Electrical control system and method for coal tunneling operation

Abstract

The invention provides an electrical control system and method for coal tunneling operation. The system comprises a monitoring module and a control center module. The monitoring module is used for monitoring operation parameters and environment data of the heading machine in real time and sending the operation parameters and the environment data to the control center module; the control center module is used for determining a control instruction according to the operation parameters and the environment data, and electrically controlling the heading machine based on the control instruction; wherein the operation parameters comprise the working temperature of each part of the heading machine, the working pressure of a hydraulic system of the heading machine, the propelling distance of the heading machine, the vibration data of the heading machine, the working current of a motor, the rotating speed of the heading machine, an oil tank and the liquid level of liquid in a water tank; the environment data comprises humidity and gas components of the driving working face. According to the technical scheme, the tunneling working face can be monitored in real time, operation is easy, and expansion can be achieved.

Description

Technical Field

[0001] The present application relates to the field of coal electrical control technology, and in particular to an electrical control system and method for coal excavation operations. Background Art

[0002] The existing electrical control devices for coal mining have modular hardware. The communication between the central unit and the working surface uses a data line. The hardware is composed of optional components. Different driver software and logic software are downloaded when in use. The integrated housing of the actuator integrates various actuator components, even including power components. However, the existing electrical control devices have poor real-time monitoring of the working surface. The actuator can only be executed centrally, which is inconvenient to operate and difficult to expand. Summary of the invention

[0003] The present application provides an electrical control system and method for coal excavation operations, in order to at least solve the technical problems that the real-time monitoring of the working surface is poor, the actuators can only execute in a centralized manner, and the operation is inconvenient and difficult to expand.

[0004] The first embodiment of the present application provides an electrical control system for coal excavation operations, the electrical control system comprising: a monitoring module, a control center module;

[0005] The monitoring module is used to monitor the operating parameters and environmental data of the tunnel boring machine in real time, and send the operating parameters and environmental data to the control center module;

[0006] The control center module is used to determine control instructions according to the operating parameters and environmental data, and to electrically control the tunnel boring machine based on the control instructions;

[0007] The operating parameters include: the operating temperature of each component of the tunnel boring machine, the operating pressure of the hydraulic system of the tunnel boring machine, the advancing distance of the tunnel boring machine, the vibration data of the tunnel boring machine, the operating current of the motor, the rotation speed of the tunnel boring machine, and the liquid level in the oil tank and the water tank;

[0008] The environmental data include: humidity and gas composition of the excavation working face.

[0009] Preferably, the monitoring module includes: a temperature sensor, a pressure sensor, a displacement sensor, a vibration sensor, a humidity sensor, a gas sensor, a current sensor, a speed sensor and a liquid level sensor;

[0010] The temperature sensor is used to monitor the operating temperature of various components of the roadheader;

[0011] The pressure sensor is used to monitor the working pressure of the hydraulic system of the tunnel boring machine;

[0012] The displacement sensor is used to monitor the advancement distance of the tunnel boring machine;

[0013] The vibration sensor is used to monitor the vibration data of the tunnel boring machine;

[0014] The humidity sensor is used to monitor the humidity of the excavation working face;

[0015] The gas sensor is used to monitor the gas composition of the excavation working face;

[0016] The current sensor is used to monitor the working current of the motor;

[0017] The speed sensor is used to monitor the rotation speed of the roadheader;

[0018] The liquid level sensor is used to monitor the liquid level in the oil tank and the water tank.

[0019] Preferably, the control center module is further used to generate a deceleration instruction or a stop instruction or a cooling system start instruction when the operating temperature of each component of the tunnel boring machine is greater than its corresponding temperature threshold, and control the tunnel boring machine to reduce the tunneling speed based on the deceleration instruction, or control the tunnel boring machine to stop based on the stop instruction, or control the cooling system to start based on the cooling system start instruction;

[0020] The control center module is further used to generate a decompression instruction or a shutdown instruction when the working pressure of the hydraulic system of the tunnel boring machine is greater than a pressure threshold, reduce the pressure of the tunnel boring machine based on the decompression instruction, or control the tunnel boring machine to stop based on the shutdown instruction;

[0021] The control center module is further configured to generate a stop excavation instruction or a reduce excavation rate instruction when the advancement distance of the tunnel boring machine is equal to a preset distance threshold, and control the tunnel boring machine to stop excavation based on the stop excavation instruction, or control the excavation rate of the tunnel boring machine based on the reduce excavation rate instruction;

[0022] The control center module is further used to determine that the working state of the tunnel boring machine is abnormal when the vibration data of the tunnel boring machine is greater than the vibration threshold, generate a stop command or a deceleration command, control the tunnel boring machine to stop based on the stop command, or control the tunneling speed of the tunnel boring machine based on the deceleration command;

[0023] The control center module is further used to determine that the excavation working environment is humid when the humidity of the excavation working face is greater than a humidity threshold, generate ventilation instructions and / or drainage instructions, and control ventilation of the ventilation system based on the ventilation instructions and / or control drainage of the drainage equipment based on the drainage instructions;

[0024] The control center module is also used to generate a shutdown command and a ventilation command when the gas composition of the excavation working face exceeds the standard, control the excavator to stop working based on the shutdown command, and control the ventilation system to ventilate based on the ventilation command;

[0025] The control center module is further used to determine that the motor is overloaded or faulty when the working current of the motor increases and its value is greater than the current threshold, generate a stop command or a deceleration command, control the tunneling machine to stop based on the stop command, or control the tunneling speed of the tunneling machine based on the deceleration command;

[0026] The control center module is further configured to determine that the operation state of the tunnel boring machine is abnormal when the rotation speed of the tunnel boring machine is greater than a preset maximum rotation speed value or less than a preset minimum rotation speed value, generate an instruction to adjust the rotation speed, and adjust the rotation speed of the tunnel boring machine based on the adjusted rotation speed;

[0027] The control center module is also used to determine that the liquid volume is insufficient when the liquid level in the oil tank or water tank is lower than a preset minimum liquid level, generate a liquid replenishment instruction, and control the automatic liquid replenishment system to replenish liquid based on the liquid replenishment instruction.

[0028] Furthermore, the electrical control system further comprises: a circuit protection module;

[0029] The circuit protection module is used to perform overload protection on the circuit of the tunnel boring machine when the load current value collected by the current sensor is greater than a preset load current threshold;

[0030] The circuit protection module is used to perform short-circuit protection on the circuit of the roadheader when a short-circuit condition is detected in the circuit;

[0031] The circuit protection module is used to perform undervoltage protection on the circuit of the tunnel boring machine when it is detected that the power supply voltage is lower than a preset power supply voltage threshold;

[0032] The circuit protection module is used to perform leakage protection on the circuit of the tunnel boring machine when leakage is detected in the circuit of the tunnel boring machine.

[0033] Further, the gas control system further comprises: an emergency stop module, wherein the emergency stop module comprises: an execution unit, a safety interlock sensor and a logic control unit;

[0034] The safety interlock sensor is used to monitor the operating parameters of the tunnel boring machine in real time and send the operating parameters to the logic control unit;

[0035] The logic control unit is used to determine whether the operating parameters of the tunnel boring machine exceed the corresponding preset safety range, and if so, generate a shutdown command and send the shutdown command to the execution unit;

[0036] The execution unit is used to control the tunnel boring machine to stop based on the stop instruction.

[0037] Further, the control center module is also used to generate an alarm instruction when the operating temperature of each component of the tunnel boring machine is greater than its corresponding temperature threshold, and / or the working pressure of the hydraulic system of the tunnel boring machine is greater than the pressure threshold, and / or the advancement distance of the tunnel boring machine is equal to the preset distance threshold, and / or the vibration data of the tunnel boring machine is greater than the vibration threshold, and / or when the humidity of the tunnel boring working face is greater than the humidity threshold, and / or the gas composition of the tunnel boring working face exceeds the standard, and / or the working current of the motor increases and its value is greater than the current threshold, and / or the rotation speed of the tunnel boring machine is greater than the preset maximum rotation speed or less than the preset minimum rotation speed, and / or the liquid level in the oil tank or the water tank is less than the preset minimum liquid level;

[0038] The circuit protection module is further used to generate an alarm instruction when the load current value collected by the current sensor is greater than a preset load current threshold, and / or a short circuit is detected in the circuit, and / or the power supply voltage is detected to be lower than a preset power supply voltage threshold, and / or a leakage is detected in the circuit of the tunnel boring machine;

[0039] The logic control unit is also used to generate an alarm instruction when it is determined that the working parameters of the tunnel boring machine exceed their corresponding preset safety ranges.

[0040] Further, the gas control system further comprises: an alarm module;

[0041] The alarm module is used to receive alarm instructions sent by the control center module, the loop protection module, and the logic control unit, and to make an audible and visual alarm based on the alarm instructions.

[0042] Further, the gas control system further comprises: a power supply control module;

[0043] The power control module is used to provide power to the monitoring module, the control center module, the loop protection module, the emergency stop module and the alarm module.

[0044] Further, the gas control system further comprises: an interface module;

[0045] The interface module is used to receive the PLC control program and send the PLC control program to the control center module;

[0046] The control center module is further used to determine control instructions based on the PLC control program, the operating parameters and environmental data, and to electrically control the tunnel boring machine based on the control instructions;

[0047] The power control module is also used to provide power to the interface module.

[0048] The second embodiment of the present application provides an electrical control method for coal excavation operations, comprising:

[0049] Real-time monitoring of the tunnel boring machine’s operating parameters and environmental data;

[0050] Determining control instructions according to the operating parameters and environmental data, and electrically controlling the tunnel boring machine based on the control instructions;

[0051] The operating parameters include: the operating temperature of each component of the tunnel boring machine, the operating pressure of the hydraulic system of the tunnel boring machine, the advancing distance of the tunnel boring machine, the vibration data of the tunnel boring machine, the operating current of the motor, the rotation speed of the tunnel boring machine, and the liquid level in the oil tank and the water tank;

[0052] The environmental data include: humidity and gas composition of the excavation working face.

[0053] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0054] The present application proposes an electrical control system and method for coal tunneling operations, the system comprising: a monitoring module and a control center module; the monitoring module is used to monitor the operating parameters and environmental data of the tunneling machine in real time, and send the operating parameters and environmental data to the control center module; the control center module is used to determine control instructions according to the operating parameters and environmental data, and electrically control the tunneling machine based on the control instructions; wherein the operating parameters include: the operating temperature of each component of the tunneling machine, the working pressure of the hydraulic system of the tunneling machine, the propulsion distance of the tunneling machine, the vibration data of the tunneling machine, the working current of the motor, the rotation speed of the tunneling machine, and the liquid level in the oil tank and the water tank; the environmental data include: the humidity and gas composition of the tunneling working face. The technical solution proposed in the present application can monitor the tunneling working face in real time, is simple to operate and can be expanded.

[0055] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0057] Figure 1 A first structural diagram of an electrical control system for coal excavation operations provided according to an embodiment of the present application;

[0058] Figure 2 A second structural diagram of an electrical control system for coal excavation operations provided according to an embodiment of the present application;

[0059] Figure 3 A structural diagram of an emergency stop module provided according to an embodiment of the present application;

[0060] Figure 4 A flowchart of an electrical control method for coal excavation operations provided according to an embodiment of the present application;

[0061] Reference numerals

[0062] Monitoring module 1, control center module 2, temperature sensor 1-1, pressure sensor 1-2, displacement sensor 1-3, vibration sensor 1-4, humidity sensor 1-5, gas sensor 1-6, current sensor 1-7, speed sensor 1-8, liquid level sensor 1-9, circuit protection module 3, emergency stop module 4, execution unit 4-1, safety interlock sensor 4-2, logic control unit 4-3, alarm module 5, power control module 6, interface module 7. DETAILED DESCRIPTION

[0063] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0064] The present application proposes an electrical control system and method for coal tunneling operations, the system comprising: a monitoring module and a control center module; the monitoring module is used to monitor the operating parameters and environmental data of the tunneling machine in real time, and send the operating parameters and environmental data to the control center module; the control center module is used to determine control instructions according to the operating parameters and environmental data, and electrically control the tunneling machine based on the control instructions; wherein the operating parameters include: the operating temperature of each component of the tunneling machine, the working pressure of the hydraulic system of the tunneling machine, the propulsion distance of the tunneling machine, the vibration data of the tunneling machine, the working current of the motor, the rotation speed of the tunneling machine, and the liquid level in the oil tank and the water tank; the environmental data include: the humidity and gas composition of the tunneling working face. The technical solution proposed in the present application can monitor the tunneling working face in real time, is simple to operate and can be expanded.

[0065] An electrical control system and method for coal excavation operations according to an embodiment of the present application will be described below with reference to the accompanying drawings.

[0066] Embodiment 1

[0067] Figure 1 FIG. 1 is a structural diagram of an electrical control system for coal excavation operations provided according to an embodiment of the present application, such as Figure 1 As shown, the electrical control system includes: a monitoring module 1 and a control center module 2;

[0068] The monitoring module 1 is used to monitor the operating parameters and environmental data of the tunnel boring machine in real time, and send the operating parameters and environmental data to the control center module 2;

[0069] The control center module 2 is used to determine control instructions according to the operating parameters and environmental data, and to electrically control the tunnel boring machine based on the control instructions;

[0070] The operating parameters include: the operating temperature of each component of the tunnel boring machine, the operating pressure of the hydraulic system of the tunnel boring machine, the advancing distance of the tunnel boring machine, the vibration data of the tunnel boring machine, the operating current of the motor, the rotation speed of the tunnel boring machine, and the liquid level in the oil tank and the water tank;

[0071] The environmental data include: humidity and gas composition of the excavation working face.

[0072] It should be noted that the control center module 2 is the core of the entire electrical control system and is responsible for centralized control and management of various operations and functions of the roadheader.

[0073] In the embodiments of the present disclosure, Figure 2 As shown, the monitoring module 1 includes: a temperature sensor 1-1, a pressure sensor 1-2, a displacement sensor 1-3, a vibration sensor 1-4, a humidity sensor 1-5, a gas sensor 1-6, a current sensor 1-7, a speed sensor 1-8 and a liquid level sensor 1-9;

[0074] The temperature sensor 1-1 is used to monitor the working temperature of various components of the tunnel boring machine;

[0075] The pressure sensor 1-2 is used to monitor the working pressure of the hydraulic system of the tunnel boring machine;

[0076] The displacement sensors 1-3 are used to monitor the advancement distance of the tunnel boring machine;

[0077] The vibration sensors 1-4 are used to monitor the vibration data of the tunnel boring machine;

[0078] The humidity sensors 1-5 are used to monitor the humidity of the excavation working face;

[0079] The gas sensors 1-6 are used to monitor the gas composition of the excavation working face;

[0080] The current sensor 1-7 is used to monitor the working current of the motor;

[0081] The speed sensor 1-8 is used to monitor the rotation speed of the roadheader;

[0082] The liquid level sensors 1-9 are used to monitor the liquid levels in the oil tank and the water tank.

[0083] In the embodiment of the present disclosure, the control center module 2 is further used to generate a deceleration instruction or a stop instruction or a cooling system start instruction when the operating temperature of each component of the tunnel boring machine is greater than its corresponding temperature threshold, and control the tunnel boring machine to reduce the tunneling speed based on the deceleration instruction, or control the tunnel boring machine to stop based on the stop instruction, or control the cooling system to start based on the cooling system start instruction;

[0084] The control center module 2 is further used to generate a decompression instruction or a shutdown instruction when the working pressure of the hydraulic system of the tunnel boring machine is greater than a pressure threshold, reduce the pressure of the tunnel boring machine based on the decompression instruction, or control the tunnel boring machine to stop based on the shutdown instruction;

[0085] The control center module 2 is further configured to generate a stop excavation instruction or a reduce excavation rate instruction when the advancement distance of the tunnel boring machine is equal to a preset distance threshold, and control the tunnel boring machine to stop excavation based on the stop excavation instruction, or control the excavation rate of the tunnel boring machine based on the reduce excavation rate instruction;

[0086] The control center module 2 is further used to determine that the working state of the tunnel boring machine is abnormal when the vibration data of the tunnel boring machine is greater than the vibration threshold, generate a stop command or a deceleration command, control the tunnel boring machine to stop based on the stop command, or control the tunneling speed of the tunnel boring machine based on the deceleration command;

[0087] The control center module 2 is further used to determine that the excavation working environment is humid when the humidity of the excavation working face is greater than a humidity threshold, generate ventilation instructions and / or drainage instructions, and control ventilation of the ventilation system based on the ventilation instructions and / or control drainage of the drainage equipment based on the drainage instructions;

[0088] The control center module 2 is also used to generate a shutdown command and a ventilation command when the gas composition of the excavation working face exceeds the standard, control the excavator to stop working based on the shutdown command, and control the ventilation system to ventilate based on the ventilation command. For example, if the gas concentration exceeds the standard, ventilation is required as soon as possible;

[0089] The control center module 2 is further used to determine that the motor is overloaded or faulty when the working current of the motor increases and its value is greater than the current threshold, generate a stop command or a deceleration command, control the tunneling machine to stop based on the stop command, or control the tunneling speed of the tunneling machine based on the deceleration command;

[0090] The control center module 2 is further used to determine that the operation state of the tunnel boring machine is abnormal when the rotation speed of the tunnel boring machine is greater than a preset maximum rotation speed value or less than a preset minimum rotation speed value, generate an instruction to adjust the rotation speed, and adjust the rotation speed of the tunnel boring machine based on the adjusted rotation speed;

[0091] The control center module 2 is also used to determine that the liquid volume is insufficient when the liquid level in the oil tank or water tank is lower than a preset minimum liquid level, generate a liquid replenishment instruction, and control the automatic liquid replenishment system to replenish liquid based on the liquid replenishment instruction.

[0092] In the embodiments of the present disclosure, Figure 2 As shown, the electrical control system further includes: a circuit protection module 3;

[0093] The circuit protection module 3 is used to perform overload protection on the circuit of the tunnel boring machine when the load current value collected by the current sensor is greater than a preset load current threshold;

[0094] It should be noted that overload protection is implemented by a thermal relay or an electronic overload protector. When the load current exceeds the set value, the protector will automatically cut off the power circuit to prevent damage to the equipment.

[0095] The circuit protection module 3 is used to perform short-circuit protection on the circuit of the roadheader when a short-circuit condition is detected in the circuit;

[0096] It should be noted that the short-circuit protection is implemented by a fuse or a circuit breaker. When a short circuit occurs in the circuit, the protector will automatically cut off the power supply circuit to prevent damage to the equipment;

[0097] For example, if a fuse is connected in series in a circuit, when the current increases to the fuse's breaking current, the fuse will melt due to its own overheating, thus disconnecting the circuit;

[0098] The circuit protection module 3 is used to perform undervoltage protection on the circuit of the tunnel boring machine when it is detected that the power supply voltage is lower than a preset power supply voltage threshold;

[0099] It should be noted that the undervoltage protection is implemented by an undervoltage relay or an electronic undervoltage protector. When the power supply voltage is lower than the set value, the protector will automatically cut off the power supply circuit to prevent damage to the equipment.

[0100] The circuit protection module 3 is used to perform leakage protection on the circuit of the tunnel boring machine when leakage is detected in the circuit of the tunnel boring machine;

[0101] It should be noted that the leakage protection is implemented by a leakage relay or an electronic leakage protector. When leakage occurs in the circuit, the protector will automatically cut off the power circuit to prevent damage to the equipment.

[0102] The loop protection module 3 is used to detect a short circuit to ground in the circuit, start the ground fault protection, sense the ground fault by monitoring the current path, and quickly cut off the circuit to protect the safety of equipment and personnel.

[0103] In the embodiments of the present disclosure, Figure 2 As shown, the gas control system further includes: an emergency stop module 4, wherein the emergency stop module 4 includes: an execution unit 4-1, a safety interlock sensor 4-2 and a logic control unit 4-3, as shown in FIG. Figure 3 As shown;

[0104] The safety interlock sensor 4-2 is used to monitor the operating parameters of the tunnel boring machine in real time and send the operating parameters to the logic control unit;

[0105] The logic control unit 4-3 is used to determine whether the operating parameters of the tunnel boring machine exceed the corresponding preset safety range, and if so, generate a shutdown command and send the shutdown command to the execution unit;

[0106] The execution unit 4 - 1 is used to control the tunnel boring machine to stop based on the stop instruction.

[0107] It should be noted that the emergency stop module 4 is responsible for quickly cutting off the power supply of the tunnel boring machine in an emergency to ensure the safety of equipment and personnel.

[0108] Further, the control center module 2 is also used to generate an alarm instruction when the operating temperature of each component of the tunnel boring machine is greater than its corresponding temperature threshold, and / or the working pressure of the hydraulic system of the tunnel boring machine is greater than the pressure threshold, and / or the advancement distance of the tunnel boring machine is equal to the preset distance threshold, and / or the vibration data of the tunnel boring machine is greater than the vibration threshold, and / or when the humidity of the tunnel boring working face is greater than the humidity threshold, and / or the gas composition of the tunnel boring working face exceeds the standard, and / or the working current of the motor increases and its value is greater than the current threshold, and / or the rotation speed of the tunnel boring machine is greater than the preset maximum rotation speed or less than the preset minimum rotation speed, and / or the liquid level in the oil tank or the water tank is less than the preset minimum liquid level;

[0109] The circuit protection module 3 is also used to generate an alarm instruction when the load current value collected by the current sensor is greater than a preset load current threshold, and / or a short circuit is detected in the circuit, and / or the power supply voltage is detected to be lower than a preset power supply voltage threshold, and / or a leakage is detected in the circuit of the tunnel boring machine;

[0110] The logic control unit 4-3 is also used to generate an alarm instruction when it is determined that the working parameters of the tunnel boring machine exceed their corresponding preset safety ranges.

[0111] Further, such as Figure 2As shown, the gas control system further includes: an alarm module 5;

[0112] The alarm module 5 is used to receive alarm instructions sent by the control center module 2, the loop protection module 3, and the logic control unit 4-3, and to make an audible and visual alarm based on the alarm instructions.

[0113] It should be noted that when the operating parameters of the tunnel boring machine exceed the preset range or an abnormal situation occurs, the alarm module 5 is responsible for issuing an alarm to notify the operator to handle it in time.

[0114] Further, such as Figure 2 As shown, the gas control system further includes: a power control module 6;

[0115] The power control module 6 is used to provide power to the monitoring module 1 , the control center module 2 , the circuit protection module 3 , the emergency stop module 4 and the alarm module 5 .

[0116] It should be noted that the power control module 6 is responsible for supplying power to the entire electrical control system and has the functions of overcurrent protection and overvoltage protection.

[0117] Wherein, the overvoltage protection is implemented by an overvoltage relay or an electronic overvoltage protector. When the power supply voltage is higher than the set value, the protector will automatically cut off the power supply circuit to prevent equipment damage.

[0118] The overcurrent protection is based on monitoring the current in the circuit. When the current exceeds the set threshold, the protection device will cut off the circuit.

[0119] Further, such as Figure 2 As shown, the gas control system further includes: an interface module 7;

[0120] The interface module 7 is used to receive the PLC control program and send the PLC control program to the control center module 2;

[0121] The control center module 2 is further used to determine control instructions based on the PLC control program, the operating parameters and environmental data, and to electrically control the tunnel boring machine based on the control instructions;

[0122] The power control module 6 is also used to provide power to the interface module 7 .

[0123] It should be noted that the control center module 2 is provided with a PLC control program, and its detailed design includes:

[0124] A. Determine the number of input and output points: According to the control requirements of the roadheader, determine the number of input and output points required, including the input and output signals of sensors, contactors, and relay devices;

[0125] B. Choose the appropriate PLC model: According to the number of input and output points and the functional requirements of the system, choose the appropriate PLC model to ensure that the performance parameters of the PLC meet the requirements;

[0126] C. Design PLC control program: Write PLC control program according to the control requirements of the tunnel boring machine and the design of the control circuit.

[0127] At the same time, the design of the PLC control program needs to consider the following points:

[0128] Simplify program design: simplify program design as much as possible, reduce program complexity, and improve program reliability and maintainability;

[0129] Modular design: Divide the program into several modules, each module is responsible for a specific function, which can improve the modularity and reusability of the program;

[0130] Consider scalability: When designing, you should consider possible future expansion needs and reserve a certain amount of expansion space and interfaces;

[0131] Pay attention to safety and stability: In the design, the safety, stability and reliability of the system should be highly valued to avoid safety accidents caused by equipment failure as much as possible;

[0132] Optimize system performance: Based on the test results, optimize system performance, such as adjusting parameters, improving circuit design, etc., to improve system stability and reliability.

[0133] The present invention can be flexibly programmed according to different control requirements and equipment characteristics to achieve automated control of various process steps, integrate multiple control functions to form an integrated control system, facilitate centralized management and control, and use digital signals and high-precision sensors for control and adjustment, so that the electrical control system has high control accuracy and a small error range. Compared with mechanical control, the main structural components of electrical control are electronic components, which are easier to monitor and maintain. Effective cost control is achieved by reducing the number of mechanical components and lowering construction and maintenance costs. The equipment function can be adjusted through simple programming, avoiding the complexity and time cost of mechanical components and improving production efficiency.

[0134] In summary, the electrical control system for coal excavation operations proposed in this embodiment can monitor the excavation operation face in real time, is simple to operate and can be expanded.

[0135] Based on the above electrical control system for coal excavation operation, this embodiment also provides an electrical control method for coal excavation operation, such as Figure 4 As shown, the method includes:

[0136] Step 1: Real-time monitoring of the operating parameters and environmental data of the tunnel boring machine;

[0137] Step 2: determining a control instruction according to the operating parameters and environmental data, and electrically controlling the tunnel boring machine based on the control instruction;

[0138] The operating parameters include: the operating temperature of each component of the tunnel boring machine, the operating pressure of the hydraulic system of the tunnel boring machine, the advancing distance of the tunnel boring machine, the vibration data of the tunnel boring machine, the operating current of the motor, the rotation speed of the tunnel boring machine, and the liquid level in the oil tank and the water tank;

[0139] The environmental data include: humidity and gas composition of the excavation working face.

[0140] In the disclosed embodiment, a temperature sensor is used to monitor the operating temperature of each component of the tunnel boring machine;

[0141] Use pressure sensors to monitor the working pressure of the hydraulic system of the tunnel boring machine;

[0142] Use displacement sensors to monitor the advancement distance of the tunnel boring machine;

[0143] Use vibration sensors to monitor the vibration data of the tunnel boring machine;

[0144] Use humidity sensors to monitor humidity at the excavation face;

[0145] Use gas sensors to monitor the gas composition at the excavation face;

[0146] Use current sensor to monitor the working current of the motor;

[0147] Use speed sensors to monitor the rotation speed of the roadheader;

[0148] Use liquid level sensors to monitor the liquid levels in oil tanks and water tanks.

[0149] In the embodiment of the present disclosure, determining the control instruction according to the operating parameters and the environmental data, and electrically controlling the roadheader based on the control instruction, includes:

[0150] When the operating temperature of each component of the tunnel boring machine is greater than its corresponding temperature threshold, a deceleration instruction, a stop instruction, or a cooling system start instruction is generated, and the tunnel boring machine is controlled to reduce the tunneling speed based on the deceleration instruction, or the tunnel boring machine is controlled to stop based on the stop instruction, or the cooling system is controlled to start based on the cooling system start instruction;

[0151] When the working pressure of the hydraulic system of the tunnel boring machine is greater than the pressure threshold, a decompression instruction or a shutdown instruction is generated, and the pressure of the tunnel boring machine is reduced based on the decompression instruction, or the tunnel boring machine is controlled to stop based on the shutdown instruction;

[0152] When the advancement distance of the tunnel boring machine is equal to a preset distance threshold, a stop tunneling instruction or a reduce tunneling rate instruction is generated, and the tunnel boring machine is controlled to stop tunneling based on the stop tunneling instruction, or the tunneling rate of the tunnel boring machine is controlled based on the reduce tunneling rate instruction;

[0153] When the vibration data of the tunnel boring machine is greater than the vibration threshold, the working state of the tunnel boring machine is determined to be abnormal, a stop command or a deceleration command is generated, the tunnel boring machine is controlled to stop based on the stop command, or the tunneling speed of the tunnel boring machine is controlled based on the deceleration command;

[0154] When the humidity of the excavation working face is greater than a humidity threshold, it is determined that the excavation working environment is humid, a ventilation instruction and / or a drainage instruction is generated, and ventilation of the ventilation system is controlled based on the ventilation instruction and / or drainage of the drainage device is controlled based on the drainage instruction;

[0155] When the gas composition of the excavation working face exceeds the standard, a shutdown command and a ventilation command are generated, the excavator is controlled to stop working based on the shutdown command, and the ventilation system is controlled to ventilate based on the ventilation command;

[0156] When the working current of the motor increases and its value is greater than the current threshold, the motor is determined to be overloaded or faulty, a stop command or a deceleration command is generated, the tunnel boring machine is controlled to stop based on the stop command, or the tunnel boring machine's excavation speed is controlled based on the deceleration command;

[0157] When the rotation speed of the tunnel boring machine is greater than a preset maximum rotation speed value or less than a preset minimum rotation speed value, it is determined that the operation state of the tunnel boring machine is abnormal, an instruction for adjusting the rotation speed is generated, and the rotation speed of the tunnel boring machine is adjusted based on the adjusted rotation speed;

[0158] When the liquid level in the oil tank or the water tank is lower than the preset minimum liquid level, it is determined that the liquid amount is insufficient, a liquid replenishment instruction is generated, and the automatic liquid replenishment system is controlled to replenish the liquid based on the liquid replenishment instruction.

[0159] Furthermore, the determining of control instructions according to the operating parameters and environmental data, and electrically controlling the roadheader based on the control instructions, further includes:

[0160] When the load current value collected by the current sensor is greater than the preset load current threshold, the circuit of the tunnel boring machine is overload protected;

[0161] When a short circuit is detected in the circuit, the circuit of the tunnel boring machine is short-circuited;

[0162] When it is detected that the power supply voltage is lower than the preset power supply voltage threshold, the circuit of the tunnel boring machine is undervoltage protected;

[0163] When leakage is detected in the circuit of the tunnel boring machine, leakage protection is performed on the circuit of the tunnel boring machine.

[0164] Furthermore, the method further comprises:

[0165] Real-time monitoring of operating parameters of the tunnel boring machine;

[0166] Determine whether the operating parameters of the tunnel boring machine exceed the corresponding preset safety range, and if so, generate a shutdown instruction;

[0167] The tunnel boring machine is controlled to stop based on the stop instruction.

[0168] Furthermore, the method further comprises:

[0169] When the operating temperature of each component of the tunnel boring machine is greater than its corresponding temperature threshold, and / or the working pressure of the hydraulic system of the tunnel boring machine is greater than the pressure threshold, and / or the advancement distance of the tunnel boring machine is equal to the preset distance threshold, and / or the vibration data of the tunnel boring machine is greater than the vibration threshold, and / or when the humidity of the tunnel boring working face is greater than the humidity threshold, and / or the gas composition of the tunnel boring working face exceeds the standard, and / or the working current of the motor increases and its value is greater than the current threshold, and / or the rotation speed of the tunnel boring machine is greater than the preset maximum rotation speed or less than the preset minimum rotation speed, and / or the liquid level in the oil tank or the water tank is less than the preset minimum liquid level, an alarm instruction is generated;

[0170] When the load current value collected by the current sensor is greater than a preset load current threshold, and / or a short circuit is detected in the circuit, and / or the power supply voltage is detected to be lower than a preset power supply voltage threshold, and / or a leakage is detected in the circuit of the tunnel boring machine, an alarm instruction is generated;

[0171] When it is determined that the working parameters of the tunnel boring machine exceed the corresponding preset safety range, an alarm instruction is generated;

[0172] An audible and visual alarm is performed based on the alarm instruction.

[0173] Furthermore, the method further comprises:

[0174] A PLC control program is received, a control instruction is determined based on the PLC control program, the operating parameters and the environmental data, and the tunnel boring machine is electrically controlled based on the control instruction.

[0175] In summary, the electrical control method for coal excavation operation proposed in this embodiment can monitor the excavation operation face in real time, is simple to operate and can be expanded.

[0176] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. 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 the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0177] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0178] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An electrical control system for coal excavation operations, characterized in that: The electrical control system comprises: a monitoring module and a control center module; The monitoring module is used to monitor the operating parameters and environmental data of the tunnel boring machine in real time, and send the operating parameters and environmental data to the control center module; The control center module is used to determine control instructions according to the operating parameters and environmental data, and to electrically control the tunnel boring machine based on the control instructions; The operating parameters include: the operating temperature of each component of the tunnel boring machine, the operating pressure of the hydraulic system of the tunnel boring machine, the advancing distance of the tunnel boring machine, the vibration data of the tunnel boring machine, the operating current of the motor, the rotation speed of the tunnel boring machine, and the liquid level in the oil tank and the water tank; The environmental data include: humidity and gas composition of the excavation working face.

2. The electrical control system according to claim 1, characterized in that: The monitoring module includes: a temperature sensor, a pressure sensor, a displacement sensor, a vibration sensor, a humidity sensor, a gas sensor, a current sensor, a speed sensor and a liquid level sensor; The temperature sensor is used to monitor the operating temperature of various components of the roadheader; The pressure sensor is used to monitor the working pressure of the hydraulic system of the tunnel boring machine; The displacement sensor is used to monitor the advancement distance of the tunnel boring machine; The vibration sensor is used to monitor the vibration data of the tunnel boring machine; The humidity sensor is used to monitor the humidity of the excavation working face; The gas sensor is used to monitor the gas composition of the excavation working face; The current sensor is used to monitor the working current of the motor; The speed sensor is used to monitor the rotation speed of the roadheader; The liquid level sensor is used to monitor the liquid level in the oil tank and the water tank.

3. The electrical control system according to claim 1, characterized in that: The control center module is further used to generate a deceleration instruction or a stop instruction or a cooling system start instruction when the operating temperature of each component of the tunnel boring machine is greater than its corresponding temperature threshold, and control the tunnel boring machine to reduce the tunneling speed based on the deceleration instruction, or control the tunnel boring machine to stop based on the stop instruction, or control the cooling system to start based on the cooling system start instruction; The control center module is further used to generate a decompression instruction or a shutdown instruction when the working pressure of the hydraulic system of the tunnel boring machine is greater than a pressure threshold, reduce the pressure of the tunnel boring machine based on the decompression instruction, or control the tunnel boring machine to stop based on the shutdown instruction; The control center module is further configured to generate a stop excavation instruction or a reduce excavation rate instruction when the advancement distance of the tunnel boring machine is equal to a preset distance threshold, and control the tunnel boring machine to stop excavation based on the stop excavation instruction, or control the excavation rate of the tunnel boring machine based on the reduce excavation rate instruction; The control center module is further used to determine that the working state of the tunnel boring machine is abnormal when the vibration data of the tunnel boring machine is greater than the vibration threshold, generate a stop command or a deceleration command, control the tunnel boring machine to stop based on the stop command, or control the tunneling speed of the tunnel boring machine based on the deceleration command; The control center module is further used to determine that the excavation working environment is humid when the humidity of the excavation working face is greater than a humidity threshold, generate ventilation instructions and / or drainage instructions, and control ventilation of the ventilation system based on the ventilation instructions and / or control drainage of the drainage equipment based on the drainage instructions; The control center module is also used to generate a shutdown command and a ventilation command when the gas composition of the excavation working face exceeds the standard, control the excavator to stop working based on the shutdown command, and control the ventilation system to ventilate based on the ventilation command; The control center module is further used to determine that the motor is overloaded or faulty when the working current of the motor increases and its value is greater than the current threshold, generate a stop command or a deceleration command, control the tunneling machine to stop based on the stop command, or control the tunneling speed of the tunneling machine based on the deceleration command; The control center module is further configured to determine that the operation state of the tunnel boring machine is abnormal when the rotation speed of the tunnel boring machine is greater than a preset maximum rotation speed value or less than a preset minimum rotation speed value, generate an instruction to adjust the rotation speed, and adjust the rotation speed of the tunnel boring machine based on the adjusted rotation speed; The control center module is also used to determine that the liquid volume is insufficient when the liquid level in the oil tank or water tank is lower than a preset minimum liquid level, generate a liquid replenishment instruction, and control the automatic liquid replenishment system to replenish liquid based on the liquid replenishment instruction.

4. The electrical control system according to claim 3, characterized in that: The electrical control system further includes: a circuit protection module; The circuit protection module is used to perform overload protection on the circuit of the tunnel boring machine when the load current value collected by the current sensor is greater than a preset load current threshold; The circuit protection module is used to perform short-circuit protection on the circuit of the roadheader when a short-circuit condition is detected in the circuit; The circuit protection module is used to perform undervoltage protection on the circuit of the tunnel boring machine when it is detected that the power supply voltage is lower than a preset power supply voltage threshold; The circuit protection module is used to perform leakage protection on the circuit of the tunnel boring machine when leakage is detected in the circuit of the tunnel boring machine.

5. The electrical control system according to claim 4, characterized in that: The gas control system further comprises: an emergency stop module, wherein the emergency stop module comprises: an execution unit, a safety interlock sensor and a logic control unit; The safety interlock sensor is used to monitor the operating parameters of the tunnel boring machine in real time and send the operating parameters to the logic control unit; The logic control unit is used to determine whether the operating parameters of the tunnel boring machine exceed the corresponding preset safety range, and if so, generate a shutdown command and send the shutdown command to the execution unit; The execution unit is used to control the tunnel boring machine to stop based on the stop instruction.

6. The electrical control system according to claim 5, characterized in that: The control center module is also used to generate an alarm instruction when the operating temperature of each component of the tunnel boring machine is greater than the corresponding temperature threshold, and / or the working pressure of the hydraulic system of the tunnel boring machine is greater than the pressure threshold, and / or the advancement distance of the tunnel boring machine is equal to the preset distance threshold, and / or the vibration data of the tunnel boring machine is greater than the vibration threshold, and / or when the humidity of the tunnel boring working face is greater than the humidity threshold, and / or the gas composition of the tunnel boring working face exceeds the standard, and / or the working current of the motor increases and its value is greater than the current threshold, and / or the rotation speed of the tunnel boring machine is greater than the preset maximum rotation speed or less than the preset minimum rotation speed, and / or the liquid level in the oil tank or the water tank is less than the preset minimum liquid level; The circuit protection module is further used to generate an alarm instruction when the load current value collected by the current sensor is greater than a preset load current threshold, and / or a short circuit is detected in the circuit, and / or the power supply voltage is detected to be lower than a preset power supply voltage threshold, and / or a leakage is detected in the circuit of the tunnel boring machine; The logic control unit is also used to generate an alarm instruction when it is determined that the working parameters of the tunnel boring machine exceed their corresponding preset safety ranges.

7. The electrical control system according to claim 6, characterized in that: The gas control system further comprises: an alarm module; The alarm module is used to receive alarm instructions sent by the control center module, the loop protection module, and the logic control unit, and to make an audible and visual alarm based on the alarm instructions.

8. The electrical control system according to claim 9, characterized in that: The gas control system further includes: a power supply control module; The power control module is used to provide power to the monitoring module, the control center module, the loop protection module, the emergency stop module and the alarm module.

9. The electrical control system according to claim 8, characterized in that: The gas control system further comprises: an interface module; The interface module is used to receive the PLC control program and send the PLC control program to the control center module; The control center module is further used to determine control instructions based on the PLC control program, the operating parameters and environmental data, and to electrically control the tunnel boring machine based on the control instructions; The power control module is also used to provide power to the interface module.

10. An electrical control method for coal excavation operation based on the electrical control system for coal excavation operation according to any one of claims 1 to 9, characterized in that: The method comprises: Real-time monitoring of the tunnel boring machine’s operating parameters and environmental data; Determining control instructions according to the operating parameters and environmental data, and electrically controlling the tunnel boring machine based on the control instructions; The operating parameters include: the operating temperature of each component of the tunnel boring machine, the operating pressure of the hydraulic system of the tunnel boring machine, the advancing distance of the tunnel boring machine, the vibration data of the tunnel boring machine, the operating current of the motor, the rotation speed of the tunnel boring machine, and the liquid level in the oil tank and the water tank; The environmental data include: humidity and gas composition of the excavation working face.

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