Control methods, devices, storage media, processors and systems for mining equipment

Abstract

This application provides a control method, apparatus, storage medium, processor, and system for mining equipment. The control method includes the following steps: acquiring a first state of the mining equipment and a second state of the boarding ladder, wherein the first state includes a normal operating state or a fault state of the mining equipment, and the second state includes the boarding ladder being in a raised state or a boarding state; determining a third state of a proximity switch based on the first and second states, wherein the third state includes the proximity switch being in an open state or a closed state; and outputting a first control signal when the third state is closed, the first control signal being used to control the mining equipment to be in an operating state. This greatly improves the monitoring and protection of the boarding ladder, thereby improving the reliability of the mining equipment operation.

Description

Technical Field

[0001] This application relates to the field of boarding ladder technology, and more specifically, to a control method, control device, storage medium, processor, and system for mining equipment. Background Technology

[0002] Large open-pit mining excavators (also known as electric shovels) are mainly used for mining and stripping operations in various large open-pit mines. They are essential mining equipment in single-bucket excavator-truck process systems (intermittent mining process systems), single-bucket excavator-truck-semi-fixed crushing station-belt conveyor process systems (semi-continuous mining process systems), and single-bucket excavator-self-propelled crushing station-belt conveyor process systems (semi-continuous mining process systems).

[0003] The electric shovel consists of two parts: an upper and a lower section. The upper section mainly comprises an A-frame, a slewing platform, a lifting boom, a lifting device, a pushing device, and a slewing device. The lower section mainly comprises a crawler system and a traveling mechanism. The upper and lower sections are connected by a central pivot, around which the upper section can rotate. The largest WK-75 electric shovel weighs up to 2000 tons, with an upper platform reaching 5.6 meters in height. Operators and maintenance personnel must use a ladder to access the shovel. During operation, the ladder must be retracted and rotated together with the upper section for loading operations.

[0004] Furthermore, most boarding ladders are hydraulically driven, performing the raising and lowering actions. When the electric shovel is working, the boarding ladder may fall unexpectedly, causing it to collide with the ground minerals and thus damage the boarding ladder. Therefore, the existing technology provides a measure to protect the boarding ladder by installing a mechanical proximity switch to monitor the status of the boarding ladder in real time. However, due to the severe vibration and deformation of the mechanical structure when the electric shovel is working, the proximity switch often fails, thus only receiving a switch signal, making it difficult to determine the actual cause of failure, which brings great safety hazards to the operation of the electric shovel. Summary of the Invention

[0005] The main objective of this application is to provide a control method, control device, storage medium, processor, and system for mining equipment, so as to at least solve the problem of significant safety hazards in the operation of mining equipment caused by the frequent failure of proximity switches in the prior art.

[0006] To achieve the above objectives, according to one aspect of this application, a control method for mining equipment is provided. The mining equipment includes a proximity switch and a retractable boarding ladder. The control method includes the following steps: acquiring a first state of the mining equipment and a second state of the boarding ladder, wherein the first state includes a normal working state or a fault state of the mining equipment, and the second state includes the boarding ladder being in a raised state or a boarding state; determining a third state of the proximity switch based on the first and second states, wherein the third state includes the proximity switch being in an open state or a closed state; and outputting a first control signal when the third state is closed, the first control signal being used to control the mining equipment to be in a working state.

[0007] Optionally, the third state of the proximity switch is determined based on the first state and the second state, including: if the first state is the normal working state of the mining equipment, determining whether the second state is the boarding state and outputting the first determination result; if the first determination result indicates yes, determining the third state is the open state; if the first determination result indicates no, determining the third state is the closed state.

[0008] Optionally, determining the third state of the proximity switch based on the first state and the second state further includes: when the first state is a fault state of the mining equipment, outputting a second control signal, the second control signal being used to control the third state to be an open state.

[0009] Optionally, the mining equipment has an alarm, and the control method further includes: when the third state is the on state, sending a first alarm signal to the alarm to activate the alarm.

[0010] Optionally, the mining equipment includes an inverter and an alarm. The boarding ladder includes a main ladder and a telescopic ladder. When the third state is the closed state, a first control signal is output. The first control signal is used to control the mining equipment to be in the working state, including: determining whether the limit states of the main ladder and the telescopic ladder are both in the closed state, and outputting a second determination result; determining whether the alarm is in the activated state, and outputting a third determination result; when both the second and third determination results indicate yes, sending a start signal to the inverter to start the inverter, and sending a stop signal to the alarm to turn off the alarm.

[0011] Optionally, the inverter includes one or more of left-running inverters, right-running inverters, and rotary inverters.

[0012] To achieve the above objectives, according to one aspect of this application, a control device for mining equipment is provided. The mining equipment includes a proximity switch and a retractable boarding ladder. The control device includes: an acquisition unit for acquiring a first state of the mining equipment and a second state of the boarding ladder, the first state including a normal working state or a fault state of the mining equipment, and the second state including a raised state or a boarding state of the boarding ladder; a first determination unit for determining a third state of the proximity switch based on the first and second states, the third state including an open state or a closed state of the proximity switch; and a first output unit for outputting a first control signal when the third state is closed, the first control signal being used to control the mining equipment to be in a working state.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, which includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the control method of the mining equipment described above.

[0014] According to another aspect of this application, a processor is provided for running a program, wherein the program executes the above-described control method for mining equipment during runtime.

[0015] According to another aspect of this application, a transmission system is provided, comprising: mining equipment, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include a control method for performing the above-described mining equipment.

[0016] By applying the technical solution of this application, since the first state of the mining equipment includes different states such as its normal working state and its fault state, and the second state of the boarding ladder includes different states such as its raised state and its boarding state, after obtaining the first state of the mining equipment and the second state of the boarding ladder, it is possible to monitor the different states of the boarding ladder for different states of the mining equipment. This allows for timely determination of whether the proximity switch is in the open or closed state. In the closed state, the mining equipment can be controlled to operate. This solves the problem in the existing technology that the proximity switch is prone to deformation under severe vibration conditions, leading to frequent failures, and that it can only receive one switch information, making it difficult to determine the actual cause of failure. This greatly improves the monitoring and protection of the boarding ladder, thereby improving the reliability of the mining equipment operation. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 A hardware structure block diagram of a mobile terminal for executing a control method for mining equipment according to an embodiment of this application is shown;

[0019] Figure 2 A schematic flowchart of a control method for a mining equipment according to an embodiment of this application is shown;

[0020] Figure 3 A structural block diagram of a control device for a mining equipment provided according to an embodiment of this application is shown. Detailed Implementation

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0025] A proximity switch, also known as a non-contact proximity switch, is a position switch that can be operated without direct mechanical contact with moving parts. It is an ideal electronic switching sensor. When an object approaches the sensing surface of the switch to the operating distance, the switch can be activated without mechanical contact or the application of any pressure, thereby driving DC electrical circuits or providing control instructions to a programmable logic controller (PLC) to perform travel control and limit protection.

[0026] For example, when a metal detector approaches the sensing area of ​​the proximity switch, the proximity switch can issue an electrical command quickly without contact, pressure, or sparks, accurately reflecting the position and stroke of the moving mechanism. In an automatic control system, it can be used as a limit switch, technical counter, positioning control, and automatic protection element.

[0027] Proximity switches come in two-wire and three-wire versions. Two-wire proximity switches, due to operating limitations, experience a voltage drop when on and retain residual current when off. Three-wire proximity switches have an additional wire but are not affected by residual current and are more reliable. Furthermore, three-wire proximity switches can be categorized into PNP and NPN types, each with different connection methods to a programmable logic controller (PLC).

[0028] For example, when the common input terminal of the programmable logic controller (PLC) is 0V, current flows out of the programmable logic controller (PLC), and an NPN type proximity switch is selected; when the common input terminal of the programmable logic controller (PLC) is the positive power supply terminal, current flows into the programmable logic controller (PLC), i.e., a trap input, and a PNP type proximity switch is selected.

[0029] As described in the background section, electric shovel operators and maintenance personnel must use a ladder to get on and off the shovel. Since most ladders are hydraulically driven to raise and lower, they may accidentally fall during operation, colliding with ground minerals and causing damage. Existing technologies provide measures to protect the ladder from damage. However, due to severe vibrations and deformation of the mechanical structure during shovel operation, proximity switches frequently fail, resulting in only receiving one switch signal and difficulty in determining the actual cause of failure. This poses a significant safety hazard to shovel operation. To address the safety hazards caused by proximity switch failure, embodiments of this application provide a control method, control device, storage medium, processor, and system for mining equipment.

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0031] The methods and embodiments provided in this application can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a control method of mining equipment according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0032] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0033] This embodiment provides a control method for mining equipment that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here.

[0034] Figure 2 This is a flowchart of a control method for mining equipment according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0035] Step S201: Obtain the first state of the mining equipment and the second state of the boarding ladder. The first state includes the normal working state of the mining equipment or the fault state of the mining equipment. The second state includes the boarding ladder being in the raised state or the boarding ladder being in the boarding state.

[0036] Specifically, the aforementioned mining equipment includes a proximity switch and a retractable boarding ladder. The proximity switch does not have direct mechanical contact with the boarding ladder. The mining equipment includes, but is not limited to, large mining excavators (also known as electric shovels). In this step, the first state corresponds to the current state of the mining equipment, and the second state corresponds to the current state of the boarding ladder. Therefore, after obtaining the first state of the mining equipment and the second state of the boarding ladder, the mining equipment can be controlled based on their current states. Specifically, the raised state corresponds to the boarding ladder not being used to support people or objects ascending to the mining equipment, and the boarding state corresponds to the boarding ladder being used to support people or objects ascending to the mining equipment. Optionally, the proximity switch can also be a photoelectric switch with a reflector.

[0037] Step S202: Determine the third state of the proximity switch based on the first state and the second state. The third state includes the proximity switch being in the open state or the proximity switch being in the closed state.

[0038] Specifically, in the process of controlling the mining equipment according to the first state of the mining equipment and the second state of the boarding ladder, in order to realize the control of the mining equipment according to the third state of the proximity switch, after obtaining the first state and the second state, the third state of the proximity switch corresponding to the working state of the mining equipment is determined according to the first state and the second state, so that the third state is either in the open state or in the closed state.

[0039] Step S203: When the third state is the off state, output the first control signal. The first control signal is used to control the mining equipment to be in the working state.

[0040] Specifically, to prevent the mining equipment from being controlled by incorrect control commands when the boarding ladder is in the boarding state, the first control signal is only output when the third state is the closed state, thereby controlling the mining equipment to be in working state and perform operations. Through this embodiment, after obtaining the first state of the mining equipment and the second state of the boarding ladder, since the first state of the mining equipment includes different states such as its normal working state and its fault state, and the second state of the boarding ladder includes different states such as its raised state and its boarding state, it is possible to monitor the different states of the boarding ladder for different states of the mining equipment. This allows for timely determination of whether the proximity switch is in the open or closed state, solving the problem in existing technologies where proximity switches are easily deformed under severe vibration conditions, leading to frequent failures, and only receiving one switch signal, making it difficult to determine the actual cause of failure. This greatly improves the monitoring and protection of the boarding ladder, thereby improving the reliability of the mining equipment operation.

[0041] In some optional implementations, determining the third state of the proximity switch based on the first state and the second state includes: if the first state is the normal working state of the mining equipment, determining whether the second state is the boarding state and outputting a first determination result; if the first determination result indicates yes, determining the third state is the open state; if the first determination result indicates no, determining the third state is the closed state.

[0042] In the above embodiments, since both the mining equipment and the boarding ladder correspond to two different states, the first state of the mining equipment and the second state of the boarding ladder can be combined in various ways. For example, when the mining equipment is in normal working condition, the boarding ladder can be in the raised state, or when the mining equipment is in normal working condition, the boarding ladder can be in the boarding state. Therefore, in order to determine the current state of the boarding ladder when the mining equipment is in normal working condition, the above-described judgment step is adopted, and when the judgment result is obtained, the corresponding state of the proximity switch is further determined according to the current state of the boarding ladder. Specifically, if the current state of the boarding ladder when the mining equipment is in normal working condition is the boarding state, the proximity switch is determined to be in the open state; if the current state of the boarding ladder when the mining equipment is in normal working condition is the raised state, the proximity switch is determined to be in the closed state.

[0043] In some optional implementations, determining the third state of the proximity switch based on the first state and the second state further includes: if the first state is a fault state of the mining equipment, outputting a second control signal, the second control signal being used to control the third state to be an open state.

[0044] In the above embodiments, to avoid safety hazards caused by the mining equipment malfunction when the mining equipment is in a faulty state, the above steps are adopted so that once the working state of the mining equipment is detected to be faulty, a second control signal is directly output, causing the proximity switch to change its current state to the open state after receiving the second control signal. For example, before outputting the second control signal, the proximity switch may be in the open state, so that after receiving the second control signal, the proximity switch can maintain its current state; or before outputting the second control signal, the proximity switch may be in the closed state, so that after receiving the second control signal, the proximity switch changes from the closed state to the open state.

[0045] In some alternative implementations, the mining equipment has an alarm, and the control method further includes: when the third state is the on state, sending a first alarm signal to the alarm to activate the alarm.

[0046] In the above embodiments, in order to achieve better human-machine interaction when the boarding ladder of the mining equipment is in the boarding state, and to remind the operator of the mining equipment to stop operating the mining equipment in a timely manner when it should not be started, the above steps are adopted so that when the mining equipment should not be started, that is, when the proximity switch is currently in the open state, a first alarm signal is sent to the alarm device to activate the alarm device, thereby achieving the purpose of timely reminding the operator.

[0047] In some optional embodiments, the mining equipment includes an inverter and an alarm. The boarding ladder includes a main ladder and a telescopic ladder. When the third state is the closed state, a first control signal is output. The first control signal is used to control the mining equipment to be in the working state, including: determining whether the limit states of the main ladder and the telescopic ladder are both in the closed state, and outputting a second determination result; determining whether the alarm is in the activated state, and outputting a third determination result; when both the second and third determination results indicate yes, sending a start signal to the inverter to start the inverter, and sending a stop signal to the alarm to turn off the alarm.

[0048] In the above embodiment, since the mining equipment has an inverter and an alarm, when the proximity switch is closed and the mining equipment is controlled to be in working state according to the first control signal, the inverter and the alarm are also in working state. Since the necessary conditions for the inverter to start and the alarm to stop are both that the limit states of the main ladder and the telescopic ladder of the boarding ladder are closed, the above steps are adopted. First, after obtaining the limit states of the main ladder and the telescopic ladder, it is determined whether both limit states are closed and whether the alarm is open. Then, if both determinations are correct, a start signal is sent to the inverter to make the inverter work, and a stop signal is sent to the alarm to make the alarm stop.

[0049] In some alternative implementations, the inverter includes one or more of a left-running inverter, a right-running inverter, and a rotary inverter.

[0050] In the above embodiments, the mining equipment can adopt a voltage and current control system for the common DC bus of the AC-DC-AC frequency converter. When the mining equipment is in normal operation and the boarding ladder is in the boarding state, the proximity switch is in the open state, the voltage and current control system operates normally, the common DC bus is energized, and when the inverters include the aforementioned left-walking inverter, right-walking inverter, and rotary inverter, starting the left-walking inverter, right-walking inverter, and rotary inverter is prohibited, and an alarm is triggered. When the mining equipment is in normal operation and the boarding ladder is raised, the proximity switch is in the closed state, the voltage and current control system operates normally, the common DC bus is energized, and the left-walking inverter, right-walking inverter, and rotary inverter can start normally. When the mining equipment is in a fault state, the proximity switch instantly changes from the closed state to the open state, each inverter stops operating, each motor brake activates, and an alarm is triggered. The aforementioned fault state can include the state corresponding to when the mining equipment encounters a sudden drop of the boarding ladder during operation.

[0051] In some alternative implementations, the mining equipment also includes a rangefinder to detect and display the position of the boarding ladder.

[0052] This application also provides a control device for mining equipment. It should be noted that the control device for mining equipment in this application can be used to execute the monitoring method for mining equipment provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0053] The control device for the mining equipment provided in the embodiments of this application will be described below.

[0054] Figure 3 This is a schematic diagram of the control device for a mining equipment according to an embodiment of this application. Figure 3 As shown, the device includes:

[0055] The acquisition unit 301 is used to acquire the first state of the mining equipment and the second state of the boarding ladder. The first state includes the normal working state of the mining equipment or the fault state of the mining equipment. The second state includes the boarding ladder being in the raised state or the boarding ladder being in the boarding state.

[0056] Specifically, the aforementioned mining equipment includes a proximity switch and a retractable boarding ladder. The proximity switch does not have direct mechanical contact with the boarding ladder. The mining equipment includes, but is not limited to, large mining excavators (also known as electric shovels). In this step, the first state corresponds to the current state of the mining equipment, and the second state corresponds to the current state of the boarding ladder. Therefore, after obtaining the first state of the mining equipment and the second state of the boarding ladder, the mining equipment can be controlled based on their current states. Specifically, the raised state corresponds to the boarding ladder not being used to support people or objects ascending to the mining equipment, and the boarding state corresponds to the boarding ladder being used to support people or objects ascending to the mining equipment. Optionally, the proximity switch can also be a photoelectric switch with a reflector.

[0057] The first determining unit 302 is used to determine the third state of the proximity switch based on the first state and the second state. The third state includes the proximity switch being in the open state or the proximity switch being in the closed state.

[0058] Specifically, in the process of controlling the mining equipment according to the first state of the mining equipment and the second state of the boarding ladder, in order to realize the control of the mining equipment according to the third state of the proximity switch, after obtaining the first state and the second state, the third state of the proximity switch corresponding to the working state of the mining equipment is determined according to the first state and the second state, so that the third state is either in the open state or in the closed state.

[0059] The first output unit 303 is used to output a first control signal when the third state is the off state. The first control signal is used to control the mining equipment to be in the working state.

[0060] Specifically, to prevent the mining equipment from being controlled by incorrect control commands when the boarding ladder is in the boarding state, the first control signal is only output when the third state is the closed state, thereby controlling the mining equipment to be in working state and perform operations. Through this embodiment, after obtaining the first state of the mining equipment and the second state of the boarding ladder, since the first state of the mining equipment includes different states such as its normal working state and its fault state, and the second state of the boarding ladder includes different states such as its raised state and its boarding state, it is possible to monitor the different states of the boarding ladder for different states of the mining equipment. This allows for timely determination of whether the proximity switch is in the open or closed state, solving the problem in existing technologies where proximity switches are easily deformed under severe vibration conditions, leading to frequent failures, and only receiving one switch signal, making it difficult to determine the actual cause of failure. This greatly improves the monitoring and protection of the boarding ladder, thereby improving the reliability of the mining equipment operation.

[0061] In some optional implementations, the first determining unit includes: a first judging unit, configured to determine whether the second state is the boarding state when the first state is the normal working state of the mining equipment, and output the first judging result; a second determining unit, configured to determine the third state is the open state when the first judging result indicates yes; and a third determining unit, configured to determine the third state is the closed state when the first judging result indicates no.

[0062] In the above embodiments, since both the mining equipment and the boarding ladder correspond to two different states, the first state of the mining equipment and the second state of the boarding ladder can be combined in various ways. For example, when the mining equipment is in normal working condition, the boarding ladder can be in the raised state, or when the mining equipment is in normal working condition, the boarding ladder can be in the boarding state. Therefore, in order to determine the current state of the boarding ladder when the mining equipment is in normal working condition, the above-described judgment step is adopted, and when the judgment result is obtained, the corresponding state of the proximity switch is further determined according to the current state of the boarding ladder. Specifically, if the current state of the boarding ladder when the mining equipment is in normal working condition is the boarding state, the proximity switch is determined to be in the open state; if the current state of the boarding ladder when the mining equipment is in normal working condition is the raised state, the proximity switch is determined to be in the closed state.

[0063] In some optional embodiments, the first determining unit further includes: a second output unit, configured to output a second control signal when the first state is a fault state of the mining equipment, the second control signal being used to control the third state to be an open state.

[0064] In the above embodiments, to avoid safety hazards caused by the mining equipment malfunction when the mining equipment is in a faulty state, the above steps are adopted so that once the working state of the mining equipment is detected to be faulty, a second control signal is directly output, causing the proximity switch to change its current state to the open state after receiving the second control signal. For example, before outputting the second control signal, the proximity switch may be in the open state, so that after receiving the second control signal, the proximity switch can maintain its current state; or before outputting the second control signal, the proximity switch may be in the closed state, so that after receiving the second control signal, the proximity switch changes from the closed state to the open state.

[0065] In some alternative embodiments, the mining equipment has an alarm, and the control device further includes: a first transmitting unit for sending a first alarm signal to the alarm when the third state is an on state, so as to activate the alarm.

[0066] In the above embodiments, in order to achieve better human-machine interaction when the boarding ladder of the mining equipment is in the boarding state, and to remind the operator of the mining equipment to stop operating the mining equipment in a timely manner when it should not be started, the above steps are adopted so that when the mining equipment should not be started, that is, when the proximity switch is currently in the open state, a first alarm signal is sent to the alarm device to activate the alarm device, thereby achieving the purpose of timely reminding the operator.

[0067] In some optional embodiments, the mining equipment includes an inverter and an alarm, and the boarding ladder includes a main ladder and a telescopic ladder. The first output unit includes: a second judgment unit, used to judge whether the limit states of the main ladder and the telescopic ladder are both in the closed state, and output a second judgment result; a third judgment unit, used to judge whether the alarm is in the activated state, and output a third judgment result; and a second sending unit, used to send a start signal to the inverter to start the inverter and send a stop signal to the alarm to turn off the alarm when both the second and third judgment results indicate yes.

[0068] In the above embodiment, since the mining equipment has an inverter and an alarm, when the proximity switch is closed and the mining equipment is controlled to be in working state according to the first control signal, the inverter and the alarm are also in working state. Since the necessary conditions for the inverter to start and the alarm to stop are both that the limit states of the main ladder and the telescopic ladder of the boarding ladder are closed, the above steps are adopted. First, after obtaining the limit states of the main ladder and the telescopic ladder, it is determined whether both limit states are closed and whether the alarm is open. Then, if both determinations are correct, a start signal is sent to the inverter to make the inverter work, and a stop signal is sent to the alarm to make the alarm stop.

[0069] In some alternative implementations, the inverter includes one or more of a left-running inverter, a right-running inverter, and a rotary inverter.

[0070] In the above embodiments, the mining equipment can adopt a voltage and current control system for the common DC bus of the AC-DC-AC frequency converter. When the mining equipment is in normal operation and the boarding ladder is in the boarding state, the proximity switch is in the open state, the voltage and current control system operates normally, the common DC bus is energized, and when the inverters include the aforementioned left-walking inverter, right-walking inverter, and rotary inverter, starting the left-walking inverter, right-walking inverter, and rotary inverter is prohibited, and an alarm is triggered. When the mining equipment is in normal operation and the boarding ladder is raised, the proximity switch is in the closed state, the voltage and current control system operates normally, the common DC bus is energized, and the left-walking inverter, right-walking inverter, and rotary inverter can start normally. When the mining equipment is in a fault state, the proximity switch instantly changes from the closed state to the open state, each inverter stops operating, each motor brake activates, and an alarm is triggered. The aforementioned fault state can include the state corresponding to when the mining equipment encounters a sudden drop of the boarding ladder during operation.

[0071] The control unit of the mining equipment includes a processor and a memory. The aforementioned acquisition unit 301, first determination unit 302, and first output unit 303 are all stored as program units in the memory. The processor executes the aforementioned program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0072] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured; adjusting kernel parameters can enhance the monitoring and protection of the boarding ladder, thereby improving the reliability of the mining equipment.

[0073] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0074] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform a control method for a mining device.

[0075] Specifically, the control methods for mining equipment include:

[0076] Step S201: Obtain the first state of the mining equipment and the second state of the boarding ladder. The first state includes the normal working state of the mining equipment or the fault state of the mining equipment. The second state includes the boarding ladder being in the raised state or the boarding ladder being in the boarding state.

[0077] Specifically, the aforementioned mining equipment includes a proximity switch and a retractable boarding ladder. The proximity switch does not have direct mechanical contact with the boarding ladder. The mining equipment includes, but is not limited to, large mining excavators (also known as electric shovels). In this step, the first state corresponds to the current state of the mining equipment, and the second state corresponds to the current state of the boarding ladder. Therefore, after obtaining the first state of the mining equipment and the second state of the boarding ladder, the mining equipment can be controlled based on their current states. Specifically, the raised state corresponds to the boarding ladder not being used to support people or objects ascending to the mining equipment, and the boarding state corresponds to the boarding ladder being used to support people or objects ascending to the mining equipment. Optionally, the proximity switch can also be a photoelectric switch with a reflector.

[0078] Step S202: Determine the third state of the proximity switch based on the first state and the second state. The third state includes the proximity switch being in the open state or the proximity switch being in the closed state.

[0079] Specifically, in the process of controlling the mining equipment according to the first state of the mining equipment and the second state of the boarding ladder, in order to realize the control of the mining equipment according to the third state of the proximity switch, after obtaining the first state and the second state, the third state of the proximity switch corresponding to the working state of the mining equipment is determined according to the first state and the second state, so that the third state is either in the open state or in the closed state.

[0080] Step S203: When the third state is the off state, output the first control signal. The first control signal is used to control the mining equipment to be in the working state.

[0081] Specifically, to prevent the mining equipment from being controlled by incorrect control commands when the boarding ladder is in the boarding state, the first control signal is only output when the third state is the closed state, thereby controlling the mining equipment to be in working state and perform operations. Through this embodiment, after obtaining the first state of the mining equipment and the second state of the boarding ladder, since the first state of the mining equipment includes different states such as its normal working state and its fault state, and the second state of the boarding ladder includes different states such as its raised state and its boarding state, it is possible to monitor the different states of the boarding ladder for different states of the mining equipment. This allows for timely determination of whether the proximity switch is in the open or closed state, solving the problem in existing technologies where proximity switches are easily deformed under severe vibration conditions, leading to frequent failures, and only receiving one switch signal, making it difficult to determine the actual cause of failure. This greatly improves the monitoring and protection of the boarding ladder, thereby improving the reliability of the mining equipment operation. Optionally, the third state of the proximity switch is determined based on the first state and the second state, including: if the first state is the normal working state of the mining equipment, determining whether the second state is the boarding state and outputting the first determination result; if the first determination result indicates yes, determining the third state is the open state; if the first determination result indicates no, determining the third state is the closed state.

[0082] Optionally, determining the third state of the proximity switch based on the first state and the second state further includes: when the first state is a fault state of the mining equipment, outputting a second control signal, the second control signal being used to control the third state to be an open state.

[0083] Optionally, the mining equipment has an alarm, and the control method further includes: when the third state is the on state, sending a first alarm signal to the alarm to activate the alarm.

[0084] Optionally, the mining equipment includes an inverter and an alarm. The boarding ladder includes a main ladder and a telescopic ladder. In the third state (closed state), a first control signal is output. This first control signal controls the mining equipment to be in operation, including: determining whether the limit switches of the main ladder and the telescopic ladder are both closed, and outputting a second determination result; determining whether the alarm is activated, and outputting a third determination result; and if both the second and third determination results indicate yes, sending a start signal to the inverter to activate the inverter, and sending a stop signal to the alarm to deactivate the alarm. Optionally, the inverter includes one or more of a left-travel inverter, a right-travel inverter, and a rotary inverter.

[0085] This invention provides a processor for running a program, wherein the program executes a control method for a mining device.

[0086] Specifically, the control methods for mining equipment include:

[0087] Step S201: Obtain the first state of the mining equipment and the second state of the boarding ladder. The first state includes the normal working state of the mining equipment or the fault state of the mining equipment. The second state includes the boarding ladder being in the raised state or the boarding ladder being in the boarding state.

[0088] Specifically, the aforementioned mining equipment includes a proximity switch and a retractable boarding ladder. The proximity switch does not have direct mechanical contact with the boarding ladder. The mining equipment includes, but is not limited to, large mining excavators (also known as electric shovels). In this step, the first state corresponds to the current state of the mining equipment, and the second state corresponds to the current state of the boarding ladder. Therefore, after obtaining the first state of the mining equipment and the second state of the boarding ladder, the mining equipment can be controlled based on their current states. Specifically, the raised state corresponds to the boarding ladder not being used to support people or objects ascending to the mining equipment, and the boarding state corresponds to the boarding ladder being used to support people or objects ascending to the mining equipment. Optionally, the proximity switch can also be a photoelectric switch with a reflector.

[0089] Step S202: Determine the third state of the proximity switch based on the first state and the second state. The third state includes the proximity switch being in the open state or the proximity switch being in the closed state.

[0090] Specifically, in the process of controlling the mining equipment according to the first state of the mining equipment and the second state of the boarding ladder, in order to realize the control of the mining equipment according to the third state of the proximity switch, after obtaining the first state and the second state, the third state of the proximity switch corresponding to the working state of the mining equipment is determined according to the first state and the second state, so that the third state is either in the open state or in the closed state.

[0091] Step S203: When the third state is the off state, output the first control signal. The first control signal is used to control the mining equipment to be in the working state.

[0092] Specifically, to prevent the mining equipment from being controlled by incorrect control commands when the boarding ladder is in the boarding state, the first control signal is only output when the third state is the closed state, thereby controlling the mining equipment to be in working state and perform operations. Through this embodiment, after obtaining the first state of the mining equipment and the second state of the boarding ladder, since the first state of the mining equipment includes different states such as its normal working state and its fault state, and the second state of the boarding ladder includes different states such as its raised state and its boarding state, it is possible to monitor the different states of the boarding ladder for different states of the mining equipment. This allows for timely determination of whether the proximity switch is in the open or closed state, solving the problem in existing technologies where proximity switches are easily deformed under severe vibration conditions, leading to frequent failures, and only receiving one switch signal, making it difficult to determine the actual cause of failure. This greatly improves the monitoring and protection of the boarding ladder, thereby improving the reliability of the mining equipment operation. Optionally, the third state of the proximity switch is determined based on the first state and the second state, including: if the first state is the normal working state of the mining equipment, determining whether the second state is the boarding state and outputting the first determination result; if the first determination result indicates yes, determining the third state is the open state; if the first determination result indicates no, determining the third state is the closed state.

[0093] Optionally, determining the third state of the proximity switch based on the first state and the second state further includes: when the first state is a fault state of the mining equipment, outputting a second control signal, the second control signal being used to control the third state to be an open state.

[0094] Optionally, the mining equipment has an alarm, and the control method further includes: when the third state is the on state, sending a first alarm signal to the alarm to activate the alarm.

[0095] Optionally, the mining equipment includes an inverter and an alarm. The boarding ladder includes a main ladder and a telescopic ladder. When the third state is the closed state, a first control signal is output. The first control signal is used to control the mining equipment to be in the working state, including: determining whether the limit states of the main ladder and the telescopic ladder are both in the closed state, and outputting a second determination result; determining whether the alarm is in the activated state, and outputting a third determination result; when both the second and third determination results indicate yes, sending a start signal to the inverter to start the inverter, and sending a stop signal to the alarm to turn off the alarm.

[0096] Optionally, the inverter includes one or more of left-running inverters, right-running inverters, and rotary inverters.

[0097] This invention provides a transmission system including mining equipment, one or more processors, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps: acquiring a first state of the mining equipment and a second state of the boarding ladder, the first state including a normal operating state or a fault state of the mining equipment, and the second state including the boarding ladder being in a raised state or a boarding state; determining a third state of a proximity switch based on the first and second states, the third state including the proximity switch being in an open state or a closed state; and outputting a first control signal when the third state is closed, the first control signal being used to control the mining equipment to be in an operating state. The equipment in this document can be a server, PC, PAD, mobile phone, etc.

[0098] Optionally, determining the third state of the proximity switch based on the first state and the second state further includes: when the first state is a fault state of the mining equipment, outputting a second control signal, the second control signal being used to control the third state to be an open state.

[0099] Optionally, the mining equipment has an alarm, and the control method further includes: when the third state is the on state, sending a first alarm signal to the alarm to activate the alarm.

[0100] Optionally, the mining equipment includes an inverter and an alarm. The boarding ladder includes a main ladder and a telescopic ladder. When the third state is the closed state, a first control signal is output. The first control signal is used to control the mining equipment to be in the working state, including: determining whether the limit states of the main ladder and the telescopic ladder are both in the closed state, and outputting a second determination result; determining whether the alarm is in the activated state, and outputting a third determination result; when both the second and third determination results indicate yes, sending a start signal to the inverter to start the inverter, and sending a stop signal to the alarm to turn off the alarm.

[0101] Optionally, the inverter includes one or more of left-running inverters, right-running inverters, and rotary inverters.

[0102] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps: acquiring a first state of the mining equipment and a second state of the boarding ladder, the first state including a normal working state or a fault state of the mining equipment, and the second state including the boarding ladder being in a raised state or a boarding state; determining a third state of a proximity switch based on the first and second states, the third state including the proximity switch being in an open state or a closed state; and outputting a first control signal when the third state is in the closed state, the first control signal being used to control the mining equipment to be in a working state.

[0103] Optionally, determining the third state of the proximity switch based on the first state and the second state further includes: when the first state is a fault state of the mining equipment, outputting a second control signal, the second control signal being used to control the third state to be an open state.

[0104] Optionally, the mining equipment has an alarm, and the control method further includes: when the third state is the on state, sending a first alarm signal to the alarm to activate the alarm.

[0105] Optionally, the mining equipment includes an inverter and an alarm. The boarding ladder includes a main ladder and a telescopic ladder. When the third state is the closed state, a first control signal is output. The first control signal is used to control the mining equipment to be in the working state, including: determining whether the limit states of the main ladder and the telescopic ladder are both in the closed state, and outputting a second determination result; determining whether the alarm is in the activated state, and outputting a third determination result; when both the second and third determination results indicate yes, sending a start signal to the inverter to start the inverter, and sending a stop signal to the alarm to turn off the alarm.

[0106] Optionally, the inverter includes one or more of left-running inverters, right-running inverters, and rotary inverters.

[0107] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0108] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0109] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0110] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0111] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0112] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0113] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0114] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0115] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0116] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0117] Since the first state of the mining equipment includes different states such as its normal working state and its fault state, and the second state of the boarding ladder includes different states such as its raised state and its boarding state, after obtaining the first state of the mining equipment and the second state of the boarding ladder, it is possible to monitor the different states of the boarding ladder for different states of the mining equipment. This allows for timely determination of whether the proximity switch is in the open or closed state. In the closed state, the mining equipment can be controlled to operate. This solves the problem in the current technology that the proximity switch is prone to deformation under severe vibration conditions, leading to frequent failures, and that it can only receive one switch signal, making it difficult to determine the actual cause of failure. This greatly improves the monitoring and protection of the boarding ladder, thereby improving the reliability of the mining equipment operation.

[0118] The above description is merely a preferred 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 protection scope of this application.

Claims

1. A control method of a mining apparatus, characterized by, The mining equipment has a proximity switch and a telescopic boarding ladder, and the control method comprises the following steps: obtaining a first state of the mining equipment and a second state of the boarding ladder, the first state comprising a normal working state of the mining equipment or a fault state of the mining equipment, and the second state comprising a raised state of the boarding ladder or a boarding state of the boarding ladder; determining a third state of the proximity switch according to the first state and the second state, the third state comprising an open state of the proximity switch or a closed state of the proximity switch; outputting a first control signal in the case that the third state is the closed state, the first control signal being used to control the mining equipment to be in a working state; determining the third state of the proximity switch according to the first state and the second state comprises: judging whether the second state is the boarding state in the case that the first state is the normal working state of the mining equipment, and outputting a first judgment result; determining the third state to be the open state in the case that the first judgment result indicates yes; and determining the third state to be the closed state in the case that the first judgment result indicates no; determining the third state of the proximity switch according to the first state and the second state further comprises: outputting a second control signal in the case that the first state is the fault state of the mining equipment, the second control signal being used to control the third state to be the open state.

2. The control method according to claim 1, characterized by, The mining equipment has an alarm, and the control method further comprises: sending a first alarm signal to the alarm in the case that the third state is the open state, so as to enable the alarm.

3. The control method according to claim 1, characterized by, The mining equipment has an inverter and an alarm, and the boarding ladder comprises a main ladder and a telescopic ladder, and outputting the first control signal in the case that the third state is the closed state, the first control signal being used to control the mining equipment to be in a working state, comprises: judging whether the limiting state of the main ladder and the limiting state of the telescopic ladder are both in a closed state, and outputting a second judgment result; judging whether the alarm is in an enabled state, and outputting a third judgment result; sending an enabling signal to the inverter in the case that the second judgment result and the third judgment result both indicate yes, so as to enable the inverter, and sending a closing signal to the alarm, so as to close the alarm.

4. The control method according to claim 3, characterized by The inverter comprises one or more of a left traveling inverter, a right traveling inverter and a slewing inverter.

5. A control device of a mining apparatus, characterized by comprising: The mining equipment has a proximity switch and a telescopic boarding ladder, and the control device comprises: an obtaining unit, which is used to obtain a first state of the mining equipment and a second state of the boarding ladder, the first state comprising a normal working state of the mining equipment or a fault state of the mining equipment, and the second state comprising a raised state of the boarding ladder or a boarding state of the boarding ladder; The first determining unit is configured to determine a third state of the proximity switch according to the first state and the second state, the third state including that the proximity switch is in an open state or the proximity switch is in a closed state. The first output unit is configured to output a first control signal for controlling the mining equipment to be in a working state when the third state is the closed state. The first determining unit includes: a first judging unit configured to judge whether the second state is a boarding state when the first state is a normal working state of the mining equipment, and output a first judging result; a second determining unit configured to determine that the third state is the open state when the first judging result indicates yes; and a third determining unit configured to determine that the third state is the closed state when the first judging result indicates no. The first determining unit further includes: a second output unit configured to output a second control signal for controlling the third state to be the open state when the first state is a fault state of the mining equipment.

6. A computer readable storage medium characterized by, The computer readable storage medium includes a stored program, wherein the program controls the device where the computer readable storage medium is located to execute the control method of the mining equipment according to any one of claims 1 to 4 when the program is running.

7. A processor, comprising: The processor is configured to run a program, wherein the program executes the control method of the mining equipment according to any one of claims 1 to 4 when the program is running.

8. A transmission system characterised in that, The computer readable storage medium includes a stored program, wherein the program controls the device where the computer readable storage medium is located to execute the control method of the mining equipment according to any one of claims 1 to 4 when the program is running. The processor is configured to run a program, wherein the program executes the control method of the mining equipment according to any one of claims 1 to 4 when the program is running. The computer readable storage medium includes a stored program, wherein the program controls the device where the computer readable storage medium is located to execute the control method of the mining equipment according to any one of claims 1 to 4 when the program is running.

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