moving, the method comprising: Monitor the power supply voltage of the overhead line obtained by the current collector while the mining vehicle is moving; Detect the voltage drop in the power supply voltage, wherein the voltage drop exceeds a predefined limit; as well as In response to the voltage drop, if it is determined that the current collector is close to the end of the overhead line, it is triggered to disconnect the current collector from the overhead line.

10. A computer program product comprising computer code, which, when executed by at least one processing unit, causes the at least one processing unit to perform the method according to claim 9.

11. The computer program product according to claim 10, wherein, The computer program product is embodied in a computer-readable medium.

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