A roller vehicle derailment warning control method

Abstract

The present application provides a method for early warning and control of a roller roller derailment, by arranging front and rear tilting detection devices, side tilting detection devices, and speed detection devices on the roller roller, for example, by installing a photoelectric switch, collecting the photoelectric switch signal, and then comparing it with the current of the crushing motor and the current of the four travel motors, and performing a comprehensive analysis with the current difference of the four travel motors, and detecting the speed of the four travel motors, analyzing the abnormal state of the crushing motor and the four travel motors, and issuing an early warning of the roller roller derailment in particularly abnormal situations, thereby avoiding the risk of the roller roller derailment. This method is more accurate and timely, and can automatically handle abnormal conditions, and can also issue early warnings and stop particularly abnormal conditions. The present application can prevent the roller roller from derailing, can play an alarm and prejudgment role, and automatically handles abnormalities that occur in a short period of time but will not cause derailment for the time being, and continues the roller crushing work after the abnormal situation is handled.

Description

Technical Field

[0001] The present application relates to the field of roller-roller control, and in particular to a roller-roller derailment warning control method. Background Art

[0002] Roller crushing equipment (such as a roller truck) is a highly efficient device for roller crushing converter slag. It is driven by one crushing motor and four travel motors. The crushing motor is vector-controlled by a frequency converter, driving the crushing drum, while the four travel motors are controlled by the same frequency converter voltage-frequency ratio, driving the roller truck. When the travel motor and the crushing motor run in the same direction, they crush the slag in the roller crushing area; when the travel motor and the crushing motor run in opposite directions, they propel the slag. Based on actual on-site usage, the roller crushing area is automatically repeated 3 to 5 times to achieve satisfactory crushing, allowing the slag to be transported to the slag receiving tank. However, converter slag is often compacted for various reasons, making it difficult to crush during roller crushing. This causes the roller truck to be lifted up and frequently derailed.

[0003] If the crushing motor current is determined independently, when compaction is not severe, the current may be high, but the roller compactor is not lifted, resulting in a false alarm. If the current is set too high, it will have a significant impact on the crushing motor, cables, and inverter. If the travel motor current is determined independently, since a single inverter controls four travel motors, when the roller compactor is lifted, one or two travel motors will always be suspended, and in most cases, two travel motors will be suspended. This results in a low total current detected by the inverter controlling the travel motors, usually not exceeding the rated current of all four travel motors. The same issues exist when analyzing the combined current of the crushing and travel motors.

[0004] Therefore, it is urgent to realize early warning and control of roller derailment to avoid major impact on production. Summary of the Invention

[0005] The purpose of this application is to provide a roller crusher derailment warning control method, which can avoid the roller crusher from derailing, play an alarm prediction role, and automatically handle abnormal situations that occur in a short time but will not cause derailment for the time being. After the abnormal situation is handled, the roller crushing work continues.

[0006] To achieve the above objectives, the present application provides a method for controlling a roller vehicle from derailing, comprising:

[0007] Step S1, providing a roller pressing vehicle;

[0008] The roller crusher includes a body, four wheels mounted on the body and driving the body to move, a roller mounted on the body and performing roller crushing when the body moves, four travel motors driving the four wheels respectively, a crushing motor driving the roller to rotate, four speed detection devices respectively provided on the four travel motors, a front and rear tilting detection device mounted on the body, a side tilting detection device mounted on the body, and a control unit;

[0009] The speed detection device, the front and rear tilt detection device, and the side tilt detection device are all connected to the control unit; the four travel motors are respectively recorded as the first travel motor, the second travel motor, the third travel motor, and the fourth travel motor, wherein the first travel motor and the second travel motor are located on one side of the vehicle body, and the third travel motor and the fourth travel motor are located on the other side of the vehicle body; the first travel motor and the third travel motor are located at the rear end of the vehicle body in the direction of travel, and the second travel motor and the fourth travel motor are located at the front end of the vehicle body in the direction of travel;

[0010] Step S2: The control unit collects the operating currents of the four travel motors and the crushing motor; the front and rear tilting detection device detects whether the vehicle body tilts forward and backward; the side tilting detection device detects whether the vehicle body tilts sideways; and the four speed detection devices respectively detect the speeds of the four travel motors. The speeds of the four travel motors, i.e., the speeds of the first travel motor, the second travel motor, the third travel motor, and the fourth travel motor, are recorded as V1, V2, V3, and V4, respectively.

[0011] Step S3: If the operating current of the crushing motor is not less than the rated current of the first preset multiple, and the sum of the operating currents of the four travel motors is not less than the sum of the rated currents of the four travel motors of the first preset multiple, and the front and rear tilting detection device detects that the vehicle body tilts forward and backward or the side tilting detection device detects that the vehicle body tilts sideways, then the crushing motor and the four travel motors all stop running, and the control unit issues a warning that the roller roller has derailed.

[0012] Step S4: If the operating current of the crushing motor is not less than the rated current of the second preset multiple, and the sum of the operating currents of the four travel motors is less than the sum of the rated currents of the four travel motors of the first preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, that is,

[0013]

[0014] Where Va and Vb are any two of V1, V2, V3 and V4, max(Va, Vb) is the larger of Va and Vb, and K1 is a preset threshold;

[0015] Then the crushing motor and the four travel motors all stop running, and the control unit issues an early warning that the roller roller has derailed.

[0016] Step S5: If the side tilt detection device detects that the vehicle body side tilts up, and the speeds of the four travel motors are

[0017] and

[0018] Alternatively, if the front and rear tilt detection device detects that the vehicle body tilts forward and backward, and the speeds of the four travel motors are

[0019] and

[0020] Then the crushing motor and the four travel motors all stop running, and the control unit issues an early warning that the roller roller has derailed.

[0021] Step S6: If the operating current of the crushing motor is not less than the rated current of the second preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, and the front and rear tilting detection device detects that the vehicle body has not tilted forward and backward, and the side tilting detection device detects that the vehicle body has not tilted sideways, then the crushing motor rotates in the reverse direction, and the directions of the four travel motors remain unchanged. After all of them continue to run for the first preset time, the crushing motor rotates forward again, and the directions of the four travel motors remain unchanged, and the roller crushing operation continues;

[0022] Step S7: After the second preset time has passed, if the operating current of the crushing motor is still not less than the rated current of the second preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, the crushing motor and the four travel motors are all stopped, and the control unit issues a roller crusher derailment warning; if the operating current of the crushing motor is no longer not less than the rated current of the second preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, the roller crushing operation is continued;

[0023] Step S8: If the operating current of the crushing motor is not less than the rated current of the first preset multiple, and the sum of the operating currents of the four travel motors is not less than the sum of the rated currents of the four travel motors of the first preset multiple, and the front and rear tilting detection device detects that the vehicle body has not tilted forward and backward or the side tilting detection device detects that the vehicle body has not tilted sideways, the crushing motor rotates in the reverse direction, and the directions of the four travel motors remain unchanged. After all of them continue to operate for the first preset time, the crushing motor rotates forward again, and the directions of the four travel motors remain unchanged, and the roller crushing operation continues;

[0024] Step S9: After the second preset time, if the working current of the crushing motor is still not less than the rated current of the first preset multiple, and the sum of the working currents of the four travel motors is still not less than the sum of the rated currents of the four travel motors of the first preset multiple, then the crushing motor and the four travel motors all stop running, and the control unit issues a roller vehicle derailment warning. If the working current of the crushing motor is no longer not less than the rated current of the first preset multiple, and the sum of the working currents of the four travel motors is no less than the sum of the rated currents of the four travel motors of the first preset multiple, then the roller crushing operation continues.

[0025] In some embodiments of the present application, based on the aforementioned solution, the front and rear tilt detection device includes two photoelectric switches provided on the vehicle body and located at the front and rear ends in the traveling direction, forming a set of opposing photoelectric switches, which can detect whether the vehicle body is tilted front and rear and transmit a front and rear tilt signal to the control unit;

[0026] The side tilt detection device includes two photoelectric switches arranged on the vehicle body and located on both sides perpendicular to the walking direction, forming another set of opposing photoelectric switches, which can detect whether the vehicle body is tilted sideways and transmit a side tilt signal to the control unit.

[0027] In some embodiments of the present application, based on the aforementioned scheme, when the vehicle body is tilted forward and backward or tilted sideways, a low-level signal is transmitted to the control unit; when the vehicle body is not tilted forward and backward or tilted sideways, a high-level signal is transmitted to the control unit.

[0028] In some embodiments of the present application, based on the aforementioned scheme, a fixed rod is fixed on the vehicle body corresponding to each photoelectric switch, the fixed rod is connected to the rotating shaft, and the other end of the rotating shaft is connected to the weight box. The rotating shaft can rotate freely around the fixed rod, thereby ensuring that the weight box is level, and each photoelectric switch is installed correspondingly in the weight box.

[0029] In some embodiments of the present application, based on the aforementioned solution, a hollow heat-insulating protection box is further provided on the vehicle body, and the fixing rod, rotating shaft and weight box are all located in the heat-insulating protection box.

[0030] In some embodiments of the present application, based on the aforementioned solution, the four speed detection devices are respectively travel speed encoders provided on the shafts of the four travel motors.

[0031] In some embodiments of the present application, based on the aforementioned solution, the four travel motors are controlled by the same travel inverter voltage-frequency ratio, the travel inverter is communicatively connected to the control unit, so that the control unit collects the working current of the four travel motors through the travel inverter; the crushing motor is vector controlled by the crushing inverter, the crushing inverter is communicatively connected to the control unit, so that the control unit collects the working current of the crushing motor through the crushing inverter, and the crushing motor drives the pressing roller through the reducer;

[0032] The speed detection device, the front and rear tilting detection device and the side tilting detection device are all connected to the control unit through hard wires.

[0033] In some embodiments of the present application, based on the aforementioned solution, the control unit is a programmable intelligent controller, and the control unit is communicatively connected to a host computer.

[0034] In some embodiments of the present application, based on the aforementioned scheme, the first preset multiple is 1.5 times, the second preset multiple is 1.7 to 1.9 times, K1 is 6% to 7%, the first preset time is 3 to 3.5s, and the second preset time is 2 to 2.5s.

[0035] In some embodiments of the present application, based on the aforementioned solution, the second preset multiple is 1.9 times, K1 is 6%, the first preset time is 3s, and the second preset time is 2s.

[0036] The technical solution of the present application proposes a derailment warning control method, which is achieved by arranging front and rear tilting detection devices, side tilting detection devices and speed detection devices on a roller vehicle, for example, by installing a photoelectric switch, collecting the photoelectric switch signal, and then comparing it with the current of the crushing motor and the current of the four travel motors, and performing a comprehensive analysis with the current difference of the four travel motors, and detecting the speed of the four travel motors, analyzing the abnormal conditions of the crushing motor and the four travel motors, and issuing a derailment warning for the roller vehicle in particularly abnormal conditions, thereby avoiding the risk of the roller vehicle derailing. This method is more accurate and timely, and can automatically handle abnormal conditions, and can also issue warnings and stop particularly abnormal conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0038] Figure 1 This is a flow chart of the roller rolling vehicle derailment warning control method of this application;

[0039] Figure 2 This is a structural diagram of the roller press vehicle for this application. DETAILED DESCRIPTION

[0040] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] The following will describe some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0042] See also Figure 1 The present application provides a method for controlling a roller vehicle from derailing, comprising:

[0043] Step S1, providing a roller pressing vehicle;

[0044] Figure 2 This is a structural schematic diagram of the roller crusher, which includes a body 100, four wheels 200 installed on the body 100 and driving the body 100 to move, a roller 300 installed on the body 100 and performing roller crushing when the body 100 moves, four travel motors respectively driving the four wheels 200, a crushing motor driving the roller 300 to rotate, four speed detection devices respectively provided on the four travel motors, a front and rear tilting detection device installed on the body 100, a side tilting detection device installed on the body 100, and a control unit.

[0045] The speed detection device, the front and rear tilt detection device and the side tilt detection device are all connected to the control unit. The four walking motors are respectively recorded as the first walking motor 1, the second walking motor 2, the third walking motor 3 and the fourth walking motor 4, wherein the first walking motor 1 and the second walking motor 2 are located on one side of the vehicle body 100, and the third walking motor 3 and the fourth walking motor 4 are located on the other side of the vehicle body 100; the first walking motor 1 and the third walking motor 3 are located at the rear end of the vehicle body 100 in the walking direction X, and the second walking motor 2 and the fourth walking motor 4 are located at the front end of the vehicle body 100 in the walking direction X. It should be noted that the four walking motors are driven by driving the axles of the four wheels 200 respectively, so in Figure 2The first travel motor 1, the second travel motor 2, the third travel motor 3 and the fourth travel motor 4 are represented by the axles pointing to the four wheels 200 respectively, and the third travel motor 3 and the fourth travel motor 4 are blocked by the vehicle body 100. Figure 2 Only the relative position relationship is indicated.

[0046] Step S2: The control unit collects the operating currents of the four travel motors and the crushing motor; the front and rear tilting detection device detects whether the vehicle body 100 tilts forward and backward; the side tilting detection device detects whether the vehicle body 100 tilts sideways; and the four speed detection devices respectively detect the speeds of the four travel motors. The speeds of the four travel motors, i.e., the speeds of the first travel motor 1, the second travel motor 2, the third travel motor 3, and the fourth travel motor 4, are recorded as V1, V2, V3, and V4, respectively.

[0047] Step S3: If the operating current of the crushing motor is not less than the rated current of the first preset multiple, and the sum of the operating currents of the four travel motors is not less than the sum of the rated currents of the four travel motors of the first preset multiple, and the front and rear tilting detection device detects that the vehicle body 100 is tilted front and rear or the side tilting detection device detects that the vehicle body 100 is tilted sideways, the crushing motor and the four travel motors all stop running, and the control unit issues a warning that the roller roller has derailed.

[0048] Step S4: If the operating current of the crushing motor is not less than the rated current of the second preset multiple, and the sum of the operating currents of the four travel motors is less than the sum of the rated currents of the four travel motors of the first preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, that is,

[0049]

[0050] Where Va and Vb are any two of V1, V2, V3 and V4, max(Va, Vb) is the larger of Va and Vb, and K1 is a preset threshold;

[0051] Then the crushing motor and the four travel motors all stop running, and the control unit issues an early warning that the roller roller has derailed.

[0052] It should be noted that when the working current of the crushing motor is not less than the rated current of the second preset multiple, and the sum of the working currents of the four walking motors is less than the sum of the rated currents of the four walking motors of the first preset multiple, and the speed difference between any two walking motors among the four walking motors is greater than the preset threshold, it means that there is a very large obstacle to the operation of the crushing motor, and the wheel 200 driven by one walking motor is tilted. Under the same torque, the walking motor has no track resistance, and the feedback speed must be larger. The current of the walking motor is small, so the sum of the currents of the four walking motors is not too high. At this time, even if the front and rear tilting detection device detects that the vehicle body 100 is not tilted front and rear, and the side tilting detection device detects that the vehicle body 100 is not tilted sideways (the photoelectric switches 1, 2 and the photoelectric switches 3, 4 transmit high-level signals to the control unit (the photoelectric switches have a certain effective area when they are shooting)), there is still a risk of the roller vehicle derailing. Therefore, the crushing motor and the four walking motors all stop running, and the control unit issues a roller vehicle derailment warning.

[0053] Step S5: If the side tilting detection device detects that the vehicle body 100 is tilted at the side, and among the speeds of the four travel motors, the speed difference between the first travel motor 1 and the fourth travel motor 4 is greater than the preset threshold, and the speed difference between the second travel motor 2 and the third travel motor 3 is greater than the preset threshold, or if the front and rear tilting detection device detects that the vehicle body 100 is tilted at the front and rear (front end or rear end tilted), and among the speeds of the four travel motors, the speed difference between the first travel motor 1 and the second travel motor 2 is greater than the preset threshold, and the speed difference between the third travel motor 3 and the fourth travel motor 4 is greater than the preset threshold, that is, if the side tilting detection device detects that the vehicle body 100 is tilted at the side, and among the speeds of the four travel motors,

[0054] and

[0055] Alternatively, if the front and rear tilting detection device detects that the vehicle body 100 tilts forward and backward, and the speeds of the four travel motors are

[0056] and

[0057] Then the crushing motor and the four travel motors all stop running, and the control unit issues an early warning that the roller roller has derailed.

[0058] Step S6: If the operating current of the crushing motor is not less than the rated current of the second preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, and the front and rear tilting detection device detects that the vehicle body 100 has not tilted forward and backward, and the side tilting detection device detects that the vehicle body 100 has not tilted sideways, then the crushing motor rotates in the reverse direction, and the directions of the four travel motors remain unchanged. They all continue to run for the first preset time to avoid crushing slag that may be hardened or accumulated too high. After the slag is pushed for the first preset time, the crushing motor rotates forward again, and the directions of the four travel motors remain unchanged to continue the roller crushing operation.

[0059] Step S7: After the second preset time has passed, if the operating current of the crushing motor is still not less than the rated current of the second preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, the crushing motor and the four travel motors are all stopped, and the control unit issues a roller crusher derailment warning; if the operating current of the crushing motor is no longer not less than the rated current of the second preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, the roller crushing operation is continued;

[0060] Step S8: If the operating current of the crushing motor is not less than the rated current of the first preset multiple, and the sum of the operating currents of the four travel motors is not less than the sum of the rated currents of the four travel motors of the first preset multiple, and the front and rear tilting detection device detects that the vehicle body 100 has not tilted forward and backward or the side tilting detection device detects that the vehicle body 100 has not tilted sideways, the crushing motor rotates in the reverse direction, the directions of the four travel motors remain unchanged, and all continue to run for the first preset time to avoid crushing slag that may be hardened or accumulated too high, and push the slag to move after the first preset time, the crushing motor rotates forward again, the directions of the four travel motors remain unchanged, and the roller crushing operation continues;

[0061] Step S9: After the second preset time, if the working current of the crushing motor is still not less than the rated current of the first preset multiple, and the sum of the working currents of the four travel motors is still not less than the sum of the rated currents of the four travel motors of the first preset multiple, then the crushing motor and the four travel motors all stop running, and the control unit issues a roller vehicle derailment warning. If the working current of the crushing motor is no longer not less than the rated current of the first preset multiple, and the sum of the working currents of the four travel motors is no less than the sum of the rated currents of the four travel motors of the first preset multiple, then the roller crushing operation continues.

[0062] In some embodiments of the present application, the front and rear tilt detection device includes two photoelectric switches provided on the vehicle body 100 and located at the front and rear ends in the travel direction X, forming a set of opposing beam photoelectric switches capable of detecting whether the vehicle body 100 is tilted front and rear and transmitting a front and rear tilt signal to the control unit. The side tilt detection device includes two photoelectric switches provided on the vehicle body 100 and located on both sides perpendicular to the travel direction X, forming another set of opposing beam photoelectric switches capable of detecting whether the vehicle body 100 is tilted sideways and transmitting a side tilt signal to the control unit.

[0063] Specifically, when the vehicle body 100 is tilted forward or backward or sideways, a low-level signal is transmitted to the control unit; when the vehicle body 100 is not tilted forward or backward or sideways, a high-level signal is transmitted to the control unit.

[0064] Specifically, a fixing rod 101 is fixed on the vehicle body 100 corresponding to each photoelectric switch. The fixing rod 101 is connected to a rotating shaft 102. The other end of the rotating shaft 102 is connected to a weight box 103. The rotating shaft 102 can rotate freely around the fixing rod 101 to ensure that the weight box 103 is level. Each photoelectric switch is installed in the weight box 103. The weight of the weight is selected to meet the requirement of no shaking during startup with static inertia. After the weight box 103 is connected to the rotating shaft 102, it can keep the weight box 103 level.

[0065] Figure 2 In the figure, the two photoelectric switches on the vehicle body 100 and located at the front and rear ends in the travel direction X are denoted as photoelectric switch 1 and photoelectric switch 2, and the two photoelectric switches on the vehicle body 100 and located on both sides perpendicular to the travel direction X are denoted as photoelectric switch 3 and photoelectric switch 4. When the side of the roller press tilts, photoelectric switches 3 and 4 are mainly responsible. For example, if the side where photoelectric switch 3 is located tilts, the horizontal line of the rotation axis fixing photoelectric switches 3 and 4 will be displaced, but the weight box 103 will still remain horizontal under the action of gravity. In this case, photoelectric switches 3 and 4 cannot emit light to each other, and the signal transmitted to the control unit is low (under normal circumstances, when there is no side tilt, photoelectric switches 3 and 4 can emit light to each other and the signal is high). When the front or rear end of the roller press is tilted, the photoelectric switches 1 and 2 are mainly at work. For example, the front end where the photoelectric switch 2 is located is tilted, and the horizontal line of the rotating shaft that fixes the photoelectric switches 1 and 2 is displaced, but the weight box 103 will still remain horizontal under the action of gravity. Then the photoelectric switches 1 and 2 cannot emit light, and the signal transmitted to the control unit is low (under normal circumstances, when there is no front or rear tilting, the photoelectric switches 1 and 2 can emit light and the signal is high).

[0066] Specifically, the vehicle body 100 is further provided with a hollow heat-insulating protective box 104. The fixing rod 101, the rotating shaft 102, and the reloading box 103 are all located within the heat-insulating protective box 104, providing protection from dust and high temperatures. Preferably, the heat-insulating protective box 104 is a hollow box formed by welding thin steel plates and provided with a heat-insulating layer.

[0067] The heat-insulating protection box 104 is provided with an observation hole corresponding to the photoelectric switch, so as to facilitate the replacement and maintenance of the photoelectric switch, the rotating shaft 102 and the re-lump box 103.

[0068] Furthermore, the vehicle body 100 has two crossbeams 105, and the fixing rod 101 can be installed on the two crossbeams 105. Of course, the position of the photoelectric switch should be selected to avoid interference with other equipment and to maximize the reflection of the position where the roller roller is tilted at a certain angle. The front and rear ends of the roller roller are set with limit stops. When performing roller crushing, the crushing motor and the four travel motors are in the same direction, and move back and forth between the front and rear end limits 3 to 5 times, stopping at the middle position. Then the crushing motor and the four travel motors move in the opposite direction to push the slag into the slag receiving tank. During the roller crushing process, the roller roller often derails. Therefore, when the photoelectric switch shooting signal is high, it is one of the necessary conditions for reliably judging that the vehicle body has not tilted. Since there may still be instantaneous tilting caused by roller slag, the current and speed of the four travel motors and the crushing motor must also be relied upon as judgment conditions.

[0069] In some embodiments of the present application, the four speed detection devices are respectively travel speed encoders provided on the shafts of the four travel motors, thereby respectively feeding back the speeds of the four travel motors to the control unit.

[0070] Specifically, the four travel motors are controlled by the same voltage-frequency ratio of a travel inverter, which is communicatively connected to a control unit, allowing the control unit to collect the operating current of the four travel motors through the travel inverter. The crushing motor is vector-controlled by the crushing inverter, which is communicatively connected to the control unit, allowing the control unit to collect the operating current of the crushing motor through the crushing inverter. The crushing motor drives the pressure roller 300 via a speed reducer. The speed detection device, front and rear tilt detection device, and side tilt detection device are all connected to the control unit via hard wiring.

[0071] The control unit is a programmable intelligent controller, such as a PLC or computer. The control unit is communicatively connected to a host computer. This application utilizes a programmable intelligent controller as the control unit to collect current, speed, and tilt information (high and low level signals from a photoelectric switch), comprehensively analyze and determine the status of the roller press, and automatically generate an alarm and perform automatic processing. The controller can also send various status alarm messages to the host computer, which then displays an alarm prompt, prompting the operator to promptly address equipment issues.

[0072] Specifically, in some embodiments of the present application, the first preset multiple is 1.5 times, the second preset multiple is 1.7 to 1.9 times, K1 is 6% to 7%, the first preset time is 3 to 3.5 seconds, and the second preset time is 2 to 2.5 seconds.

[0073] Preferably, the second preset multiple is 1.9 times, K1 is 6%, the first preset time is 3s, and the second preset time is 2s. Of course, the above parameter values ​​are determined according to actual conditions, and this application does not impose any restrictions on this.

[0074] The present application discloses a method for controlling a roller-type vehicle to be derailed. This method provides a front and rear tilting detection device, a side tilting detection device, and a speed detection device on the roller-type vehicle. For example, a photoelectric switch is installed to collect the photoelectric switch signal, which is then compared with the current of the crushing motor and the current of the four travel motors. The signal is then comprehensively analyzed with the current difference of the four travel motors. The speed of the four travel motors is detected, the abnormal conditions of the crushing motor and the four travel motors are analyzed, and an early warning of the roller-type vehicle being derailed is issued for particularly abnormal conditions, thereby avoiding the risk of the roller-type vehicle being derailed. This method is more accurate and timely, and can automatically handle abnormal conditions, as well as issue early warnings and stop particularly abnormal conditions. The present application can prevent the roller-type vehicle from being derailed, and can play an alarm and prejudgment role. It can automatically handle abnormal conditions that occur in a short period of time but will not cause derailment for the time being, and continue the roller crushing work after the abnormal conditions are handled.

[0075] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in this application. It should be understood that the present application is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of this application is limited only by the appended claims.

Claims

1. A roller rolling vehicle derailment warning control method, characterized in that: include: Step S1, providing a roller pressing vehicle; The roller crusher includes a body, four wheels mounted on the body and driving the body to move, a roller mounted on the body and performing roller crushing when the body moves, four travel motors driving the four wheels respectively, a crushing motor driving the roller to rotate, four speed detection devices respectively provided on the four travel motors, a front and rear tilting detection device mounted on the body, a side tilting detection device mounted on the body, and a control unit; The speed detection device, the front and rear tilt detection device, and the side tilt detection device are all connected to the control unit; the four travel motors are respectively recorded as the first travel motor, the second travel motor, the third travel motor, and the fourth travel motor, wherein the first travel motor and the second travel motor are located on one side of the vehicle body, and the third travel motor and the fourth travel motor are located on the other side of the vehicle body; the first travel motor and the third travel motor are located at the rear end of the vehicle body in the direction of travel, and the second travel motor and the fourth travel motor are located at the front end of the vehicle body in the direction of travel; Step S2: The control unit collects the operating currents of the four travel motors and the crushing motor; the front and rear tilting detection device detects whether the vehicle body tilts forward and backward; the side tilting detection device detects whether the vehicle body tilts sideways; and the four speed detection devices respectively detect the speeds of the four travel motors. The speeds of the four travel motors, i.e., the speeds of the first travel motor, the second travel motor, the third travel motor, and the fourth travel motor, are recorded as V1, V2, V3, and V4, respectively. Step S3: If the operating current of the crushing motor is not less than the rated current of the first preset multiple, and the sum of the operating currents of the four travel motors is not less than the sum of the rated currents of the four travel motors of the first preset multiple, and the front and rear tilting detection device detects that the vehicle body tilts forward and backward or the side tilting detection device detects that the vehicle body tilts sideways, then the crushing motor and the four travel motors all stop running, and the control unit issues a warning that the roller roller has derailed. Step S4: If the operating current of the crushing motor is not less than the rated current of the second preset multiple, and the sum of the operating currents of the four travel motors is less than the sum of the rated currents of the four travel motors of the first preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, that is, Where Va and Vb are any two of V1, V2, V3 and V4, max(Va, Vb) is the larger of Va and Vb, and K1 is a preset threshold; Then the crushing motor and the four travel motors all stop running, and the control unit issues an early warning that the roller roller has derailed. Step S5: If the side tilt detection device detects that the vehicle body side tilts up, and the speeds of the four travel motors are and Alternatively, if the front and rear tilt detection device detects that the vehicle body tilts forward and backward, and the speeds of the four travel motors are and Then the crushing motor and the four travel motors all stop running, and the control unit issues an early warning that the roller roller has derailed. Step S6: If the operating current of the crushing motor is not less than the rated current of the second preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, and the front and rear tilting detection device detects that the vehicle body has not tilted forward and backward, and the side tilting detection device detects that the vehicle body has not tilted sideways, then the crushing motor rotates in the reverse direction, and the directions of the four travel motors remain unchanged. After all of them continue to run for the first preset time, the crushing motor rotates forward again, and the directions of the four travel motors remain unchanged, and the roller crushing operation continues; Step S7: After the second preset time has passed, if the operating current of the crushing motor is still not less than the rated current of the second preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, the crushing motor and the four travel motors are all stopped, and the control unit issues a roller crusher derailment warning; if the operating current of the crushing motor is no longer not less than the rated current of the second preset multiple, and the speed difference between any two of the four travel motors is greater than the preset threshold, the roller crushing operation is continued; Step S8: If the operating current of the crushing motor is not less than the rated current of the first preset multiple, and the sum of the operating currents of the four travel motors is not less than the sum of the rated currents of the four travel motors of the first preset multiple, and the front and rear tilting detection device detects that the vehicle body has not tilted forward and backward or the side tilting detection device detects that the vehicle body has not tilted sideways, the crushing motor rotates in the reverse direction, and the directions of the four travel motors remain unchanged. After all of them continue to operate for the first preset time, the crushing motor rotates forward again, and the directions of the four travel motors remain unchanged, and the roller crushing operation continues; Step S9: After the second preset time, if the working current of the crushing motor is still not less than the rated current of the first preset multiple, and the sum of the working currents of the four travel motors is still not less than the sum of the rated currents of the four travel motors of the first preset multiple, then the crushing motor and the four travel motors all stop running, and the control unit issues a roller vehicle derailment warning. If the working current of the crushing motor is no longer not less than the rated current of the first preset multiple, and the sum of the working currents of the four travel motors is no less than the sum of the rated currents of the four travel motors of the first preset multiple, then the roller crushing operation continues.

2. The roller vehicle derailment warning control method according to claim 1, characterized in that: The front and rear tilt detection device includes two photoelectric switches provided on the vehicle body and located at the front and rear ends in the direction of travel, forming a set of opposing beam photoelectric switches, which can detect whether the vehicle body is tilted front and rear and transmit a front and rear tilt signal to the control unit; The side tilt detection device includes two photoelectric switches arranged on the vehicle body and located on both sides perpendicular to the walking direction, forming another set of opposing photoelectric switches, which can detect whether the vehicle body is tilted sideways and transmit a side tilt signal to the control unit.

3. The roller vehicle derailment warning control method according to claim 2, characterized in that: When the vehicle body tilts up front and back or tilts up sideways, a low-level signal is transmitted to the control unit; when the vehicle body does not tilt up front and back or tilts up sideways, a high-level signal is transmitted to the control unit.

4. The roller vehicle derailment warning control method according to claim 2, characterized in that: A fixing rod is fixed on the vehicle body corresponding to each photoelectric switch, and the fixing rod is connected to the rotating shaft, and the other end of the rotating shaft is connected to the weight box. The rotating shaft can rotate freely around the fixing rod to ensure that the weight box is level, and each photoelectric switch is installed in the weight box accordingly.

5. The roller vehicle derailment warning control method according to claim 4, characterized in that: The vehicle body is also provided with a hollow heat-insulating protection box, and the fixing rod, the rotating shaft and the weight box are all located in the heat-insulating protection box.

6. The roller vehicle derailment warning control method according to claim 1, characterized in that: The four speed detection devices are respectively travel speed encoders arranged on the shafts of the four travel motors.

7. The roller vehicle derailment warning control method according to claim 1, characterized in that: The four travel motors are controlled by the same travel frequency converter voltage-frequency ratio, and the travel frequency converter is communicatively connected to the control unit, so that the control unit collects the working current of the four travel motors through the travel frequency converter; the crushing motor is vector-controlled by the crushing frequency converter, and the crushing frequency converter is communicatively connected to the control unit, so that the control unit collects the working current of the crushing motor through the crushing frequency converter, and the crushing motor drives the pressing roller through the reducer; The speed detection device, the front and rear tilting detection device and the side tilting detection device are all connected to the control unit through hard wires.

8. The roller vehicle derailment warning control method according to claim 1, characterized in that: The control unit is a programmable intelligent controller, and the control unit is communicatively connected with a host computer.

9. The roller vehicle derailment warning control method according to claim 1, characterized in that: The first preset multiple is 1.5 times, the second preset multiple is 1.7 to 1.9 times, K1 is 6% to 7%, the first preset time is 3 to 3.5 seconds, and the second preset time is 2 to 2.5 seconds.

10. The roller vehicle derailment warning control method according to claim 9, characterized in that: The second preset multiple is 1.9 times, K1 is 6%, the first preset time is 3 seconds, and the second preset time is 2 seconds.

Images