Mining dual-power rubber wheel type scraper reversed loader control system and method

Abstract

The invention provides a mining dual-power rubber wheel type scraper reversed loader control system and method, and relates to the technical field of mining transportation equipment control, and the mining dual-power rubber wheel type scraper reversed loader control system comprises an explosion-proof diesel engine control system which uses an explosion-proof diesel engine as power to drive rubber wheels to walk; the explosion-proof motor control system is used for driving the scraper blade to transport by taking two transportation motors as power; the auxiliary system is used for detecting and protecting the state of the whole machine and comprises an emergency stop device, a methane power-off device, a remote control system, a video working condition monitoring system, a personnel approaching system, a lighting system, a sound-light alarm system and a hopper valve control system; the dual-power switching system is used for achieving safe switching of two kinds of power of the diesel engine and the motor, the switching operation sequence of the dual-power switching system comprises a walking switching transportation operation sequence and a transportation switching walking operation sequence, and misoperation is prevented through electrical locking. The overall operation efficiency of the driving face can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of mining transport equipment control, in particular to a mining double-power rubber-wheeled scraper transfer machine control method. Background Art

[0002] The mining dual-powered rubber-wheeled scraper transfer machine (hereinafter referred to as the rubber-wheeled scraper transfer machine) is mainly used as a temporary transfer point in the mine. It is connected with the main transport or drift belt conveyor to transfer materials. It is used by the coal mine comprehensive excavation team for temporary material transfer in opening joint tunnels, functional chambers, cutting eyes and other occasions.

[0003] At present, most mines use crawler-type scraper loaders for temporary material transfer, which are connected to the mine power system through cables. However, crawler-type scraper loaders have a slow travel speed, are inconvenient to control, and have poor maneuverability, which is not conducive to frequent transfers, thus affecting the overall efficiency of the excavation face. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a control method for a mining dual-power rubber-wheeled scraper transfer machine, which can evenly unload and transfer the materials required for transfer at temporary transfer points to a belt conveyor, thereby realizing efficient, fast and flexible transfer and transportation of materials at various temporary transfer points, thereby improving the overall operating efficiency of the excavation working face.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In the first aspect, a control system for a mining dual-power rubber-wheeled scraper transfer machine comprises:

[0007] The explosion-proof diesel engine control system uses the explosion-proof diesel engine as the power to drive the rubber wheels, including the diesel engine electronically controlled common rail injection device, diesel locomotive protection device and diesel engine power supply device;

[0008] The explosion-proof motor control system uses two transport motors as power to drive the scraper transport, and is composed of a power supply unit, a PLC control unit, an execution unit, and a motor protection unit;

[0009] Auxiliary system, used to realize the status detection and protection of the whole machine, including emergency stop, methane power off instrument, remote control system, video working condition monitoring system, personnel approach system, lighting system, sound and light alarm system and hopper valve control system;

[0010] The dual power switching system is used to achieve safe switching between diesel engine and motor power. The switching operation sequence includes walking-switching-transporting operation sequence and transport-switching-walking operation sequence, and electrical interlocking is used to prevent misoperation.

[0011] Furthermore, the diesel engine electronically controlled common rail injection device comprises:

[0012] Sensors are used to monitor engine operating conditions and transmit real-time collected information to the ECU controller via electrical signals;

[0013] The ECU controller is used to receive and analyze input information from sensors, and after calculation and processing, sends the optimal instructions to the actuator via electrical signals.

[0014] Actuator, used to receive ECU instructions and control the injection timing and amount through mechanical or electrical signals according to the instructions;

[0015] The diesel locomotive protection device comprises:

[0016] The intrinsically safe display screen is used to communicate with the ECU controller through the CAN bus to display the vehicle status and fault information; the speed sensor, fuel level sensor, hydraulic oil level and oil temperature sensor and methane sensor are connected to the protection device through the sensor line, and the data is monitored in real time and transmitted to the protection device for display on the display screen;

[0017] The diesel engine power supply unit includes:

[0018] The flameproof permanent magnet generator is used to be connected to the diesel engine through a crankshaft belt, and the three-phase alternating current generated by the flameproof permanent magnet generator is connected to the generator regulator through a cable;

[0019] The generator regulator is used to rectify and regulate the AC power, and then output 24V DC power through cables to supply the diesel engine control system and other electrical equipment, and charge the battery power box.

[0020] The power supply unit comprises:

[0021] The transformer is used to access the mine AC 1140V power system and is connected to the switching power supply and the intrinsically safe power supply through cables; after the switching power supply and the intrinsically safe power supply are converted, the voltage is provided to the explosion-proof motor through cables;

[0022] The PLC control unit is used to connect to the PLC expansion module through an internal bus; the digital input module collects switch signals, the analog input module collects analog signals, and the communication module performs data exchange; the output point of the PLC control unit is connected to the relay through a cable, and the relay controls the coil of the contactor, thereby controlling the on and off of the motor circuit.

[0023] Furthermore, the sensor comprises:

[0024] The crankshaft speed sensor is used to detect the signals of the piston top dead center and crankshaft rotation angle and input them into the engine ECU to control the ignition timing and injection amount, and measure the speed information of the diesel engine at the same time; the cam speed sensor is used to detect the camshaft position and rotation angle signals to determine the compression top dead center position of the first cylinder piston; at startup, the ECU identifies the position and stroke of each cylinder piston based on the signals provided by the crankshaft speed sensor and the cam speed sensor, controls the fuel injection sequence and ignition sequence, and performs precise injection and ignition control;

[0025] The throttle position sensor is used to transmit the accelerator pedal depth signal to the ECU to control the diesel engine's air intake and fuel injection volume to achieve vehicle acceleration and deceleration;

[0026] The rail pressure sensor is used to measure the real-time pressure of the fuel in the common rail and convert it into a voltage signal and send it to the ECU to control the injection amount and injection timing;

[0027] The intake air temperature and pressure sensor is used to detect the intake air temperature and pressure of the diesel engine, and convert it into a voltage signal and input it to the ECU as a signal for injection correction; the oil temperature and pressure sensor is used to detect the oil status for lubrication and cooling of the diesel engine.

[0028] Furthermore, the intrinsically safe display screen communicates with the ECU via the CAN bus to display the vehicle status and fault information; the speed sensor is used for the vehicle tachometer display; the fuel level sensor is installed on the fuel pump to detect the amount of fuel in the fuel tank; the hydraulic oil level and temperature sensor is installed on the hydraulic oil pump to detect the amount and temperature of the oil in the hydraulic oil tank; the methane sensor continuously monitors the methane concentration in the mine and performs emergency power-off protection when the concentration exceeds the limit;

[0029] The diesel engine power supply device includes: a flameproof permanent magnet generator, a generator regulator and a battery power box; after the diesel engine is started, the flameproof permanent magnet generator is driven by the crankshaft belt, and the three-phase AC power generated by the generator is rectified and regulated by the generator regulator, and then converted into 24V DC power to supply the diesel engine control system and other electrical equipment of the whole machine, and charge the battery power box at the same time.

[0030] Furthermore, the power supply unit provides power to the explosion-proof motor and the control system. After receiving the start / stop signal, the PLC control unit starts and stops the motor through the execution unit. The motor protection unit detects the motor operating parameters and performs overload, overcurrent and phase loss protection on the motor through the PLC control unit.

[0031] The PLC control unit includes: a PLC controller and a PLC expansion module; the PLC expansion module includes a digital input / output module, an analog input module and a communication module; the digital input module is used to collect switch signals such as emergency stop, buttons, protectors, and methane power-off meters; the digital output module controls the on and off of the PLC points according to the program control logic, connects to the intermediate relay to amplify the power, and drives the contactor, lighting, and voice alarm components;

[0032] The analog input module refreshes the ADC conversion value in each cycle. It is divided into current and voltage types and is used to collect voltage, current transmitters, motor winding temperature and pressure sensor signals.

[0033] Furthermore, the safe switching between the diesel engine and the motor is realized, and the switching operation sequence includes the walking switching transportation operation sequence and the transportation switching walking operation sequence, and the electrical interlock is used to prevent misoperation, including:

[0034] Walking switching transport operation:

[0035] Turn the cab conversion switch to the 0 position to ensure that there is no power input to the electronic control system; connect to the 1140V power supply system, and the electronic control system is powered by 1140V at this time; switch the travel mode to the transport mode, and you can start and stop the transport motor;

[0036] Transport switching walking operation:

[0037] Disconnect the 1140V power supply system; turn the cab conversion switch to the 2nd gear; switch the transport mode to the walking mode, and start the diesel engine for walking operation; the diesel engine cannot be switched to the transport mode when it is running, and the ECU power supply is automatically cut off in the transport mode.

[0038] Furthermore, when the diesel engine is running and in travel mode, the dual power supply range is:

[0039] The flameproof permanent magnet generator is driven by the diesel engine crankshaft belt. The three-phase AC power generated by the generator is rectified and regulated by the generator regulator and converted into 24V DC power to supply the diesel engine control system, PLC control unit and auxiliary systems.

[0040] When the motor is running and in transport mode, the dual power supply range is:

[0041] The two transport explosion-proof motors, explosion-proof motor control system and auxiliary system are powered by the mine's 1140V power system; 1140V three-phase AC power is supplied to the explosion-proof motors; 1140V three-phase AC power is converted into AC220V, AC127V, AC36V / 24V, DC24V, and DC12V through a transformer and a switching power supply to power the explosion-proof motor control system and auxiliary system.

[0042] Furthermore, during the operation of the diesel engine:

[0043] The rail pressure sensor is used to measure the real-time pressure of the fuel in the common rail and convert it into a voltage signal and send it to the ECU to control the injection amount and injection timing, including:

[0044] Define the optimization goal and encode the control parameters into the genes of the genetic algorithm. The genes constitute the chromosomes, i.e. the solutions. The control parameters include the injection amount and injection time.

[0045] An initial population is randomly generated, which contains multiple chromosomes, each chromosome represents a control strategy;

[0046] For each chromosome in the population, the data from the rail pressure sensor and the engine model are used to simulate the operating effect; the fitness value of each chromosome is calculated according to the optimization goal;

[0047] According to the fitness value, the corresponding chromosome is selected for reproduction, and the selected chromosome is cross-operated to generate new offspring; the newly generated offspring is mutated, and the original population is replaced with the newly generated population, and the iteration is repeated. When the preset number of iterations is reached, the iteration is stopped;

[0048] Select the corresponding chromosome from the final population as the final control strategy;

[0049] According to the final control strategy, the injection amount and injection timing are controlled.

[0050] Furthermore, the calculation formula of the fitness value is:

[0051]

[0052] Among them, E f Indicates the fuel consumption under the current control strategy; E p Indicates the emission under the current control strategy; N r represents the engine stability score under the current control strategy; P t Indicates the expected injection amount; T t Indicates the expected injection time; P cur Indicates the injection amount under the current control strategy; T cur represents the injection time under the current control strategy; α1, α2, α3, α4 and α5 are weight coefficients; where:

[0053]

[0054] Among them, w rpm 、w L 、w V and w Tis the weight coefficient corresponding to each stability score; σ rpm , σ L , σ V and They are the standard deviations corresponding to speed, load, vibration and temperature fluctuations respectively.

[0055] In the second aspect, a control method for a dual-power rubber-wheeled scraper transfer machine for mining is provided, and the method is applied to a dual-power rubber-wheeled scraper transfer machine for mining comprising an explosion-proof diesel engine control system, an explosion-proof motor control system, an auxiliary system and a dual-power switching system, wherein the explosion-proof diesel engine control system uses an explosion-proof diesel engine as power to drive the rubber wheels to travel, the explosion-proof motor control system uses two transport motors as power to drive the scraper to transport, the auxiliary system is used to realize the state detection and protection of the whole machine, and the dual-power switching system is used to realize the safe switching of the two powers of the diesel engine and the motor; the method comprises the following steps:

[0056] Switch to walking mode, drive the flameproof permanent magnet generator through the diesel engine crankshaft belt, the three-phase AC generated by the generator is rectified and regulated by the generator regulator, and then converted into 24V DC to supply the diesel engine control system, PLC control unit and auxiliary systems; the auxiliary systems include emergency stop, methane power off instrument, personnel approach system, video working condition monitoring system, lighting system, sound and light alarm system, remote control system and hopper valve control system; the diesel engine control system controls the diesel engine to drive the rubber wheel to walk; the PLC control unit collects signals from the emergency stop, methane power off instrument and personnel approach system to control the emergency shutdown of the whole machine; the PLC control unit collects signals from the operation button and the remote control system to control the lighting system and the hopper valve control system; the PLC control unit communicates with the ECU to obtain the diesel engine operating parameters, and warns the forward and backward walking movements through the sound and light alarm system; the video working condition monitoring system communicates with the PLC control unit to obtain and display the whole machine operating parameters, and at the same time collects and displays the video images of the four cameras on the fuselage.

[0057] Switch to transport mode, and power the two transport explosion-proof motors, explosion-proof motor control system and auxiliary system through the mine's 1140V power system; 1140V three-phase AC power is supplied to the explosion-proof motor; 1140V three-phase AC power is converted into AC220V, AC127V, AC36V / 24V, DC24V, DC12V through a transformer and a switching power supply to power the explosion-proof motor control system and auxiliary system, and the PLC control unit collects signals from the operation buttons and the remote control system to control the start and stop of the transport motor, the lighting system, and the sound and light alarm system; the PLC control unit collects signals from the emergency stop, methane power cut-off meter, and personnel approach system to control the emergency shutdown of the entire machine; the PLC control unit communicates with the video condition monitoring system to display the operating parameters of the entire machine, and simultaneously collects and displays video images from the four cameras on the fuselage.

[0058] Furthermore, during the operation of the diesel engine:

[0059] The rail pressure sensor measures the real-time pressure of the fuel in the common rail and converts it into a voltage signal to be sent to the ECU;

[0060] In the ECU, the optimization target is defined and the control parameters are encoded as genes of the genetic algorithm. The genes constitute chromosomes, i.e., solutions, where the control parameters include the injection amount and injection timing;

[0061] An initial population is randomly generated, which contains multiple chromosomes, each chromosome represents a control strategy;

[0062] For each chromosome in the population, the data from the rail pressure sensor and the engine model are used to simulate the operating effect, and the fitness value of each chromosome is calculated according to the optimization goal;

[0063] According to the fitness value, the corresponding chromosome is selected for reproduction, the selected chromosome is cross-operated to generate new offspring, and the newly generated offspring is mutated;

[0064] Use the newly generated population to replace the original population, and repeat the iteration until the preset number of iterations is reached;

[0065] The corresponding chromosome is selected from the final population as the final control strategy, and the injection amount and injection timing are controlled according to the final control strategy.

[0066] According to a third aspect, a computing device includes:

[0067] one or more processors;

[0068] The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method described.

[0069] In a fourth aspect, a computer-readable storage medium stores a program, and when the program is executed by a processor, the method described is implemented.

[0070] The above scheme of the present invention includes at least the following beneficial effects.

[0071] The system uses an explosion-proof diesel engine as the power source, ensuring strong power for rubber-wheeled travel. The diesel engine electronic common rail injection device improves the accuracy and efficiency of fuel injection, helping to reduce fuel consumption and emissions. The diesel locomotive protection device can effectively monitor and protect the diesel engine from damage, extending its service life. The diesel engine power supply device provides a stable and reliable power supply for the entire machine, ensuring the normal operation of the control system.

[0072] The system uses two transport motors to drive the scraper transport, providing powerful transport capacity. The power supply unit ensures stable power supply to the motor, the PLC control unit implements precise control logic, the execution unit responds quickly to instructions, and the motor protection unit can effectively prevent motor overload, overcurrent and phase loss faults, thereby improving the safety and reliability of the whole machine.

[0073] The auxiliary system integrates multiple detection and protection functions, such as emergency stop, methane power-off instrument, remote control system, video condition monitoring system, etc., to achieve comprehensive monitoring and rapid response to the status of the whole machine. This can not only timely discover and deal with potential safety hazards, but also improve the safety and work efficiency of operators. For example, the methane power-off instrument can automatically cut off the power supply when the methane exceeds the standard to prevent gas explosion accidents; the video condition monitoring system allows operators to remotely monitor the working status of the machine, facilitating timely adjustment and optimization of the work process.

[0074] The system realizes the safe switching of diesel engine and motor power, so that the machine can flexibly select the most suitable power source in different working scenarios. The clear setting of the operation sequence of walking-transportation switching and transportation-walking switching, as well as the application of electrical interlocking, effectively prevent the safety risks caused by misoperation. This dual-power design not only improves the adaptability and flexibility of the machine, but also enhances the safety and stability of the whole machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 Layout diagram of the control system for a rubber-wheeled scraper loader.

[0076] Figure 2 Functional block diagram of explosion-proof diesel engine control system.

[0077] Figure 3 Functional block diagram of explosion-proof motor control system.

[0078] Figure 4 Dual power switching strategy. DETAILED DESCRIPTION

[0079] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0080] The embodiment of the present invention provides a control system for a mining dual-power rubber-wheeled scraper transfer machine, comprising:

[0081] The explosion-proof diesel engine control system uses the explosion-proof diesel engine as the power to drive the rubber wheels, including the diesel engine electronic common rail injection device, diesel locomotive protection device and diesel engine power supply device;

[0082] The explosion-proof motor control system uses two transport motors as power to drive the scraper transport, and is composed of a power supply unit, a PLC control unit, an execution unit, and a motor protection unit;

[0083] Auxiliary system, used to realize the status detection and protection of the whole machine, including emergency stop, methane power off instrument, remote control system, video working condition monitoring system, personnel approach system, lighting system, sound and light alarm system and hopper valve control system;

[0084] The dual power switching system is used to achieve safe switching between diesel engine and motor power. The switching operation sequence includes walking-switching-transporting operation sequence and transport-switching-walking operation sequence, and electrical interlocking is used to prevent misoperation.

[0085] In the embodiment of the present invention, the system combines two power sources, an explosion-proof diesel engine and a motor, so that the scraper transfer machine can maintain efficient operation under different working environments. Whether it is required to move long distances or to transport high-power materials, different power sources can be switched to meet the needs, which greatly enhances the flexibility and adaptability of the machine. The stability and safety of the power system are ensured by the independent design of the explosion-proof diesel engine and the motor control system. At the same time, the safety facilities such as the methane power-off instrument, the emergency stop device, the sound and light alarm system in the auxiliary system can take timely measures in an emergency to prevent accidents and improve the safety of the workplace. The application of the PLC control unit and the remote control system makes the operation more intelligent and automated. The operator can remotely control the machine, reducing the difficulty and risk of manual operation. At the same time, the video working condition monitoring system can monitor the working status of the machine in real time, which is convenient for timely adjustment and optimization of the work process. The application of the diesel engine electronic common rail injection device improves the injection efficiency and accuracy of the fuel, helps to reduce fuel consumption, reduce harmful gas emissions, and is more environmentally friendly. The various components in the auxiliary system, such as the personnel approach system, the lighting system, the sound and light alarm system, and the hopper valve control system, together provide comprehensive status detection and protection functions for the whole machine. These systems can promptly detect potential safety hazards and remind operators to take corresponding measures through sound and light alarms.

[0086] In a preferred embodiment of the present invention, the diesel engine electronically controlled common rail injection device comprises:

[0087] Sensors are used to monitor engine operating conditions and transmit real-time collected information to the ECU controller via electrical signals;

[0088] The ECU controller is used to receive and analyze input information from sensors, and after calculation and processing, sends the optimal instructions to the actuator via electrical signals.

[0089] The actuator is used to receive the ECU command and control the injection timing and injection amount through mechanical or electrical signals according to the command; the diesel locomotive protection device includes:

[0090] The intrinsically safe display screen is used to communicate with the ECU controller through the CAN bus to display the vehicle status and fault information; the speed sensor, fuel level sensor, hydraulic oil level and oil temperature sensor and methane sensor are connected to the protection device through the sensor line, and the data is monitored in real time and transmitted to the protection device for display on the display screen;

[0091] The diesel engine power supply unit includes:

[0092] The flameproof permanent magnet generator is used to be connected to the diesel engine through a crankshaft belt, and the three-phase alternating current generated by the flameproof permanent magnet generator is connected to the generator regulator through a cable;

[0093] The generator regulator is used to rectify and regulate the AC power, and then output 24V DC power through cables to supply the diesel engine control system and other electrical equipment, and charge the battery power box.

[0094] In the embodiment of the present invention, the diesel engine electronic common rail injection device monitors the engine working condition in real time through sensors and transmits these data to the ECU controller. After precise calculation, the ECU controller sends the optimal command to the actuator, thereby realizing precise control of the injection time and injection amount. This precise control not only improves the utilization efficiency of fuel, but also reduces unnecessary fuel consumption and exhaust emissions, so that the engine can maintain efficient operation under various working conditions. The diesel locomotive protection device monitors the status and key parameters of the whole vehicle in real time through the intrinsically safe display screen and a variety of sensors. These sensors include speed sensors, fuel level sensors, hydraulic oil level and oil temperature sensors, and methane sensors, etc. They can detect potential faults and safety hazards in time, and provide intuitive fault information and vehicle status to the operator through the display screen, so as to help the operator take timely measures to prevent the fault from expanding or safety accidents. The flameproof permanent magnet generator in the diesel engine power supply device can stably generate three-phase alternating current, and rectify and adjust it through the generator regulator, and finally output a stable 24V direct current. This design not only ensures stable power supply to the diesel engine control system and other electrical equipment, but also charges the battery power box, thus ensuring stable power supply to the diesel engine starting system and other electrical devices when the generator stops generating electricity. Through the precise control of the electronic common rail injection device, fuel consumption and harmful emissions can be significantly reduced, meeting modern environmental protection requirements. At the same time, since each system adopts a high reliability and long life design, it can reduce the maintenance cost and downtime of the whole machine and improve production efficiency.

[0095] In a preferred embodiment of the present invention, the power supply unit comprises:

[0096] The transformer is used to access the mine AC 1140V power system and is connected to the switching power supply and the intrinsically safe power supply through cables; after the switching power supply and the intrinsically safe power supply are converted, the voltage is provided to the explosion-proof motor through cables;

[0097] The PLC controller is used to connect to the PLC expansion module through the internal bus; the digital input module collects the switch signal, the analog input module collects the analog signal, and the communication module performs data interaction; the output point of the PLC control unit is connected to the relay through a cable, and the relay controls the coil of the contactor, thereby controlling the on and off of the motor circuit;

[0098] The sensor comprises:

[0099] The crankshaft speed sensor is used to detect the signals of the piston top dead center and crankshaft rotation angle and input them into the engine ECU to control the ignition timing and injection amount, and measure the speed information of the diesel engine at the same time; the cam speed sensor is used to detect the camshaft position and rotation angle signals to determine the compression top dead center position of the first cylinder piston; at startup, the ECU identifies the position and stroke of each cylinder piston based on the signals provided by the crankshaft speed sensor and the cam speed sensor, controls the fuel injection sequence and ignition sequence, and performs precise injection and ignition control;

[0100] The throttle position sensor is used to transmit the accelerator pedal depth signal to the ECU to control the diesel engine's air intake and fuel injection volume to achieve vehicle acceleration and deceleration;

[0101] The rail pressure sensor is used to measure the real-time pressure of the fuel in the common rail and convert it into a voltage signal and send it to the ECU to control the injection amount and injection timing;

[0102] The intake air temperature and pressure sensor is used to detect the intake air temperature and pressure of the diesel engine, and convert it into a voltage signal and input it to the ECU as a signal for injection correction; the oil temperature and pressure sensor is used to detect the oil status for lubrication and cooling of the diesel engine.

[0103] In the embodiment of the present invention, the power supply unit is connected to the mine AC 1140V power system through a transformer, and after the conversion of the switching power supply and the intrinsically safe power supply, a stable and reliable voltage is provided for the explosion-proof motor. This design ensures that the motor can operate stably even in the harsh mine environment, and improves the reliability and working efficiency of the whole machine. The PLC controller is connected to the PLC expansion module through the internal bus, realizing the collection of switch signals and analog signals, as well as the interaction of data. This intelligent control logic enables the machine to automatically adjust according to the real-time working state, improving the automation level and operation convenience of the machine. The application of the crankshaft speed sensor and the cam speed sensor enables the ECU to accurately identify the position and stroke of each cylinder piston, so as to perform accurate injection and ignition control. This not only improves the combustion efficiency of the engine, but also reduces exhaust emissions, meeting environmental protection requirements. The application of the throttle position sensor, rail pressure sensor, intake air temperature and pressure sensor, and oil temperature and pressure sensor provides the ECU with rich real-time data, enabling it to adjust the injection amount and injection time in real time according to the working state of the vehicle and the external environment. This real-time state monitoring and adjustment mechanism ensures that the machine can maintain the best working state under various working conditions.

[0104] In a preferred embodiment of the present invention, the intrinsically safe display screen communicates with the ECU via the CAN bus to display the vehicle status and fault information; the speed sensor is used for the vehicle tachometer display; the fuel level sensor is installed on the fuel pump to detect the amount of fuel in the fuel tank; the hydraulic oil level and temperature sensor is installed on the hydraulic oil pump to detect the amount and temperature of the oil in the hydraulic oil tank; the methane sensor continuously monitors the methane concentration in the mine, and performs emergency power-off protection when the concentration exceeds the limit;

[0105] The diesel engine power supply device includes: a flameproof permanent magnet generator, a generator regulator and a battery power box; after the diesel engine is started, the flameproof permanent magnet generator is driven by the crankshaft belt, and the three-phase AC power generated by the generator is rectified and regulated by the generator regulator, and then converted into 24V DC power to supply the diesel engine control system and other electrical equipment of the whole machine, and charge the battery power box at the same time.

[0106] In the embodiment of the present invention, the intrinsically safe display screen communicates with the ECU via the CAN bus, and can display the status and fault information of the whole vehicle in real time. This design enables the operator to intuitively understand the operating status of the machine, and once a fault occurs, it can quickly locate and take measures, thereby greatly improving the efficiency and accuracy of fault handling. The application of speed sensor, fuel level sensor, hydraulic oil level and oil temperature sensor and methane sensor realizes comprehensive monitoring of key parameters of the whole vehicle. These sensors can detect and feedback various data in real time to ensure that the machine operates within a safe range. In particular, the methane sensor can continuously monitor the methane concentration in the mine. Once the concentration exceeds the limit, the emergency power-off protection is immediately triggered, thereby effectively preventing safety accidents caused by excessive methane. The configuration of the diesel engine power supply device includes a flameproof permanent magnet generator, a generator regulator and a battery power box, which ensures a stable and reliable power supply for the whole machine. The flameproof permanent magnet generator can continuously generate three-phase alternating current after the diesel engine is started, and after rectification and regulation by the generator regulator, it is converted into a stable 24V direct current to supply various control systems and electrical equipment. At the same time, the device can also charge the battery power box for emergency use, further enhancing the reliability and emergency capability of the entire machine.

[0107] In a preferred embodiment of the present invention, the power supply unit provides power to the explosion-proof motor and the control system, the PLC control unit starts and stops the motor through the execution unit after receiving the start and stop signal, and the motor protection unit detects the motor operating parameters and performs overload, overcurrent and phase loss protection on the motor through the PLC control unit;

[0108] The PLC control unit includes: a PLC controller and a PLC expansion module; the PLC expansion module includes a digital input / output module, an analog input module and a communication module; the digital input module is used to collect switch signals such as emergency stop, buttons, protectors, and methane power-off meters; the digital output module controls the on and off of the PLC points according to the program control logic, connects to the intermediate relay to amplify the power, and drives the contactor, lighting, and voice alarm components;

[0109] The analog input module refreshes the ADC conversion value in each cycle. It is divided into current and voltage types and is used to collect voltage, current transmitters, motor winding temperature and pressure sensor signals.

[0110] In the embodiment of the present invention, the power supply unit provides a stable and reliable power supply for the explosion-proof motor and the entire control system, which is the basis for ensuring the normal operation of the system and reducing faults. Stable power supply helps to extend the service life of the equipment and improve the reliability of the system. The PLC control unit can accurately control the start and stop of the motor by receiving the start-stop signal. This intelligent control method simplifies the operation process, improves work efficiency, and reduces the possibility of human operation errors. The motor protection unit monitors the operating parameters of the motor in real time, such as current, voltage, temperature, etc., and protects the motor from overload, overcurrent and phase loss through the PLC control unit. This comprehensive protection mechanism helps to timely discover and deal with potential safety hazards, prevent the motor from being damaged due to abnormal conditions, and thus ensure the safe operation of the motor. The digital input / output module and the analog input module in the PLC expansion module can flexibly collect and process various signals. The digital input module can collect switch signals such as emergency stop, button, protector, methane power-off meter, etc., while the analog input module can collect analog signals such as voltage, current transmitter, motor winding temperature and pressure sensor. This flexible signal acquisition and processing function enables the system to adapt to various complex working environments and respond accurately.

[0111] In a preferred embodiment of the present invention, a safe switching between diesel engine and motor is realized, and the switching operation sequence includes a walking switching transportation operation sequence and a transportation switching walking operation sequence, and electrical interlocking is used to prevent misoperation, including:

[0112] Walking switching transport operation:

[0113] Turn the cab conversion switch to the 0 position to ensure that there is no power input to the electronic control system; connect to the 1140V power supply system, and the electronic control system is powered by 1140V; switch the travel mode to the transport mode, that is, start and stop the transport motor;

[0114] Transport switching walking operation:

[0115] Disconnect the 1140V power supply system; turn the cab switch to the 2nd gear; switch the transport mode to the walking mode, and start the diesel engine for walking operation; the diesel engine cannot be switched to the transport mode when it is running, and the ECU power supply is automatically cut off in the transport mode;

[0116] In a preferred embodiment of the present invention, when the diesel engine is running and in travel mode, the dual power supply range is:

[0117] The diesel engine crankshaft belt drives the flameproof permanent magnet generator. The three-phase AC generated by the generator is rectified and regulated by the generator regulator and converted into 24V DC to supply the diesel engine control system, PLC control unit and auxiliary systems.

[0118] In the embodiment of the present invention, the occurrence of misoperation is effectively prevented by a clear switching operation sequence and electrical interlocking design. This design ensures that power switching can only be performed in a safe state, thereby greatly reducing the safety risks caused by misoperation. The dual power supply range and detailed control system design enable the whole machine to switch smoothly between different power sources, ensuring the stability and reliability of the system. Whether in walking mode or transportation mode, the system can provide continuous and stable power output. Clear switching steps and intelligent control systems reduce pauses and waiting time during operation, thereby improving work efficiency. Operators can complete power switching faster and continue to the next step. The close integration of the PLC control unit with each system realizes comprehensive monitoring of the operating status of the whole machine. At the same time, through the sound and light alarm system and the video working condition monitoring system, the operator can understand the operating status of the machine in real time, and receive early warnings in time when potential problems occur, so as to take corresponding measures. The clear power switching logic and electronic control system design also simplify the maintenance process of the equipment. Maintenance personnel can more easily identify and solve problems, reduce downtime, and improve the utilization rate of equipment.

[0119] In a preferred embodiment of the present invention, when the motor is running and in transport mode, the dual power supply range is:

[0120] The two transport explosion-proof motors, explosion-proof motor control system and auxiliary system are powered by the mine's 1140V power system; 1140V three-phase AC power is supplied to the explosion-proof motors; 1140V three-phase AC power is converted into AC220V, AC127V, AC36V / 24V, DC24V, and DC12V through a transformer and a switching power supply to power the explosion-proof motor control system and auxiliary system.

[0121] In the embodiment of the present invention, the mine 1140V power system is directly used to power the transport explosion-proof motor and control system, ensuring efficient and stable energy supply. This design reduces the loss of energy conversion and improves energy utilization efficiency. Through the transformer and the switching power supply, the 1140V three-phase AC power is converted into a variety of voltage levels to meet the different power requirements of the explosion-proof motor control system and auxiliary systems. This design enhances the flexibility and adaptability of the system. The PLC control unit can collect a variety of signals and intelligently control the start and stop of the transport motor, the lighting system and the sound and light alarm system according to these signals. This intelligent control improves the convenience and accuracy of operation. The PLC control unit can collect key safety signals such as emergency stop, methane power off instrument, and personnel approach system in real time, and control the emergency shutdown of the whole machine when necessary. This design significantly improves the safety performance of the equipment and protects the life safety of the operator. Through communication with the video working condition monitoring system, the PLC control unit can display the operating parameters of the whole machine and collect and display the video images of the camera on the fuselage in real time. This provides comprehensive equipment status information for operators, making it easy to find and solve problems in a timely manner. The clear power system and control system design simplifies the maintenance and repair process of the equipment. Maintenance personnel can more easily identify and repair faults, reducing downtime and maintenance costs.

[0122] In a preferred embodiment of the present invention, the rail pressure sensor is used to measure the real-time pressure of the fuel in the common rail and convert it into a voltage signal and send it to the ECU to control the injection amount and injection timing, including:

[0123] Define the optimization goal and encode the control parameters into the genes of the genetic algorithm. The genes constitute the chromosomes, i.e. the solutions. The control parameters include the injection amount and injection time.

[0124] An initial population is randomly generated, which contains multiple chromosomes, each chromosome represents a control strategy;

[0125] For each chromosome in the population, the data from the rail pressure sensor and the engine model are used to simulate the operating effect; the fitness value of each chromosome is calculated according to the optimization goal;

[0126] According to the fitness value, the corresponding chromosome is selected for reproduction, and the selected chromosome is cross-operated to generate new offspring; the newly generated offspring is mutated, and the original population is replaced with the newly generated population, and the iteration is repeated. When the preset number of iterations is reached, the iteration is stopped;

[0127] Select the corresponding chromosome from the final population as the final control strategy;

[0128] According to the final control strategy, the injection amount and injection timing are controlled.

[0129] In the embodiment of the present invention, the pressure of the fuel in the common rail is measured in real time by the rail pressure sensor, so that the injection amount and injection time can be controlled more accurately, thereby improving the combustion efficiency and performance of the engine. The genetic algorithm can find the best combination of injection amount and injection time through iterative optimization, making fuel consumption more economical and reducing operating costs. Accurate control of the injection process helps to reduce incomplete combustion and excessive fuel consumption, thereby reducing the emission of harmful gases and being more environmentally friendly. The optimized injection control strategy can improve the response speed of the engine and make the vehicle accelerate faster and more smoothly. Reasonable injection control can reduce engine wear and overheating and extend the service life of the engine. The genetic algorithm can adaptively adjust the control strategy to adapt to different working conditions and environmental conditions to ensure that the engine always runs in the best state. By integrating the rail pressure sensor and the genetic algorithm, the intelligent management of the engine injection system is realized, and the intelligence level of the whole vehicle is improved.

[0130] In a preferred embodiment of the present invention, the calculation formula of the fitness value is:

[0131]

[0132] Among them, E f Indicates the fuel consumption under the current control strategy; E p Indicates the emission under the current control strategy; N r represents the engine stability score under the current control strategy; P t Indicates the expected injection amount; T t Indicates the expected injection time; P cur Indicates the injection amount under the current control strategy; T cur represents the injection time under the current control strategy; α1, α2, α3, α4 and α5 are weight coefficients; where:

[0133]

[0134] Among them, w rpm 、w L 、w V and w T is the weight coefficient corresponding to each stability score; σ rpm , σ L , σ V and They are the standard deviations corresponding to speed, load, vibration and temperature fluctuations respectively.

[0135] In the embodiment of the present invention, the fitness value formula covers multiple key indicators in engine operation, such as fuel consumption, emissions, stability, etc., to ensure that the optimization process can comprehensively consider these factors, thereby achieving an improvement in the overall performance of the engine.t and T t , the formula guides the genetic algorithm to optimize towards the predetermined goal, making the control strategy more in line with actual needs. The settings of weight coefficients α1, α2, α3, α4 and α5 allow the priority of each indicator to be adjusted according to different application scenarios or performance requirements, making the optimization process more flexible. r The calculation takes into account multiple stability-related factors such as speed, load, vibration and temperature fluctuations, which helps to improve the operating stability of the engine under various operating conditions. By calculating the deviation between the injection amount and injection timing under the current control strategy and the expected value, the formula can accurately guide the genetic algorithm to fine-tune the control parameters, thereby achieving more accurate injection control.

[0136] A control method for a dual-power rubber-wheeled scraper transfer machine for mining, the method is applied to a dual-power rubber-wheeled scraper transfer machine for mining comprising an explosion-proof diesel engine control system, an explosion-proof motor control system, an auxiliary system and a dual-power switching system, wherein the explosion-proof diesel engine control system uses an explosion-proof diesel engine as power to drive the rubber wheels to travel, the explosion-proof motor control system uses two transport motors as power to drive the scraper to transport, the auxiliary system is used to realize state detection and protection of the whole machine, and the dual-power switching system is used to realize safe switching of two powers, the diesel engine and the motor; the method comprises the following steps:

[0137] Switch to walking mode, drive the flameproof permanent magnet generator through the diesel engine crankshaft belt, the three-phase AC generated by the generator is rectified and regulated by the generator regulator, and then converted into 24V DC to supply the diesel engine control system, PLC control unit and auxiliary systems; the auxiliary systems include emergency stop, methane power off instrument, personnel approach system, video working condition monitoring system, lighting system, sound and light alarm system, remote control system and hopper valve control system; the diesel engine control system controls the diesel engine to drive the rubber wheel to walk; the PLC control unit collects signals from the emergency stop, methane power off instrument and personnel approach system to control the emergency shutdown of the whole machine; the PLC control unit collects signals from the operation button and the remote control system to control the lighting system and the hopper valve control system; the PLC control unit communicates with the ECU to obtain the diesel engine operating parameters, and warns the forward and backward walking movements through the sound and light alarm system; the video working condition monitoring system communicates with the PLC control unit to obtain and display the whole machine operating parameters, and at the same time collects and displays the video images of the four cameras on the fuselage.

[0138] Switch to transport mode, and power the two transport explosion-proof motors, explosion-proof motor control system and auxiliary system through the mine's 1140V power system; 1140V three-phase AC power is supplied to the explosion-proof motor; 1140V three-phase AC power is converted into AC220V, AC127V, AC36V / 24V, DC24V, DC12V through a transformer and a switching power supply to power the explosion-proof motor control system and auxiliary system, and the PLC control unit collects signals from the operation buttons and the remote control system to control the start and stop of the transport motor, the lighting system, and the sound and light alarm system; the PLC control unit collects signals from the emergency stop, methane power cut-off meter, and personnel approach system to control the emergency shutdown of the entire machine; the PLC control unit communicates with the video condition monitoring system to display the operating parameters of the entire machine, and simultaneously collects and displays video images from the four cameras on the fuselage.

[0139] Furthermore, during the operation of the diesel engine:

[0140] The rail pressure sensor measures the real-time pressure of the fuel in the common rail and converts it into a voltage signal to be sent to the ECU;

[0141] In the ECU, the optimization target is defined and the control parameters are encoded as genes of the genetic algorithm. The genes constitute chromosomes, i.e., solutions, where the control parameters include the injection amount and injection timing;

[0142] An initial population is randomly generated, which contains multiple chromosomes, each chromosome represents a control strategy;

[0143] For each chromosome in the population, the data from the rail pressure sensor and the engine model are used to simulate the operating effect, and the fitness value of each chromosome is calculated according to the optimization goal;

[0144] According to the fitness value, the corresponding chromosome is selected for reproduction, the selected chromosome is cross-operated to generate new offspring, and the newly generated offspring is mutated;

[0145] Use the newly generated population to replace the original population, and repeat the iteration until the preset number of iterations is reached;

[0146] The corresponding chromosome is selected from the final population as the final control strategy, and the injection amount and injection timing are controlled according to the final control strategy.

[0147] The rubber-wheeled scraper transfer machine of the present invention adopts dual-power drive, which uses a diesel engine as the driving force and travels in a rubber-wheeled manner. After moving to the temporary transfer point of the required materials, it is connected with the main transport or chute belt conveyor, connected with a cable and driven by a motor, and the materials required to be transferred at the temporary transfer point can be uniformly unloaded and transferred to the belt conveyor, realizing efficient, fast and flexible transfer and transportation of materials at various temporary transfer points, thereby improving the overall operating efficiency of the excavation working face.

[0148] 1.Complete machine control system.

[0149] The whole machine control system includes explosion-proof diesel engine control system, explosion-proof motor control system, auxiliary system and dual power switching system. The explosion-proof diesel engine control system uses the explosion-proof diesel engine as the power to drive the rubber wheels to travel; the explosion-proof motor control system uses two transport motors as the power to drive the scraper to transport; the auxiliary system realizes the status detection and protection of the whole machine; the dual power switching strategy is used to safely switch between the diesel engine and the motor.

[0150] 2. The explosion-proof diesel engine control system mainly includes: diesel engine electronic common rail injection device, diesel locomotive protection device, and diesel engine power supply device.

[0151] The diesel engine electronically controlled common rail injection device includes: sensors, ECU controllers and actuators. Its function is to electronically control the diesel engine fuel injection system and realize real-time adjustment of the fuel injection amount and injection time under different working conditions. The sensor is used to monitor the engine working conditions and transmit the real-time collected information to the ECU controller. The ECU controller receives and analyzes the input information, and sends the optimal instructions to the actuator after calculation and processing. The actuator receives the ECU instructions and controls the injection time and injection amount according to the instructions, so that the diesel engine can run in the best state.

[0152] The sensors include: crankshaft speed sensor, cam speed sensor, throttle position sensor, rail pressure sensor, intake air temperature and pressure sensor, oil temperature and pressure sensor, etc. The crankshaft speed sensor is also called the diesel engine speed sensor. It is one of the most important sensors of the diesel engine electronic control system. It is used to detect the piston top dead center and crankshaft angle signals and input them into the engine ECU to control the ignition timing and injection amount. At the same time, it also measures the speed information of the diesel engine. The cam speed sensor is used to detect the camshaft position and angle signals to determine the compression top dead center position of the first cylinder piston. At startup, the ECU identifies the position and stroke of each cylinder piston based on the signals provided by the crankshaft speed sensor and the cam speed sensor, controls the fuel injection sequence and ignition sequence, and performs precise injection and ignition control. The throttle position sensor is responsible for transmitting the depth signal of the accelerator pedal to the ECU, thereby controlling the intake volume and injection volume of the diesel engine and realizing the acceleration and deceleration of the vehicle. The rail pressure sensor is used to accurately and quickly measure the real-time pressure of the fuel in the common rail, and convert it into a voltage signal and send it to the ECU to accurately control the injection amount and injection timing. The intake air temperature and pressure sensor is used to detect the intake air temperature and pressure of the diesel engine, and convert it into a voltage signal and input it to the ECU as a signal for fuel injection correction. The engine oil temperature and pressure sensor is used to detect the state of the engine oil to ensure its lubrication and cooling effect on the diesel engine.

[0153] The actuators include: injector solenoid valve, fuel flow metering solenoid valve, etc. The injector solenoid valve is used to accurately control the injection time and amount, and the fuel flow metering solenoid valve is used to control the oil intake of the high-pressure oil pump to keep the oil rail pressure to meet the needs.

[0154] The diesel locomotive protection device includes: intrinsically safe display screen, speed sensor, fuel level sensor, hydraulic oil level and temperature sensor, methane sensor, etc. The intrinsically safe display screen communicates with the ECU via the CAN bus to display the vehicle status and fault information. The speed sensor is used for the vehicle tachometer display. The fuel level sensor is installed on the fuel pump to detect the amount of fuel in the fuel tank. The hydraulic oil level and temperature sensor is installed on the hydraulic oil pump to detect the amount and temperature of the oil in the hydraulic oil tank. The methane sensor can continuously monitor the methane concentration in the mine and perform emergency power-off protection when the concentration exceeds the limit.

[0155] The diesel engine power supply device includes: flameproof permanent magnet generator, generator regulator, battery power box, etc. After the diesel engine is started, the crankshaft belt drives the flameproof permanent magnet generator. The three-phase AC generated by the generator is rectified and regulated by the generator regulator, and then converted into 24V DC to supply the diesel engine control system and other electrical equipment of the whole machine. At the same time, the battery power box is charged, and the explosion-proof motor is used as the power to drive the scraper transportation.

[0156] 3. The explosion-proof motor control system mainly includes: power supply unit, PLC control unit, execution unit, and motor protection unit. The power supply unit provides power to the explosion-proof motor and control system. After receiving the start-stop signal, the PLC control unit starts and stops the motor through the execution unit. The motor protection unit detects the motor operating parameters and protects the motor from overload, overcurrent, and phase loss through the PLC control unit. The explosion-proof motor control system is the core part of the entire electrical system. It not only has to complete various protection functions and communication functions for the motor, but also has to realize the corresponding control functions. By calculating and processing the collected parameters of the system, the actual operating status of the motor is judged. If a fault occurs, the corresponding trip command is issued according to the type of fault.

[0157] The power supply unit includes: transformer, switching power supply, intrinsically safe power supply. The power supply unit is connected to the mine AC 1140V power system to provide power to the explosion-proof motor. At the same time, the AC 1140V is converted into various voltage levels required by the control system through transformers, switching power supplies, and intrinsically safe power supplies, including AC220V, AC127V, AC36V / 24V, DC24V, DC12V, etc.

[0158] The PLC control unit includes: PLC controller and PLC expansion module. The PLC controller is used for the control logic of the entire system, and the PLC expansion module includes digital input / output module, analog input module and communication module. The digital input module is used to collect switch signals such as emergency stop, button, protector, methane power-off meter, etc. The digital output module controls the PLC point conduction and shutdown according to the program control logic, and is equipped with an intermediate relay to amplify the power. It can drive different components such as non-contactors, lighting, voice alarms, etc. The analog input module refreshes the ADC conversion value every cycle and is divided into current and voltage types. It is used to collect signals such as voltage and current transmitters, motor winding temperature, and pressure sensors. The communication module includes communication ports such as Ethernet, RS485, and CAN bus, which are used for data interaction between the display system and the diesel engine control system.

[0159] The execution unit includes: circuit breaker, contactor and relay. The circuit breaker is used to stop and supply power to the entire explosion-proof motor control system. The connection and disconnection of the motor circuit power supply is achieved by driving the relay through the PLC output point, and the relay controls the contactor coil.

[0160] The motor protection unit includes: current / voltage transmitter, leakage lockout protection, AC127V, AC36V leakage monitoring, motor overheat protection, motor winding temperature detection, etc. The PLC module or communication module collects the current transmitter signal, and after calculation by the controller program software, it determines the overcurrent, overload, phase loss and other faults that occur during the operation of the motor. The PLC output point is disconnected, the relay loses power, the vacuum contactor coil loses power, the contactor is disconnected, and the motor circuit stops running.

[0161] 4. Auxiliary systems include:

[0162] Emergency stop, methane power off instrument, remote control system, video condition monitoring system, personnel approach system, lighting system, sound and light alarm system, hopper valve control system, etc.

[0163] 5. Dual power switching strategy, including:

[0164] Dual power switching operation sequence:

[0165] Walking switching transport operation sequence:

[0166] 1) Turn the cab conversion switch to the 0 position (at this time, the diesel engine battery output is turned off and the ECU power is cut off) to ensure that there is no power input to the electronic control system;

[0167] 2) Connect to the 1140V power supply system. At this time, the electric control system is powered by 1140V;

[0168] 3) Switch the walking mode to the transport mode to start and stop the transport motor.

[0169] Transport switching walking operation sequence:

[0170] 1) Disconnect the 1140V power supply system;

[0171] 2) Turn the cab conversion switch to position 2 (at this time, the diesel engine battery output is normal, the ECU power supply is powered on, and the electronic control system is powered by the diesel engine battery);

[0172] 3) Switch the transport mode to the walking mode and start the diesel engine for walking operation;

[0173] Electrical interlock: To prevent misoperation, the diesel engine cannot be switched to transport mode when it is running, and the ECU power supply is automatically cut off in transport mode.

[0174] Dual power supply range:

[0175] In the diesel engine running and walking mode: the diesel engine crankshaft belt drives the flameproof permanent magnet generator, and the three-phase AC generated by the generator is rectified and regulated by the generator regulator, and then converted into 24V DC to supply the diesel engine control system, PLC control unit and auxiliary systems. The auxiliary systems include emergency stop, methane power-off instrument, personnel approach system, video working condition monitoring system, lighting system, sound and light alarm system, remote control system, hopper valve control system, etc. At this time, the diesel engine control system controls the diesel engine to drive the rubber wheel to walk; the PLC control unit collects the signals of the emergency stop, methane power-off instrument, and personnel approach system to control the emergency shutdown of the whole machine; the PLC control unit collects the signals of the operation button and the remote control system to control the lighting system and the hopper valve control system; the PLC control unit communicates with the ECU to obtain the diesel engine operating parameters, and warns the forward and backward movements of walking through the sound and light alarm system; the video working condition monitoring system communicates with the PLC control unit to obtain and display the operating parameters of the whole machine, and at the same time collects and displays the video images of the four cameras on the fuselage to help the driver understand the overall situation of the lane.

[0176] In the motor operation and transportation mode: the mine's 1140V power system supplies power to two explosion-proof transport motors, explosion-proof motor control systems and auxiliary systems. Among them, 1140V three-phase AC power is supplied to the explosion-proof motor; 1140V three-phase AC power is converted into AC220V, AC127V, AC36V / 24V, DC24V, DC12V by transformers and switching power supplies to power the explosion-proof motor control system and auxiliary systems. At this time, the PLC control unit collects signals from the operation buttons and remote control system to control the start and stop of the transport motor, the lighting system and the sound and light alarm system; the PLC control unit collects signals from the emergency stop, methane power off instrument, and personnel approach system to control the emergency shutdown of the entire machine; the PLC control unit communicates with the video condition monitoring system to display the operating parameters of the entire machine, and at the same time collects and displays the video images of the four cameras on the fuselage to help the driver understand the overall situation of the tunnel.

[0177] It should be noted that the system is a system corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0178] The embodiment of the present invention further provides a computing device, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0179] The embodiment of the present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

Claims

1. A control system for a mining dual-power rubber-wheeled scraper transfer machine, characterized in that: include: The explosion-proof diesel engine control system uses the explosion-proof diesel engine as the power to drive the rubber wheels, including the diesel engine electronic common rail injection device, diesel locomotive protection device and diesel engine power supply device; The explosion-proof motor control system uses two transport motors as power to drive the scraper transport, and is composed of a power supply unit, a PLC control unit, an execution unit, and a motor protection unit; Auxiliary system, used to realize the status detection and protection of the whole machine, including emergency stop, methane power off instrument, remote control system, video working condition monitoring system, personnel approach system, lighting system, sound and light alarm system and hopper valve control system; The dual power switching system is used to achieve safe switching between diesel engine and motor power. The switching operation sequence includes walking-switching-transporting operation sequence and transport-switching-walking operation sequence, and electrical interlocking is used to prevent misoperation.

2. The control system of the mining dual-power rubber-wheeled scraper transfer machine according to claim 1 is characterized in that: The diesel engine electronically controlled common rail injection device comprises: Sensors are used to monitor engine operating conditions and transmit real-time collected information to the ECU controller via electrical signals; The ECU controller is used to receive and analyze input information from sensors, and after calculation and processing, sends the optimal instructions to the actuator via electrical signals. Actuator, used to receive ECU instructions and control the injection timing and amount through mechanical or electrical signals according to the instructions; The diesel locomotive protection device comprises: The intrinsically safe display screen is used to communicate with the ECU controller through the CAN bus to display the vehicle status and fault information; the speed sensor, fuel level sensor, hydraulic oil level and oil temperature sensor and methane sensor are connected to the protection device through the sensor line, and the data is monitored in real time and transmitted to the protection device for display on the display screen; The diesel engine power supply unit includes: The flameproof permanent magnet generator is used to be connected to the diesel engine through a crankshaft belt, and the three-phase alternating current generated by the flameproof permanent magnet generator is connected to the generator regulator through a cable; The generator regulator is used to rectify and regulate the AC power, and then output 24V DC power through the cable to supply the diesel engine control system and other electrical equipment, and charge the battery power box; The power supply unit comprises: The transformer is used to access the mine AC 1140V power system and is connected to the switching power supply and the intrinsically safe power supply through cables; after the switching power supply and the intrinsically safe power supply are converted, the voltage is provided to the explosion-proof motor through cables; The PLC control unit is used to connect to the PLC expansion module through an internal bus; the digital input module collects switch signals, the analog input module collects analog signals, and the communication module performs data exchange; the output point of the PLC control unit is connected to the relay through a cable, and the relay controls the coil of the contactor, thereby controlling the on and off of the motor circuit.

3. The control system of the mining dual-power rubber-wheeled scraper transfer machine according to claim 2 is characterized in that: The sensor comprises: The crankshaft speed sensor is used to detect the signals of the piston top dead center and crankshaft rotation angle and input them into the engine ECU to control the ignition timing and injection amount, and measure the speed information of the diesel engine at the same time; the cam speed sensor is used to detect the camshaft position and rotation angle signals to determine the compression top dead center position of the first cylinder piston; at startup, the ECU identifies the position and stroke of each cylinder piston based on the signals provided by the crankshaft speed sensor and the cam speed sensor, controls the fuel injection sequence and ignition sequence, and performs precise injection and ignition control; The throttle position sensor is used to transmit the accelerator pedal depth signal to the ECU to control the diesel engine's air intake and fuel injection volume to achieve vehicle acceleration and deceleration; The rail pressure sensor is used to measure the real-time pressure of the fuel in the common rail and convert it into a voltage signal and send it to the ECU to control the injection amount and injection timing; The intake air temperature and pressure sensor is used to detect the intake air temperature and pressure of the diesel engine, and convert it into a voltage signal and input it to the ECU as a signal for injection correction; the oil temperature and pressure sensor is used to detect the oil status for lubrication and cooling of the diesel engine.

4. The control system of the mining dual-power rubber-wheeled scraper transfer machine according to claim 2 is characterized in that: The intrinsically safe display screen communicates with the ECU via the CAN bus to display the vehicle status and fault information; the speed sensor is used to display the vehicle tachometer; the fuel level sensor is installed on the fuel pump to detect the amount of fuel in the fuel tank; the hydraulic oil level and temperature sensor is installed on the hydraulic oil pump to detect the amount and temperature of oil in the hydraulic oil tank; The methane sensor continuously monitors the methane concentration in the mine and performs emergency power-off protection when the concentration exceeds the limit; The diesel engine power supply device includes: a flameproof permanent magnet generator, a generator regulator and a battery power box; after the diesel engine is started, the flameproof permanent magnet generator is driven by the crankshaft belt, and the three-phase AC power generated by the generator is rectified and regulated by the generator regulator, and then converted into 24V DC power to supply the diesel engine control system and other electrical equipment of the whole machine, and charge the battery power box at the same time.

5. The control system of the mining dual-power rubber-wheeled scraper transfer machine according to claim 2 is characterized in that: The power supply unit provides power to the explosion-proof motor and control system. After receiving the start / stop signal, the PLC control unit starts and stops the motor through the execution unit. The motor protection unit detects the motor operating parameters and performs overload, overcurrent and phase loss protection on the motor through the PLC control unit. The PLC control unit includes: a PLC controller and a PLC expansion module; the PLC expansion module includes a digital input / output module, an analog input module and a communication module; the digital input module is used to collect switch signals such as emergency stop, buttons, protectors, and methane power-off meters; the digital output module controls the on and off of the PLC points according to the program control logic, connects to the intermediate relay to amplify the power, and drives the contactor, lighting, and voice alarm components; The analog input module refreshes the ADC conversion value in each cycle. It is divided into current and voltage types and is used to collect voltage, current transmitters, motor winding temperature and pressure sensor signals.

6. The control system of the mining dual-power rubber-wheeled scraper transfer machine according to claim 2 is characterized in that: The safe switching between diesel engine and motor is realized. The switching operation sequence includes the operation sequence of walking switching to transportation and the operation sequence of transportation switching to walking. The electrical interlock is used to prevent misoperation, including: Walking switching transport operation: Turn the cab conversion switch to the 0 position to ensure that there is no power input to the electronic control system; connect to the 1140V power supply system, and the electronic control system is powered by 1140V; switch the travel mode to the transport mode, that is, start and stop the transport motor; Transport switching walking operation: Disconnect the 1140V power supply system; turn the cab switch to the 2nd gear; switch the transport mode to the walking mode, and start the diesel engine for walking operation; the diesel engine cannot be switched to the transport mode when it is running, and the ECU power supply is automatically cut off in the transport mode; When the diesel engine is running and in travel mode, the dual power supply range is: The diesel engine crankshaft belt drives the flameproof permanent magnet generator. The three-phase AC generated by the generator is rectified and regulated by the generator regulator and converted into 24V DC to supply the diesel engine control system, PLC control unit and auxiliary systems. When the motor is running and in transport mode, the dual power supply range is: The two transport explosion-proof motors, explosion-proof motor control system and auxiliary system are powered by the mine's 1140V power system; 1140V three-phase AC power is supplied to the explosion-proof motors; 1140V three-phase AC power is converted into AC220V, AC127V, AC36V / 24V, DC24V, and DC12V through a transformer and a switching power supply to power the explosion-proof motor control system and auxiliary system.

7. The control system of the mining dual-power rubber-wheeled scraper transfer machine according to claim 2 is characterized in that: The rail pressure sensor is used to measure the real-time pressure of the fuel in the common rail and convert it into a voltage signal and send it to the ECU to control the injection amount and injection timing, including: Define the optimization goal and encode the control parameters into the genes of the genetic algorithm. The genes constitute the chromosomes, i.e. the solutions. The control parameters include the injection amount and injection time. An initial population is randomly generated, which contains multiple chromosomes, each chromosome represents a control strategy; For each chromosome in the population, the data from the rail pressure sensor and the engine model are used to simulate the operating effect; the fitness value of each chromosome is calculated according to the optimization goal; According to the fitness value, the corresponding chromosome is selected for reproduction, and the selected chromosome is cross-operated to generate new offspring; the newly generated offspring is mutated, and the original population is replaced with the newly generated population, and the iteration is repeated. When the preset number of iterations is reached, the iteration is stopped; Select the corresponding chromosome from the final population as the final control strategy; According to the final control strategy, the injection amount and injection timing are controlled.

8. The control system of the mining dual-power rubber-wheeled scraper transfer machine according to claim 7 is characterized in that: The calculation formula of fitness value is: Among them, E f Indicates the fuel consumption under the current control strategy; E p Indicates the emission under the current control strategy; N r represents the engine stability score under the current control strategy; P t Indicates the expected injection amount; T t Indicates the expected injection time; T cur Indicates the injection amount under the current control strategy; T cur represents the injection time under the current control strategy; α1, α2, α3, α4 and α5 are weight coefficients; where: Among them, w rpm 、w L 、w V and w T is the weight coefficient corresponding to each stability score; σ rpm , σ L , σ V and They are the standard deviations corresponding to speed, load, vibration and temperature fluctuations respectively.

9. A control method for a dual-power rubber-wheeled scraper transfer machine for mining, characterized in that: Applied to the system as claimed in any one of claims 1 to 8, the method is applied to a mining dual-power rubber-wheeled scraper transfer machine comprising an explosion-proof diesel engine control system, an explosion-proof motor control system, an auxiliary system and a dual-power switching system, wherein the explosion-proof diesel engine control system uses an explosion-proof diesel engine as power to drive the rubber wheels to travel, the explosion-proof motor control system uses two transport motors as power to drive the scraper to transport, the auxiliary system is used to realize the state detection and protection of the whole machine, and the dual-power switching system is used to realize the safe switching of the two powers of the diesel engine and the motor; the method comprises the following steps: Switch to walking mode, drive the flameproof permanent magnet generator through the diesel engine crankshaft belt, the three-phase AC generated by the generator is rectified and regulated by the generator regulator, and then converted into 24V DC to supply the diesel engine control system, PLC control unit and auxiliary systems; the auxiliary systems include emergency stop, methane power off instrument, personnel approach system, video working condition monitoring system, lighting system, sound and light alarm system, remote control system and hopper valve control system; the diesel engine control system controls the diesel engine to drive the rubber wheel to walk; the PLC control unit collects signals from the emergency stop, methane power off instrument and personnel approach system to control the emergency shutdown of the whole machine; the PLC control unit collects signals from the operation button and the remote control system to control the lighting system and the hopper valve control system; the PLC control unit communicates with the ECU to obtain the diesel engine operating parameters, and warns the forward and backward walking movements through the sound and light alarm system; the video working condition monitoring system communicates with the PLC control unit to obtain and display the whole machine operating parameters, and at the same time collects and displays the video images of the four cameras on the fuselage.

10. The control method of a mining dual-power rubber-wheeled scraper transfer machine according to claim 9, characterized in that: Switch to transport mode, and power the two transport explosion-proof motors, explosion-proof motor control system and auxiliary system through the mine's 1140V power system; 1140V three-phase AC power supplies the explosion-proof motor; 1140V three-phase AC power is converted into AC220V, AC127V, AC36V / 24V, DC24V, DC12V by transformers and switching power supplies to power the explosion-proof motor control system and auxiliary system. The PLC control unit collects signals from the operation buttons and remote control system to control the start and stop of the transport motor, the lighting system and the sound and light alarm system; the PLC control unit collects signals from the emergency stop, methane power-off instrument and personnel approach system to control the emergency shutdown of the entire machine; the PLC control unit communicates with the video condition monitoring system to display the operating parameters of the entire machine, and at the same time collects and displays the video images of the four cameras on the fuselage; During the operation of the diesel engine: the real-time pressure of the fuel in the common rail is measured by the rail pressure sensor and converted into a voltage signal and sent to the ECU; In the ECU, the optimization target is defined and the control parameters are encoded as genes of the genetic algorithm. The genes constitute chromosomes, i.e., solutions, where the control parameters include the injection amount and injection timing; An initial population is randomly generated, which contains multiple chromosomes, each chromosome represents a control strategy; For each chromosome in the population, the data from the rail pressure sensor and the engine model are used to simulate the operating effect, and the fitness value of each chromosome is calculated according to the optimization goal; According to the fitness value, the corresponding chromosome is selected for reproduction, the selected chromosome is cross-operated to generate new offspring, and the newly generated offspring is mutated; Use the newly generated population to replace the original population, and repeat the iteration until the preset number of iterations is reached; The corresponding chromosome is selected from the final population as the final control strategy, and the injection amount and injection timing are controlled according to the final control strategy.

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