Distributed control method, system and device for mining trolley and storage medium

Abstract

The invention provides a mining trolley distributed control method, system and device and a storage medium. The method comprises the steps that a mining trolley control system is divided into a main controller and bus control modules which are mutually independent; respectively configuring a fault diagnosis mechanism for each bus control module according to the working characteristics of each functional component; calling a main controller to perform centralized management and coordination control on each bus control module; calling each bus control module to correspondingly control each functional component to execute corresponding work, and performing fault diagnosis positioning on each corresponding functional component according to each fault diagnosis mechanism to obtain a fault detail result of each functional component; and calling the main controller to transmit the fault detail result of each functional component to the touch screen for display. According to the mining trolley control system, the harness from the cab to the outside of the cabin of the mining trolley can be simplified, operation of the whole mining trolley control system is guaranteed, maintainability and flexibility of the mining trolley control system are improved, and universal design of the mining trolley control system is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of mining trolley control, and in particular to a mining trolley distributed control method, system, device and storage medium. Background Art

[0002] At present, the control system of mining trolleys is divided into chassis and upper control system, which have more valve control. The chassis and upper control system are two completely independent control systems, which are difficult to maintain, costly, and require large R&D investment, resulting in waste of resources and complicated wiring harnesses. In addition, the mining trolley control system does not have a diagnostic system, and on-site troubleshooting cannot accurately locate the fault, and single-point failures will affect the operation of the entire system. Summary of the invention

[0003] The embodiments of the present application provide a mining trolley distributed control method, system, device and storage medium to solve the problems existing in the related technologies. The technical solutions are as follows:

[0004] In a first aspect, an embodiment of the present application provides a distributed control method for a mining trolley, comprising:

[0005] The mining trolley control system is divided into a main controller and mutually independent bus control modules, and each bus control module is connected to the main controller via a CAN bus, wherein each bus control module is divided according to each functional component of the mining trolley;

[0006] The main controller is connected to the touch screen of the mining trolley via the CAN bus and TCP / IP protocol for master-slave dual communication;

[0007] According to the working characteristics of each functional component, a fault diagnosis mechanism is configured for each bus control module;

[0008] Calling the main controller to centrally manage and coordinate the bus control modules;

[0009] Calling each of the bus control modules to control each of the functional components to perform corresponding work, performing fault diagnosis and location on the corresponding functional components according to their respective fault diagnosis mechanisms, and obtaining detailed fault results of each of the functional components;

[0010] The main controller is called to transmit the fault details of each functional component to the touch screen for display.

[0011] In one embodiment, each of the bus control modules includes a chassis control module, a rock drilling control module, a rod storage control module, a sensor acquisition module and a power system control module; wherein the chassis control module is arranged near the chassis valve of the mining trolley, and is used to control the chassis components of the mining trolley; the rock drilling control module is arranged near the rock drilling valve of the mining trolley, and is used to control the rock drilling components of the mining trolley; the rod storage control module is arranged near the rod storage of the mining trolley, and is used to control the operating components of the mining trolley; the sensor acquisition module is arranged near the hydraulic system of the mining trolley, and is used to control the sensor components of the mining trolley; the power system control module is arranged in the main control cabinet of the mining trolley, and is used to control the power components of the mining trolley;

[0012] According to the working characteristics of each functional component, configuring a fault diagnosis mechanism for each bus control module includes:

[0013] Configuring each of the bus control modules with a fault diagnosis algorithm capable of diagnosing a corresponding fault of the functional component corresponding thereto;

[0014] Encoding the fault codes and processing solutions corresponding to the corresponding faults to form a fault library corresponding to each bus control module;

[0015] Based on the fault diagnosis algorithm and the fault library, a fault diagnosis mechanism of each bus control module is obtained.

[0016] In one embodiment, the chassis components include a chassis engine, a gearbox, a leg, a cable drum, a water cable drum, an electric conductor, and a water conductor; calling the chassis control module to perform corresponding work on the chassis components, performing fault diagnosis and positioning on the chassis components according to its own fault diagnosis mechanism, and obtaining the fault details of the chassis components includes:

[0017] The chassis control module is called to adopt a local or remote control mode, and the chassis engine is controlled to start and stop, increase or decrease the speed, one-key idle or functional emergency stop through the first conversion switch;

[0018] The chassis control module is called to adopt a local or remote control mode, and the gearbox is controlled to perform up / down gear shifting or braking through a second conversion switch;

[0019] Calling the chassis control module to control the legs to perform forward, backward, left or right extension and automatic leveling;

[0020] Calling the chassis control module to control the cable drum, the water cable drum, the electrical conductor and the water conductor to perform corresponding work corresponding to the corresponding instruction by receiving the corresponding instruction;

[0021] The chassis control module is called to determine whether the chassis engine, the gearbox, the leg, the cable drum, the water cable drum, the electrical conductor and the water conductor are operating normally according to its own fault diagnosis mechanism and the operating data of the chassis engine, the gearbox, the leg, the cable drum, the water cable drum, the electrical conductor and the water conductor, and obtain the fault details of the chassis components. The fault details of the chassis components include: fault codes and fault handling solutions corresponding to bus fault, abnormal operation of chassis engine, abnormal operation of gearbox, short circuit fault of acquisition line, open circuit fault of acquisition line, short circuit fault of output line or open circuit fault of output line.

[0022] In one embodiment, the sensor component includes: a plurality of sensors for collecting various pressures of the mining trolley, wherein the various pressures include at least rotational pressure; calling the sensor control module to perform corresponding work on the sensor component, and diagnosing and locating the fault of the sensor component according to its own fault diagnosis mechanism, and obtaining the fault details of the sensor component includes:

[0023] Calling the sensor control module to control a plurality of sensors to collect various pressure signals of the mining trolley;

[0024] The sensor control module is called to determine whether several of the sensors are operating normally according to its own fault diagnosis mechanism and the various pressure signals, and obtain the fault details of the sensor components. The fault details of the sensor components include the fault codes and fault handling solutions corresponding to the open circuit faults, open circuit faults or damage faults of several of the sensors.

[0025] In one embodiment, the rock drilling component includes: a rock drill and a drill rod, a propulsion cylinder of the rock drill has a built-in first position sensor and a propulsion beam of the rock drill has an external second position sensor, and a camera is installed on the upper end of the propulsion beam of the rock drill; calling the rock drilling control module to perform corresponding work on the rock drilling component, performing fault diagnosis and positioning on the rock drilling component according to its own fault diagnosis mechanism, and obtaining the fault details of the rock drilling component includes:

[0026] calling the rock drilling control module to perform anti-jamming control on the rock drill by monitoring the rotation pressure of the rock drill according to the rock drill position detected by the first position sensor or the second position sensor;

[0027] The rock drilling control module is called to automatically connect and disconnect the drill rod according to the position of the rock drill and the rotation pressure of the rock drill, and the AI ​​recognition algorithm is introduced through the camera to identify the automatic connection and disconnection of the rod;

[0028] The rock drilling control module is called to determine whether the rock drill and the drill rod are operating normally according to its own fault diagnosis mechanism and the operating data of the rock drill and the drill rod, and obtain the fault details of the rock drilling component, wherein the fault details of the rock drilling component include the fault code and fault handling plan corresponding to the rock drilling valve group fault or the hydraulic system light fault.

[0029] In one embodiment, the control component includes a rod library, a manipulator, a drill arm and an inclination sensor; calling the rod library module to control the control component to perform corresponding work, performing fault diagnosis and positioning on the control component according to its own fault diagnosis mechanism, and obtaining the fault details of the control component includes:

[0030] Calling the rod library control module to control the inclination sensor to collect the actual angle value of the drill arm, and controlling the rotation of the rod library and the movement of the manipulator according to the actual angle value and the preset opening angle of the mining trolley to perform positioning control on the drill arm;

[0031] The fault diagnosis mechanism of the rod library control module itself and the operating data of the rod library, the manipulator, the drill arm and the inclination sensor are called to determine whether the rod library, the manipulator, the drill arm and the inclination sensor are operating normally, and the fault details of the operating components are obtained. The fault details of the operating components include the fault codes and fault handling solutions corresponding to the rod library valve group fault, sensor fault, line short circuit fault, line open circuit fault or hydraulic system light fault.

[0032] In one embodiment, the power component includes: a hydraulic system, a water system, a gas system, a lubrication system and an electrical system; calling the power control module to control the power component to perform corresponding work, and performing fault diagnosis and positioning on the power component according to its own fault diagnosis mechanism and the operation data of the power component, and obtaining the fault details of the power component includes:

[0033] Calling the power control module to control the start of the hydraulic system, the water system, and the gas system by one-button start or independent start;

[0034] Calling the power control module to control the lubrication system to lubricate the rock drilling component in an intermittent lubrication manner;

[0035] Calling the power control module to control the electrical system to perform electrical input and output;

[0036] The power control module is called to determine whether the hydraulic system, the water system, the gas system, the lubrication system and the electrical system are operating normally according to its own fault diagnosis mechanism and the operating data of the hydraulic system, the water system, the gas system, the lubrication system and the electrical system, and obtain the fault details of the power component. The fault details of the power component include the fault codes and fault handling plans corresponding to the hydraulic station operation failure, the water system operation failure, the gas circuit operation failure or the operation failure of each electrical component.

[0037] In a second aspect, an embodiment of the present application further provides a mining trolley control system, which is applied to a method in any possible implementation of the first aspect above, wherein the mining trolley control system comprises: a main controller and mutually independent bus control modules, wherein each of the bus control modules is divided according to each functional component of the mining trolley; wherein the main controller is connected to each of the bus control modules via a CAN bus, and the main controller is connected to the touch screen of the mining trolley in a master-slave dual communication manner via a CAN bus and a TCP / IP protocol;

[0038] The main controller is used to centrally manage and coordinate the bus control modules;

[0039] Each of the bus control modules is used to control each of the functional components to perform corresponding work, and to perform fault diagnosis and location on the corresponding functional components according to the respective fault diagnosis mechanisms, so as to obtain detailed fault results of each of the functional components. The fault diagnosis mechanisms of each of the bus control modules are configured according to the working characteristics of the corresponding functional components;

[0040] The main controller is also used to transmit the fault details of each functional component to the touch screen for display.

[0041] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a memory and a processor, wherein the memory stores instructions, and the instructions are loaded and executed by the processor to implement a method in any one of the above-mentioned aspects, wherein the memory and the processor communicate with each other through an internal connection path.

[0042] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on a computer, the method in any one of the above-mentioned embodiments is implemented.

[0043] The advantages or beneficial effects of the above technical solution include at least:

[0044] The present application can simplify the wiring harness from the cab to the outside of the mining trolley, making the wiring harness of the entire mining trolley orderly and simple. At the same time, it can also accurately locate single-point failures, ensure the operation of the entire mining trolley control system, and improve the maintainability and flexibility of the mining trolley control system, and realize the universal design of the mining trolley control system.

[0045] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present application will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application.

[0047] Figure 1 An example flow chart of a distributed control method for a mining trolley provided in an embodiment of the present application;

[0048] Figure 2 A structural block diagram of a distributed control system for a mining vehicle provided in an embodiment of the present application;

[0049] Figure 3 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0051] Figure 1 FIG. 2 is a flow chart showing a distributed control method for a mining vehicle according to an embodiment of the present application. Figure 1 As shown, the method may include the following steps:

[0052] S110, dividing the mining trolley control system into a main controller and mutually independent bus control modules, and connecting each bus control module to the main controller via a CAN bus.

[0053] In one embodiment, each bus control module is divided according to each functional component of the mining trolley, so that each functional component of the mining trolley can be correspondingly controlled by each bus control module.

[0054] In specific implementation, each bus control module has input and output signal channels, and exchanges data with the main controller through the CAN bus.

[0055] As an example, Figure 2 As shown, each bus control module may include but is not limited to: chassis control module, rock drilling control module, rod storage control module, sensor acquisition module and power system control module. Among them, the chassis control module can be arranged near the chassis valve of the mining trolley to control the chassis components of the mining trolley; the rock drilling control module can be arranged near the rock drilling valve of the mining trolley to control the rock drilling components of the mining trolley; the rod storage control module can be arranged near the rod storage of the mining trolley to control the operating components of the mining trolley; the sensor acquisition module can be arranged near the hydraulic system of the mining trolley to control the sensor components of the mining trolley; the power system control module can be arranged in the main control cabinet of the mining trolley to control the power components of the mining trolley.

[0056] In this example, the bus control module can be divided according to the functions of the components of the mining trolley, so as to facilitate the control of different functional components of the mining trolley.

[0057] In the embodiment of the present application, by executing step S110, the scheme of the main controller + bus control module can be used to perform distributed control on the mining trolley, which can simplify the wiring harness from the cab of the mining trolley to the outside of the warehouse, so that the wiring harness of the whole machine of the mining trolley is orderly and simple. For example, the power system control module and the main controller are located in the main control cabinet, and the connecting wires between the two do not need to be located outside the warehouse, so the more than 100 wires from the cab of the mining trolley to the wiring harness outside the warehouse can be optimized to 4 wires (the connecting wires of the main controller and the chassis control module, the rock drilling control module, the rod library control module and the sensor acquisition module) and 2 power supplies (such as CANH line and CANL line). Among them, the CANH line and the CANL line are respectively the high-level signal line and the low-level signal line in the CAN bus, which are used to transmit data on the CAN bus. At the same time, by modularizing the mining trolley control system, the maintainability and flexibility of the mining trolley control system can be improved, and the universal design of the mining trolley control system can be realized.

[0058] S120, through CAN bus and TCP / IP protocol, the main controller and the touch screen of the mining trolley are connected in master-standby dual communication.

[0059] In one embodiment, the main controller and the touch screen can be dual-communication connected through the CAN bus and TCP / IP protocols; the CAN bus communication is used as the main communication between the main controller and the touch screen, and the TCP / IP communication is used as the backup communication between the main controller and the touch screen; or, the TCP / IP communication is used as the main communication between the main controller and the touch screen, and the CAN bus communication is used as the backup communication between the main controller and the touch screen.

[0060] In the embodiment of the present application, by executing step S120, it can be ensured that the main controller and the touch screen of the mining trolley can communicate normally, so as to ensure that subsequent operation data, fault data and other related data can be accurately displayed through the touch screen.

[0061] S130 , configuring a fault diagnosis mechanism for each bus control module according to the working characteristics of each functional component.

[0062] In one embodiment, a fault diagnosis algorithm that can diagnose the corresponding faults of the corresponding functional components can be configured for each bus control module; the fault code and processing solution corresponding to the corresponding fault are then encoded to form a fault library corresponding to each bus control module; finally, based on the fault diagnosis algorithm and the fault library, the fault diagnosis mechanism of each bus control module can be obtained.

[0063] Exemplarily, for the rock drilling control module, a fault diagnosis algorithm that can diagnose corresponding faults of the rock drilling components can be configured for the rock drilling control module; the fault code and processing plan corresponding to the corresponding fault are then encoded to form a fault library corresponding to the rock drilling control module; finally, based on the fault diagnosis algorithm and the fault library, the fault diagnosis mechanism of the rock drilling control module can be obtained.

[0064] As an example, the fault diagnosis algorithm may include, but is not limited to, digital output (Digital Output, DO), pulse width modulation (Pulse Width Modulation, PWM) and other output open circuit, broken circuit and other fault diagnosis algorithms.

[0065] In one embodiment, the corresponding faults of the chassis components may include but are not limited to: bus fault, chassis engine abnormal operation fault, gearbox abnormal operation fault, acquisition line short circuit or open circuit fault and output line short circuit or open circuit fault. The corresponding faults of the rock drilling components may include but are not limited to: rock drilling valve group fault and hydraulic system light fault. The corresponding faults of the rod library components may include but are not limited to: rod library valve group fault, sensor fault, line short circuit fault, line open circuit fault and hydraulic system light fault. The corresponding faults of the sensor components may include but are not limited to: sensor short circuit fault, sensor open circuit fault and sensor damage fault. The corresponding faults of the power components may include but are not limited to: hydraulic station operation fault, water system operation fault, gas circuit operation fault and various electrical parts operation faults.

[0066] In the embodiment of the present application, by executing step S130, each bus control module can have a fault diagnosis and positioning function, which can achieve accurate positioning of single-point faults and help ensure the operation of the entire mining trolley control system.

[0067] S140, calling the main controller to centrally manage and coordinate the control of each bus control module.

[0068] In specific implementation, the main controller can use the existing distributed control method to centrally manage and coordinate the control of each bus control module, and the embodiment of the present application is not specifically limited here.

[0069] S150, calling each bus control module to control each functional component to perform corresponding work, performing fault diagnosis and positioning on each corresponding functional component according to each fault diagnosis mechanism, and obtaining detailed fault results of each functional component.

[0070] In one embodiment, the chassis components may include but are not limited to: chassis engine, gearbox, outrigger, cable drum, water cable drum, electrical conductor and water conductor. Invoking the chassis control module to perform corresponding work on the chassis components, diagnosing and locating the faults of the chassis components according to its own fault diagnosis mechanism, and obtaining the fault details of the chassis components may include the following steps:

[0071] S151a, calling the chassis control module to adopt local or remote control mode, and controlling the chassis engine to perform start and stop, speed increase and decrease, one-key idling or functional emergency shutdown through the first conversion switch, that is, the control of the chassis engine supports local control and remote control.

[0072] S151b, calling the chassis control module to adopt local or remote control mode, and controlling the transmission to perform up / down gear shifting or braking through the second conversion switch, that is, the control of the transmission supports local control and remote control.

[0073] S151c, calling the chassis control module to control the outriggers to perform forward, backward, left or right extension and automatic leveling.

[0074] In specific implementation, the process of automatic leveling of the outriggers can be as follows: by installing an angle sensor on the outriggers to detect the horizontality, judging the height of the outrigger support points according to the inclination measured by the angle sensor, using the self-use PID control algorithm to calculate the required position of each support point, and dynamically adjusting the outrigger height. In this way, it can cope with dynamic changes in the system and changes in environmental conditions.

[0075] S151d, calling the chassis control module to control the cable reel, water cable reel, electrical conductor and water conductor to perform corresponding work corresponding to the corresponding instruction by receiving the corresponding instruction.

[0076] For example, the chassis control module can control the cable reel, water cable reel, electrical conductors and water conductors to perform corresponding tasks corresponding to the corresponding instructions based on the corresponding instructions from the main controller.

[0077] It should be understood that, in specific implementation, the embodiment of the present application does not limit the execution order of step S151a to step S151d, that is, step S151a to step S151d can be executed sequentially according to the corresponding execution order, or can be executed synchronously.

[0078] S151e, calling the chassis control module to determine whether the chassis engine, gearbox, outrigger, cable drum, water cable drum, electrical conductor and water conductor are operating normally based on its own fault diagnosis mechanism and the operating data of the chassis engine, gearbox, outrigger, cable drum, water cable drum, electrical conductor and water conductor, and obtain the fault details of the chassis components.

[0079] In specific implementation, the fault details of the chassis component may include but are not limited to: fault codes and fault handling solutions corresponding to bus fault, chassis engine abnormal operation fault, gearbox abnormal operation fault, acquisition line short circuit fault, acquisition line open circuit fault, output line short circuit fault or output line open circuit fault.

[0080] As an example, the chassis control module can determine whether the operating parameters of the chassis engine are within a first preset range based on its own fault diagnosis mechanism and the operating data of the chassis engine. If they are not within the first preset range, it can be determined that the chassis engine has an abnormal operating fault.

[0081] As another example, the chassis control module can determine whether the cable reel, water cable reel, electrical conductors and water conductors are operating according to the corresponding specified instructions based on its own fault diagnosis mechanism and the operating data of the cable reel, water cable reel, electrical conductors and water conductors. If they are not operating according to the corresponding specified instructions, it can be determined that there may be an acquisition line short circuit fault, an acquisition line open circuit fault, an output line short circuit fault or an output line open circuit fault.

[0082] In the embodiment of the present application, by executing steps S151a-S151e, it is possible to facilitate the subsequent feedback of the fault details of the chassis component to the main controller to prompt relevant personnel to promptly respond to the fault handling plan corresponding to the corresponding fault of the chassis component.

[0083] In one embodiment, the sensor components may include but are not limited to: a number of sensors for collecting various pressures of the mining trolley; the various pressures may include but are not limited to: impact pressure, rotation pressure, propulsion pressure, water slag pressure, buffer pressure, system pressure, air pressure, water pressure and drill clamp pressure. Among them, calling the sensor control module to perform corresponding work on the sensor component, diagnosing and locating the sensor component according to its own fault diagnosis mechanism, and obtaining the detailed fault results of the sensor component may include the following steps:

[0084] S152a, calling the sensor control module to control a plurality of sensors to collect various pressure signals of the mining trolley.

[0085] That is, the sensor control module can realize the signal collection of various pressures of the mining trolley through these sensors. It can be understood that the sensor control module has information channels for collecting these sensors.

[0086] In specific implementation, the sensor control module can also process the various pressure signals collected in real time, and then the various pressure signals after processing can be displayed in real time through the touch screen.

[0087] S152b, calling the sensor control module to determine whether several sensors are operating normally according to its own fault diagnosis mechanism and various pressure signals, and obtaining the fault details of the sensor components.

[0088] In a specific implementation, the fault details of the sensor component may include, but are not limited to: fault codes and fault handling solutions corresponding to the open circuit fault, open circuit fault or damage fault of the several sensors.

[0089] As an example, the corresponding threshold corresponding to the corresponding pressure signal and the fault correspondence between the short circuit fault, the open circuit fault and the damage fault can be preset. The sensor control module can associate the various pressure signals collected with the fault correspondence and other bus modules to obtain the fault details of the sensor component.

[0090] In this example, it can be understood that the sensor control module has the functions of sensor signal processing and fault identification, and can identify various sensor fault types through the collection values ​​of various pressure signals and system data.

[0091] In the embodiment of the present application, by executing step S152a and step S152b, it is possible to facilitate the subsequent feedback of the fault details of the sensor component to the main controller to prompt relevant personnel to promptly respond to the fault handling plan corresponding to the corresponding fault of the sensor component.

[0092] In one embodiment, the rock drilling components may include but are not limited to: a rock drill and a drill rod. The rock drill's propulsion cylinder has a built-in first position sensor and the rock drill's propulsion beam has an external second position sensor. The first position sensor and the second position sensor may be set as one main and one backup as required, so that the detection of the rock drill's travel position may be extended to facilitate automatic rod loading and unloading and anti-jamming drill program control. A camera is installed at the upper end of the rock drill's propulsion beam.

[0093] In one embodiment, calling the rock drilling control module to perform corresponding work on the rock drilling component, diagnosing and locating the fault of the rock drilling component according to its own fault diagnosis mechanism, and obtaining the fault details of the rock drilling component may include the following steps:

[0094] S153a, calling the rock drilling control module to perform anti-jamming control on the rock drill by monitoring the rock drill position detected by the first position sensor or the second position sensor and the rotation pressure of the rock drill.

[0095] In specific implementation, the anti-jamming control process can be: judging the quality of the rock and whether it is conducive to drilling by monitoring the rotary pressure, and then performing anti-jamming control by using the rock drill position and monitoring the rotary pressure. For example, multiple rotary pressure ends can be preset, and each pressure end performs different execution actions. For example, two pressure ends, RP1 and RP2, are set, and the anti-jamming control process can include the following process:

[0096] Process 1: When drilling automatically, the rotation pressure is within (RP1-preset value), and low-power drilling is performed first, and then the drilling is performed to position L. 1 High power afterward;

[0097] Process 2: When the rotation pressure is between (RP1-RP2), grinding is performed without advancing until it is reduced to (RP1-preset value) and moves to position L. 2 ;

[0098] Process 3: If the rotation pressure is above RP2, the drill is jammed and an alarm is given. The full power reversal is executed and the system returns to L. 2 ;

[0099] Process 4: Determine the rotation pressure range again and adjust the rotation pressure according to the next advancement displacement L. 3 With L 2 In contrast, such as L 2 and L 3 The position difference is not big, so it is necessary to perform high impact and other actions to ensure that the next cycle can be drilled smoothly;

[0100] Process 5: Repeat process 1 to process 4 in a loop.

[0101] S153b, calling the rock drilling control module to control the automatic connection and disconnection of the drill rod according to the position of the rock drill and the rotation pressure of the rock drill, and introducing an AI recognition algorithm through a camera to identify the automatic connection and disconnection of the rod.

[0102] In specific implementation, for the automatic rod connection control process, multiple position ends can be preset. For example, when 5 position ends are set, these 5 position ends can be: the initial position of the rock drill M1, the position where the rock drill and the drill rod are ready to connect the rod M2, the position where the connection is successful M3, the position where the upper drill rod is completed M4, and the position where the two drill rods are completed and unloaded M5. For example, the connection between the drill rod and the rock drill end is referred to as C1, the connection between the drill rod and the upper drill rod end is referred to as C2, and the rock drill is in the M4 position, indicating that the drilling of a single drill rod is completed, and the connection is performed first. Then the automatic rod connection control process may include the following steps:

[0103] Step 1: Clamp the drill holder, return the rock drill and reverse, unload the thread to the M5 position, and monitor the position of the rock drill and the rotation pressure to see if the rod is unloaded successfully;

[0104] Step 2: The rock drill returns to M1; the rod library rotates, the manipulator grabs the rod in the rod library, and the sensor is installed in the claw of the manipulator to detect whether there is a drill rod. If so, the manipulator rotates to send the drill rod to the travel position, and the rock drill rotates and advances to start receiving the rod;

[0105] Step 3: After reaching the M3 position, use AI recognition and rotation pressure to determine whether the rod connection is successful to ensure C1;

[0106] Step 4: After the rod connection is successful, the manipulator guide is opened, the rock drill is advanced and rotated to M5, the drill clamp is clamped, and the two drill rods are connected to the M4 position. AI recognition and rotation pressure are used to determine whether the rod connection is successful to ensure C2;

[0107] Step 5: If successful, the rod connection is completed, the robot returns to the normal position, the drill clamp opens, and the drilling mode begins;

[0108] Step 6: After the entire drill rod is drilled, proceed to the next cycle.

[0109] In specific implementation, for the automatic rod unloading control process, multiple position ends can be preset, such as 6 position ends, which can be: the initial position of the rock drill M1, the position where the rock drill and the drill rod are ready to connect the rod M2, the position where the rock drill and the drill rod are successfully connected M3, the position where the upper drill rod is completed M4, the position where the two drill rods are completed and the rod unloading is completed M5, and the position where the drill rod just comes out of the clamp M6. Take the case where the drill rod and the rock drill end are connected by C1, the drill rod and the upper drill rod end are connected by C2, and the rock drill is in the M4 position, indicating that the drilling of a single drill rod is completed, and the rod unloading is performed first, as an example, then the automatic rod unloading control process may include the following steps:

[0110] Step 1: The drill clamp is opened, the rock drill returns and reverses, the thread is removed to the M6 ​​position, and the impact is started to loosen all the connections, and the manipulator moves to the push beam;

[0111] Step 2: The manipulator clamps the drill pipe, and the rock drill rotates and tightens the clamp tail connection;

[0112] Step 3: The manipulator clamps the guide position and the clamp is clamped. The rock drill returns and unscrews to M3. The rotation pressure and AI recognition are used to detect whether the C2 rod unloading is successful. If not, reconnect the rod and start again from step 2:

[0113] Step 4: Clamp the manipulator and the rock drill detects that the connecting sleeve has been released. Loosen the connecting thread between the drill tail and the drill rod, move the rock drill to the M1 position, and detect whether the C2 rod removal is successful through rotation pressure and AI recognition. If not, repeat step 4;

[0114] Step 5: The rod library rotates, and the manipulator installs the drill rods into the rod library. The manipulator stops at the normal position, and the rod library rotates;

[0115] Step 6: The rock drill is advanced to the M2 position and connected to the drill rod;

[0116] Step 7. Repeat step 1 with multiple drill rods.

[0117] In the embodiment of the present application, by executing step S153b, it is possible to determine whether the rod connection and disconnection is successful based on the travel position and rotation pressure of the rock drill, thereby increasing the success recognition rate of the rod connection and disconnection.

[0118] S153c, calling the rock drilling control module to determine whether the rock drill and the drill rod are operating normally according to its own fault diagnosis mechanism and the operating data of the rock drill and the drill rod, and obtaining the fault details of the rock drilling components.

[0119] In a specific implementation, the detailed fault results of the rock drilling component may include, but are not limited to: fault codes and fault handling solutions corresponding to a rock drilling valve group fault or a hydraulic system light fault.

[0120] In the embodiment of the present application, by executing steps S153a-S153c, it is convenient to subsequently feedback the fault details of the rock drilling component to the main controller to prompt relevant personnel to promptly respond to the fault handling plan corresponding to the corresponding fault of the rock drilling component.

[0121] In one embodiment, the control components may include but are not limited to: a rod library, a manipulator, a drill arm, and an inclination sensor. The rod library control module is called to perform corresponding work on the control components, and the fault diagnosis and positioning of the control components are performed according to its own fault diagnosis mechanism. The fault details of the control components may include:

[0122] S154a, calling the rod library control module to control the inclination sensor to collect the actual angle value of the drill arm, and according to the actual angle value and the preset opening angle of the mining trolley, controlling the rotation of the rod library and the movement of the manipulator to perform positioning control on the drill arm.

[0123] In the specific implementation, the opening angle (X axis, Y axis) of the mining trolley can be set on the host computer first; then the inclination sensor is used to collect the actual angle value; finally, the model-free adaptive PID control method is used to control the rotation of the rod library and the movement of the manipulator to drive the angle value of the drill arm to reach the opening angle. In this way, there is no need to rely on a complex parameter setting process, and the drill arm angle adjustment can be ensured to be fast and accurate. That is, the arm positioning is automatically adjusted by comparing the preset angle value of the host computer with the actual angle.

[0124] In a specific implementation, positioning control of the drill boom may include, but is not limited to: controlling the drill boom to swing left, swing right, tilt forward or tilt backward.

[0125] S154b, calling the fault diagnosis mechanism of the rod library control module itself and the operation data of the rod library, manipulator, drill arm and inclination sensor to determine whether the rod library, manipulator, drill arm and inclination sensor are operating normally, and obtaining the fault details of the operating components.

[0126] In specific implementation, the fault details of the operating component may include but are not limited to: fault codes and fault handling solutions corresponding to rod bank valve group fault, sensor fault, line short circuit fault, line open circuit fault or hydraulic system light fault.

[0127] In the embodiment of the present application, by executing step S154a and step S154b, it is possible to facilitate the subsequent feedback of the fault details of the operating component to the main controller to prompt relevant personnel to promptly respond to the fault handling plan corresponding to the corresponding fault of the operating component.

[0128] In one embodiment, the power components may include but are not limited to: hydraulic system, water system, gas system, lubrication system and electrical system. Invoking the power control module to control the power components to perform corresponding work, diagnosing and locating the faults of the power components according to their own fault diagnosis mechanism and the operation data of the power components, and obtaining the fault details of the power components may include the following steps:

[0129] S155a, calling the power control module to control the start of the hydraulic system, water system, and gas system by one-button start or independent start.

[0130] In specific implementation, in the one-button start mode, the delayed start of each system motor can be set to reduce the instantaneous starting current of each system motor to ensure that each system starts and operates normally.

[0131] S155b, calling the power control module to control the lubrication system to lubricate the rock drilling components using an intermittent lubrication method.

[0132] In specific implementation, the lubrication system may be provided with a plurality of lubrication pumps. When lubrication control is performed on the rock drill of the rock drilling component, the plurality of lubrication pumps are controlled by an intermittent lubrication method, so that the lubrication amount can be ensured, the lubricating oil consumption can be reduced, and the service life of the lubrication pump can be extended.

[0133] S155c, calling the power control module to control the electrical system to perform electrical input and output.

[0134] During specific implementation, key electrical components such as motors, circuit breakers, contactors, etc. in the electrical system can be controlled.

[0135] S155d, calling the power control module to determine whether the hydraulic system, the water system, the gas system, the lubrication system and the electrical system are operating normally according to its own fault diagnosis mechanism and the operating data of the hydraulic system, the water system, the gas system, the lubrication system and the electrical system, and obtaining the fault details of the power component.

[0136] For example, the power control module can control the input and output of electrical components such as motors, circuit breakers, and contactors of each system, and then judge the operating status of each system by comparing the input and output data of these electrical components with key system operation data and sensor data.

[0137] In specific implementation, the fault details of the power component may include, but are not limited to, fault codes and fault handling solutions corresponding to hydraulic station operation failure, water system operation failure, gas circuit operation failure, or various electrical component operation failures.

[0138] In the embodiment of the present application, by executing steps S155a-S155d, it is possible to facilitate the subsequent feedback of the fault details of the power component to the main controller to prompt relevant personnel to respond promptly to the fault handling plan corresponding to the corresponding fault of the power component.

[0139] S160, calling the main controller to transmit the fault details of each functional component to the touch screen for display.

[0140] During specific implementation, the main controller may also be called to transmit the operating data of each functional component to the touch screen for display.

[0141] In the embodiment of the present application, by executing step S160, the fault conditions existing in various functional components of the mining trolley can be easily displayed, so that relevant personnel can respond to corresponding fault handling solutions in a timely manner, which helps to ensure the normal operation of the mining trolley control system.

[0142] In summary, in the distributed control method of the mining trolley provided in the embodiment of the present application, by integrating the main controller with other bus controls, it is convenient to quickly build a mining trolley control system. In the mining trolley control system, the main controller is mainly responsible for functional logic, responsible for sending control instructions and collecting key data of each bus control module, and adopts a ring series connection with each bus control module. Finally, two CANs enter the main controller (one for use and one for backup, improving data transmission security). Each bus control module is independent of each other and does not interact with data. They all have connection port fault detection and periodically send fault codes to the main controller for fault display and processing; each bus module meets the DI, DO, AI, AO, PWM, CAN and other IO points required by the mining trolley control system, which is convenient for data collection and corresponding control output. In this way, the modular design of the mining trolley control system can be realized, and the bus control modules do not affect each other, which improves the maintainability and flexibility of the mining trolley control system. In addition, in actual applications, the corresponding bus control modules can be added / reduced according to actual needs, realizing the universal design of the mining trolley control system.

[0143] In summary, the distributed control method of the mining trolley provided in the embodiment of the present application can simplify the wiring harness from the cab of the mining trolley to the outside of the warehouse, making the wiring harness of the entire mining trolley orderly and simple. At the same time, it can also achieve accurate positioning of single-point failures, ensure the operation of the entire mining trolley control system, and also improve the maintainability and flexibility of the mining trolley control system, and realize the universal design of the mining trolley control system.

[0144] Figure 2 FIG. 2 shows a structural block diagram of a mining trolley control system according to an embodiment of the present application. Figure 2As shown, the mining trolley control system may include: a main controller 210 and mutually independent bus control modules 220, each bus control module 220 is divided according to each functional component of the mining trolley; wherein the main controller 210 is connected to each bus control module 220 via a CAN bus, and the main controller 210 is connected to the touch screen 230 of the mining trolley via a CAN bus and a TCP / IP protocol for a master-slave dual communication connection;

[0145] The main controller 210 is used to centrally manage and coordinate the bus control modules 220;

[0146] Each bus control module 220 is used to control each functional component to perform corresponding work, perform fault diagnosis and location on each corresponding functional component according to its own fault diagnosis mechanism, and obtain detailed fault results of each functional component. The fault diagnosis mechanism of each bus control module 220 is configured according to the working characteristics of the corresponding functional component;

[0147] The main controller 210 is also used to transmit the fault details of each functional component to the touch screen 230 for display.

[0148] The functions of the various components in the mining trolley control system of the embodiment of the present application can be found in the corresponding description in the above method, and will not be repeated here.

[0149] Figure 3 FIG. 2 shows a structural block diagram of an electronic device according to an embodiment of the present application. Figure 3 As shown, the electronic device includes: a memory 310 and a processor 320. The memory 310 stores instructions, and the instructions are loaded and executed by the processor 320 to implement the mining trolley distributed control method in the above embodiment. The number of the memory 310 and the processor 320 can be one or more.

[0150] The electronic device also includes:

[0151] The communication interface 330 is used to communicate with external devices and perform data exchange transmission.

[0152] If the memory 310, the processor 320 and the communication interface 330 are implemented independently, the memory 310, the processor 320 and the communication interface 330 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0153] Optionally, in a specific implementation, if the memory 310, the processor 320 and the communication interface 330 are integrated on a chip, the memory 310, the processor 320 and the communication interface 330 can communicate with each other through an internal interface.

[0154] An embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on a computer, the method provided in the embodiment of the present application is implemented.

[0155] An embodiment of the present application also provides a chip, which includes a processor for calling and executing instructions stored in a memory, so that a communication device equipped with the chip executes the method provided by the embodiment of the present application.

[0156] An embodiment of the present application also provides a chip, including: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected via an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute the method provided in the embodiment of the application.

[0157] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting the Advanced RISC Machines (ARM) architecture.

[0158] Further, optionally, the above-mentioned memory may include a read-only memory and a random access memory, and may also include a non-volatile random access memory. The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may include a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct rambus RAM (DR RAM).

[0159] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.

[0160] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0161] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0162] Any process or method description in the flow chart or otherwise described herein can be understood to represent a module, fragment or portion of a code including one or more executable instructions for implementing the steps of a specific logical function or process. And the scope of the preferred embodiment of the present application includes other implementations, in which the functions may not be performed in the order shown or discussed, including in a substantially simultaneous manner or in a reverse order according to the functions involved.

[0163] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device (such as a computer-based system, a system including a processor or other system that can fetch instructions from an instruction execution system, apparatus or device and execute instructions), or used in combination with these instruction execution systems, apparatuses or devices.

[0164] It should be understood that the various parts of the present application can be implemented with hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented with software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the above embodiment method can be completed by instructing the relevant hardware through a program, which can be stored in a computer-readable storage medium, and when the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0165] In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium can be a read-only memory, a disk or an optical disk, etc.

[0166] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A distributed control method for a mining trolley, characterized in that: include: The mining trolley control system is divided into a main controller and mutually independent bus control modules, and each bus control module is connected to the main controller via a CAN bus, wherein each bus control module is divided according to each functional component of the mining trolley; The main controller and the touch screen of the mining trolley are connected in a master-slave dual communication manner through the CAN bus and TCP / IP protocol; According to the working characteristics of each functional component, a fault diagnosis mechanism is configured for each bus control module; Calling the main controller to centrally manage and coordinate the bus control modules; Calling each of the bus control modules to control each of the functional components to perform corresponding work, performing fault diagnosis and location on the corresponding functional components according to their respective fault diagnosis mechanisms, and obtaining detailed fault results of each of the functional components; The main controller is called to transmit the fault details of each functional component to the touch screen for display.

2. The method according to claim 1, characterized in that Each of the bus control modules includes a chassis control module, a rock drilling control module, a rod storage control module, a sensor acquisition module and a power system control module; wherein the chassis control module is arranged near the chassis valve of the mining trolley, and is used to control the chassis components of the mining trolley; the rock drilling control module is arranged near the rock drilling valve of the mining trolley, and is used to control the rock drilling components of the mining trolley; the rod storage control module is arranged near the rod storage of the mining trolley, and is used to control the operating components of the mining trolley; the sensor acquisition module is arranged near the hydraulic system of the mining trolley, and is used to control the sensor components of the mining trolley; the power system control module is arranged in the main control cabinet of the mining trolley, and is used to control the power components of the mining trolley; According to the working characteristics of each functional component, configuring a fault diagnosis mechanism for each bus control module includes: Configuring each of the bus control modules with a fault diagnosis algorithm capable of diagnosing a corresponding fault of the functional component corresponding thereto; Encoding the fault codes and processing solutions corresponding to the corresponding faults to form a fault library corresponding to each bus control module; Based on the fault diagnosis algorithm and the fault library, a fault diagnosis mechanism of each bus control module is obtained.

3. The method according to claim 2, characterized in that The chassis components include chassis engine, gearbox, outriggers, cable drum, water cable drum, electrical conductor and water conductor; calling the chassis control module to perform corresponding work on the chassis components, diagnosing and locating the faults of the chassis components according to its own fault diagnosis mechanism, and obtaining the fault details of the chassis components includes: The chassis control module is called to adopt a local or remote control mode, and the chassis engine is controlled to start and stop, increase or decrease the speed, one-key idle or functional emergency stop through the first conversion switch; The chassis control module is called to adopt a local or remote control mode, and the gearbox is controlled to perform up / down gear shifting or braking through a second conversion switch; Calling the chassis control module to control the legs to perform forward, backward, left or right extension and automatic leveling; Calling the chassis control module to control the cable drum, the water cable drum, the electrical conductor and the water conductor to perform corresponding work corresponding to the corresponding instruction by receiving the corresponding instruction; The chassis control module is called to determine whether the chassis engine, the gearbox, the leg, the cable drum, the water cable drum, the electrical conductor and the water conductor are operating normally according to its own fault diagnosis mechanism and the operating data of the chassis engine, the gearbox, the leg, the cable drum, the water cable drum, the electrical conductor and the water conductor, and obtain the fault details of the chassis components. The fault details of the chassis components include: fault codes and fault handling solutions corresponding to bus fault, abnormal operation of chassis engine, abnormal operation of gearbox, short circuit fault of acquisition line, open circuit fault of acquisition line, short circuit fault of output line or open circuit fault of output line.

4. The method according to claim 2, characterized in that: The sensor component includes: a plurality of sensors for collecting various pressures of the mining trolley, wherein the various pressures include at least rotational pressure; calling the sensor control module to perform corresponding work on the sensor component, and diagnosing and locating the fault of the sensor component according to its own fault diagnosis mechanism, and obtaining the fault details of the sensor component includes: Calling the sensor control module to control a plurality of sensors to collect various pressure signals of the mining trolley; The sensor control module is called to determine whether several of the sensors are operating normally according to its own fault diagnosis mechanism and the various pressure signals, and obtain the fault details of the sensor components. The fault details of the sensor components include the fault codes and fault handling solutions corresponding to the open circuit faults, open circuit faults or damage faults of several of the sensors.

5. The method according to claim 4, characterized in that The rock drilling component comprises: a rock drill and a drill rod, a propulsion cylinder of the rock drill has a built-in first position sensor and a propulsion beam of the rock drill has an external second position sensor, and a camera is installed on the upper end of the propulsion beam of the rock drill; calling the rock drilling control module to perform corresponding work on the rock drilling component, performing fault diagnosis and positioning on the rock drilling component according to its own fault diagnosis mechanism, and obtaining the fault details of the rock drilling component includes: calling the rock drilling control module to perform anti-jamming control on the rock drill by monitoring the rotation pressure of the rock drill according to the rock drill position detected by the first position sensor or the second position sensor; The rock drilling control module is called to automatically connect and disconnect the drill rod according to the position of the rock drill and the rotation pressure of the rock drill, and the AI ​​recognition algorithm is introduced through the camera to identify the automatic connection and disconnection of the rod; The rock drilling control module is called to determine whether the rock drill and the drill rod are operating normally according to its own fault diagnosis mechanism and the operating data of the rock drill and the drill rod, and obtain the fault details of the rock drilling component, wherein the fault details of the rock drilling component include the fault code and fault handling plan corresponding to the rock drilling valve group fault or the hydraulic system light fault.

6. The method according to claim 2, characterized in that The control components include a rod library, a manipulator, a drill arm and an inclination sensor; the rod library module is called to control the control components to perform corresponding work, and the fault diagnosis and positioning of the control components are performed according to the fault diagnosis mechanism of the control components, and the fault details of the control components are obtained, including: Calling the rod library control module to control the inclination sensor to collect the actual angle value of the drill arm, and controlling the rotation of the rod library and the movement of the manipulator according to the actual angle value and the preset opening angle of the mining trolley to perform positioning control on the drill arm; The fault diagnosis mechanism of the rod library control module itself and the operating data of the rod library, the manipulator, the drill arm and the inclination sensor are called to determine whether the rod library, the manipulator, the drill arm and the inclination sensor are operating normally, and the fault details of the operating components are obtained. The fault details of the operating components include the fault codes and fault handling solutions corresponding to the rod library valve group fault, sensor fault, line short circuit fault, line open circuit fault or hydraulic system light fault.

7. The method according to claim 2, characterized in that The power component includes: a hydraulic system, a water system, a gas system, a lubrication system and an electrical system; calling the power control module to control the power component to perform corresponding work, and performing fault diagnosis and positioning on the power component according to its own fault diagnosis mechanism and the operation data of the power component, and obtaining the fault details of the power component includes: Calling the power control module to control the hydraulic system, the water system, and the gas system to start by one-button start or independent start; Calling the power control module to control the lubrication system to lubricate the rock drilling component in an intermittent lubrication manner; Calling the power control module to control the electrical system to perform electrical input and output; The power control module is called to determine whether the hydraulic system, the water system, the gas system, the lubrication system and the electrical system are operating normally according to its own fault diagnosis mechanism and the operating data of the hydraulic system, the water system, the gas system, the lubrication system and the electrical system, and obtain the fault details of the power component. The fault details of the power component include the fault codes and fault handling plans corresponding to the hydraulic station operation failure, the water system operation failure, the gas circuit operation failure or the operation failure of each electrical component.

8. A mining trolley control system, characterized in that: Applied to the method according to any one of claims 1 to 7, the mining trolley control system comprises: a main controller and mutually independent bus control modules, each of the bus control modules is divided according to each functional component of the mining trolley; wherein the main controller is connected to each of the bus control modules via a CAN bus, and the main controller is connected to the touch screen of the mining trolley for master-slave dual communication via a CAN bus and a TCP / IP protocol; The main controller is used to centrally manage and coordinate the bus control modules; Each of the bus control modules is used to control each of the functional components to perform corresponding work, and to perform fault diagnosis and location on the corresponding functional components according to the respective fault diagnosis mechanisms, so as to obtain detailed fault results of each of the functional components. The fault diagnosis mechanisms of each of the bus control modules are configured according to the working characteristics of the corresponding functional components; The main controller is also used to transmit the fault details of each functional component to the touch screen for display.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores instructions, and the instructions are loaded and executed by the processor to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed on a computer, the method according to any one of claims 1 to 7 is implemented.

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