Comprehensive centralized control system for mining belt conveyor

Abstract

The invention discloses a mining belt conveyor comprehensive centralized control system, which belongs to the technical field of belt conveyors, and comprises a main controller and a remote control substation, and the main controller is communicated with the distributed remote control substation based on a CAN bus protocol; the remote control substation is configured to collect real-time operation data of the belt conveyor; and the main controller is configured to preprocess the collected real-time operation data of the belt conveyor, establish a belt conveyor fault diagnosis model to perform fault diagnosis on the belt conveyor, and perform fault early warning and comprehensive centralized control on the belt conveyor according to a fault diagnosis result. The problem that the efficiency and the safety level of a mine transportation system are low due to the fact that real-time monitoring, fault diagnosis and automatic centralized control cannot be carried out on the mining belt conveyor in the prior art is solved. According to the invention, real-time monitoring, fault diagnosis and automatic centralized control can be carried out on the mining belt conveyor, and the efficiency and the safety level of a mine transportation system can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of belt conveyors, in particular to a comprehensive centralized control system for mining belt conveyors. Background Art

[0002] As a continuous transportation equipment, mining belt conveyor is mainly used to transport bulk materials, but can also transport pieced goods. It is widely used in mines, power plants, ports, light industry, building materials, metallurgy and other fields. Mining belt conveyor can replace workers' heavy physical labor, improve labor productivity and reduce production costs.

[0003] The Chinese patent application with publication number CN212355404U discloses a belt conveyor for coal mines, including a box body, a slide groove is processed on the bottom of the inner wall of the box body, and two round rods are arranged on the inner wall of the box body. The left round rod is rotatably connected to the rear end face of the inner wall of the box body through a bearing, and the left side of the screw is rotatably connected to the left side of the box body through a bearing. A handle is fixedly connected to the left side of the screw, and a cross bar is fixedly connected to the left side of the slide plate. The left side of the cross bar is fixedly connected to the right side of the right round rod. Through the cooperation between the slider, the slide plate, the screw and the handle, the belt can be adjusted to tighten after being used for too long and becoming loose; through the cooperation between the second motor, the worm and the eccentric worm, the height of the belt conveyor for coal mines can be changed. However, the patent has the following defects: Existing technologies cannot perform real-time monitoring, fault diagnosis, and automated centralized control of mining belt conveyors, resulting in low efficiency and safety levels in mining transportation systems. Summary of the invention

[0004] The purpose of the present invention is to provide a comprehensive centralized control system for mining belt conveyors, which can perform real-time monitoring, fault diagnosis and automated centralized control of mining belt conveyors, effectively improve the efficiency and safety level of mine transportation systems, and solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: The integrated control system of the mining belt conveyor includes a main controller and a remote control substation. The main controller communicates with the distributed remote control substation based on the CAN bus protocol and adopts distributed control for the belt conveyor, including: When the belt conveyor controlled by stop and emergency stop is the main control object, the belt transmission speed of the distribution control object is regulated by using the load of the main control object and the load of the distribution control object; Remote control substation, configured to collect real-time data of belt conveyor operation; The main controller is configured to pre-process the collected real-time data of the belt conveyor operation, establish a belt conveyor fault diagnosis model to diagnose the belt conveyor fault, and perform fault warning and comprehensive centralized control on the belt conveyor according to the fault diagnosis result.

[0006] Preferably, the main controller communicates with the remote control substation based on the CAN bus protocol and adopts distributed control for the belt conveyor, including: The belt with the largest cargo transmission capacity among the belts corresponding to the belt conveyor is extracted as the main control object, and other belt conveyors except the main control object are taken as the distribution control objects; The main controller automatically starts, stops, acts and stops multiple belt conveyors according to the cause of the belt conveyor failure in real time. When the belt conveyor is stopped or stopped urgently, the main controller determines whether the belt conveyor currently stopped or stopped urgently is the main control object; When the belt conveyor currently being stopped and emergency-stopped is not the main control object, the belt conveyor currently being stopped and emergency-stopped is taken as the operation termination object; Extracting the load borne by the operation termination object during operation; Comparing the load amount borne by the operation-terminating object during operation with the load amount borne by the belt conveyor that is not currently stopped or emergency-stopped; The belt conveyor that has not been stopped or emergency-stopped and whose load does not exceed the load borne by the operation termination object during operation is regarded as the object to be accelerated; Performing speed-up processing on the object to be speeded up; The speed of the belt conveyor after acceleration is obtained by the following formula: Where Vs represents the speed of the belt conveyor after the acceleration; V 0 Indicates the speed of the object to be accelerated before acceleration; F d Indicates the load borne by the running object during operation; F x Indicates the load borne by the object to be accelerated; F p Indicates the average load value corresponding to multiple objects to be accelerated; When the belt conveyor that is stopped and emergency-stopped is the main control object, the belt transmission speed of the distribution control object is regulated by using the load of the main control object and the load of the distribution control object.

[0007] Preferably, when the belt conveyor currently stopped and emergency-stopped is the main control object, the belt transmission speed of the control object is regulated by using the load of the main control object and the load of the control object, including: When the belt conveyor currently being stopped and emergency-stopped is the main control object, the load of the main control object during operation is retrieved; Comparing the load of the main controlled object during operation with the rated maximum load of the main controlled object to obtain the difference between the load of the main controlled object during operation and the rated maximum load; Ratioing the difference between the load of the main controlled object during operation and the rated maximum load to the rated maximum load to obtain a first load ratio coefficient; Performing a ratio processing on the load of the configuration and control object currently in operation and the load of the main control object during operation to obtain a second load ratio coefficient; comparing the first load ratio coefficient and the second load ratio coefficient; Extracting a control object whose second load ratio coefficient is smaller than the first load ratio coefficient as a target object; Using the first load ratio coefficient and the second load ratio coefficient to speed up the processing of the target object; The speed of the target object after acceleration is obtained by the following formula: Among them, V m Indicates the speed of the target object after acceleration; V m0 represents the speed of the target object before acceleration; x represents the ratio of the weight value corresponding to the target object to the corresponding weight and value of all other target objects; S 01 and S 02 represent the first load ratio coefficient and the second load ratio coefficient respectively; When the difference between the load of the main control object during operation and the rated maximum load is 0, the load of the main control object during operation and the load of the control object currently running are used to speed up each control object; The speed of the control object after acceleration is obtained by the following formula: Among them, V k Indicates the speed of the control object after acceleration; V k0 Indicates the speed of the control object before acceleration; F z Indicates the load of the main control object during operation; F k Indicates the current load of the control object; F e Indicates the rated maximum load corresponding to the control object.

[0008] Preferably, the real-time data of the belt conveyor operation is collected, including: Based on the temperature sensor, the operating temperature of multiple belt conveyors is monitored and collected in real time to obtain the operating temperature data of multiple belt conveyors; Based on the speed sensor, the running speed of multiple belt conveyors is monitored and collected in real time to obtain the running speed data of multiple belt conveyors; Based on the deviation sensor, the lateral deviation of the running belts of multiple belt conveyors is monitored and collected in real time to obtain the running deviation data of multiple belt conveyors; Based on the tearing sensor, the longitudinal tearing of the running belts of multiple belt conveyors is monitored and collected in real time to obtain the running tearing data of multiple belt conveyors; Based on the broken belt sensor, the running belt breakage conditions of multiple belt conveyors are monitored and collected in real time to obtain the running broken belt data of multiple belt conveyors; Based on the coal pile sensor, the coal position on the running belts of multiple belt conveyors is monitored and collected in real time to obtain the running coal pile data of multiple belt conveyors; Based on smoke sensors, the operating smoke conditions of multiple belt conveyors are monitored and collected in real time to obtain the operating smoke data of multiple belt conveyors; The real-time operation data of the belt conveyors is determined based on the operating temperature data, operating speed data, operating deviation data, operating tearing data, operating belt breakage data, operating coal pile data and operating smoke data of multiple belt conveyors.

[0009] Preferably, the collected real-time data of the belt conveyor operation is preprocessed, including: Clean the real-time data of belt conveyor operation to remove the noise data and abnormal data that are useless for the integrated centralized control of mining belt conveyor; Normalize the real-time data of the belt conveyor operation, convert the real-time data of the belt conveyor operation into a unified data format, remove the dimension difference in the real-time data of the belt conveyor operation, and determine the standardized real-time data of the belt conveyor operation; Feature extraction is performed on the real-time data of belt conveyor operation, feature vectors useful for the integrated centralized control of mining belt conveyors are extracted from the real-time data of belt conveyor operation, and the characteristic data of belt conveyor operation is determined.

[0010] Preferably, a belt conveyor fault diagnosis model is established, including: According to the comprehensive centralized control requirements of mining belt conveyors, the historical operation data of belt conveyors are collected, and the collected historical operation data of belt conveyors are divided to determine the training set and the test set; The deep learning model is trained using the training set, so that the deep learning model can autonomously learn the belt conveyor fault diagnosis behavior from the training set and determine the belt conveyor fault diagnosis model; The test set is used to test the belt conveyor fault diagnosis model, evaluate the fault diagnosis ability of the belt conveyor fault diagnosis model, and determine the optimal belt conveyor fault diagnosis model.

[0011] Preferably, evaluating the fault diagnosis capability of the belt conveyor fault diagnosis model includes: The test set is input into the belt conveyor fault diagnosis model, and the fault diagnosis capability of the belt conveyor fault diagnosis model is tested and evaluated through the test set to determine whether the belt conveyor fault diagnosis model can achieve the expected effect of fault diagnosis for the belt conveyor; When the belt conveyor fault diagnosis model cannot achieve the expected effect of fault diagnosis for the belt conveyor, the parameters of the belt conveyor fault diagnosis model are adjusted, and the belt conveyor fault diagnosis model is optimized until the belt conveyor fault diagnosis model can achieve the expected effect of fault diagnosis for the belt conveyor, thereby determining the optimal belt conveyor fault diagnosis model.

[0012] Preferably, the belt conveyor is subjected to fault diagnosis, including: Deploy the optimal belt conveyor fault diagnosis model and deploy the optimal belt conveyor fault diagnosis model in the actual belt conveyor fault diagnosis environment; The belt conveyor operation characteristic data is input into the belt conveyor fault diagnosis model, the belt conveyor operation characteristic data is analyzed according to the belt conveyor fault diagnosis model, and the belt conveyor fault diagnosis is performed to determine the belt conveyor fault diagnosis result.

[0013] Preferably, the belt conveyor is provided with fault warning and comprehensive centralized control, including: According to the fault diagnosis results of the belt conveyor and combined with the real-time operation data of the belt conveyor, a belt conveyor fault diagnosis report is formed, and the belt conveyor fault diagnosis report is displayed to the management personnel in a visual form, so that the management personnel can carry out fault warning and comprehensive centralized control of the belt conveyor according to the belt conveyor fault diagnosis report.

[0014] Preferably, the fault early warning and comprehensive centralized control of the belt conveyor also include: Determine the cause of the belt conveyor failure according to the belt conveyor failure diagnosis report; According to the cause of the belt conveyor failure, multiple belt conveyors are automatically started, stopped, single-acted and emergency stopped, and the belt conveyor control status is monitored in real time. The integrated centralized control of the belt conveyor is adjusted and optimized according to the monitoring feedback to form a closed-loop management of the belt conveyor.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention determines the real-time operation data of the belt conveyors by real-time monitoring of the operating temperatures, operating speeds, lateral deviations of the belts, longitudinal tearing of the belts, breakage of the belts, coal positions and smoke conditions of multiple belt conveyors, pre-processes the real-time operation data of the belt conveyors, determines the operation characteristic data of the belt conveyors, analyzes the operation characteristic data of the belt conveyors through a belt conveyor fault diagnosis model, diagnoses faults of the belt conveyors, determines the fault diagnosis results of the belt conveyors, performs fault warnings and comprehensive centralized control on the belt conveyors according to the fault diagnosis results, can perform real-time monitoring, fault diagnosis and automated centralized control of mining belt conveyors, and can effectively improve the efficiency and safety level of the mine transportation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of the integrated centralized control system of the mining belt conveyor of the present invention; Figure 2 It is a structural diagram of the comprehensive centralized control system for mining belt conveyors of the present invention.

[0017] In the figure: 1. Main controller; 2. Remote control substation; 3. Temperature sensor; 4. Speed ​​sensor; 5. Deviation sensor; 6. Tear sensor; 7. Broken belt sensor; 8. Coal pile sensor; 9. Smoke sensor. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In order to solve the existing problem that the mine conveyor belt cannot be monitored in real time, fault diagnosis and automatic centralized control, resulting in low efficiency and safety level of the mine transportation system, please refer to Figure 1-Figure 2 , this embodiment provides the following technical solutions: The integrated control system of the mining belt conveyor comprises a main controller 1 and a remote control substation 2. The main controller 1 communicates with the distributed remote control substation 2 based on the CAN bus protocol, and has the characteristics of long transmission distance, high speed and strong real-time performance.

[0020] Specifically, the main controller 1 communicates with the distributed remote control substation 2 based on the CAN bus protocol, and adopts distributed control for the belt conveyor. It can be used for the control and protection of a single belt, as well as for the linkage control of multiple belt conveyor lines, and can centrally control and manage the belt conveyor lines.

[0021] Among them, remote control substation 2 is used to collect real-time data of belt conveyor operation; Specifically, the main controller 1 communicates with the remote control substation 2 based on the CAN bus protocol and adopts distributed control for the belt conveyor, including: The belt with the largest cargo transmission capacity among the belts corresponding to the belt conveyor is extracted as the main control object, and other belt conveyors except the main control object are taken as the distribution control objects; The main controller 1 automatically starts, stops, acts and stops multiple belt conveyors according to the cause of the belt conveyor failure in real time. When the belt conveyor is stopped or stopped urgently, the main controller 1 determines whether the belt conveyor currently stopped or stopped urgently is the main control object; When the belt conveyor currently being stopped and emergency-stopped is not the main control object, the belt conveyor currently being stopped and emergency-stopped is taken as the operation termination object; Extracting the load borne by the operation termination object during operation; Comparing the load amount borne by the operation-terminating object during operation with the load amount borne by the belt conveyor that is not currently stopped or emergency-stopped; The belt conveyor that has not been stopped or emergency-stopped and whose load does not exceed the load borne by the operation termination object during operation is regarded as the object to be accelerated; Performing speed-up processing on the object to be speeded up; The speed of the belt conveyor after acceleration is obtained by the following formula: Wherein, Vs represents the speed of the object to be accelerated after acceleration; V 0 Indicates the speed of the object to be accelerated before acceleration; F d Indicates the load borne by the running object during operation; F x Indicates the load borne by the object to be accelerated; F p Indicates the average load value corresponding to multiple objects to be accelerated; It reflects the proportional relationship between the load of the object to be accelerated and the load of the object to be terminated. This ratio reflects the size of the load of the object to be accelerated relative to the load of the object to be terminated. As a moderating factor, It represents the absolute value of the difference between the load of the object to be accelerated and the average load of multiple objects to be accelerated. d After normalization, it is used as an index to make the adjustment factor vary between 0 and 1. x With the average F p The larger the difference, the smaller the adjustment factor, and the greater the inhibitory effect on speed improvement; otherwise, the smaller it is. As the speed adjustment coefficient, V 0 Multiply them to get the speed V after acceleration s That is, according to the relationship between the load of the object to be accelerated, the load of the object to be terminated, and the average load of multiple objects to be accelerated, the speed of the belt conveyor is dynamically adjusted to achieve speed optimization under load balancing.

[0022] When the belt conveyor that is stopped and emergency-stopped is the main control object, the belt transmission speed of the distribution control object is regulated by using the load of the main control object and the load of the distribution control object.

[0023] The technical effect of the above technical scheme is as follows: the main controller 1 communicates with the remote control substation 2 based on the CAN bus protocol to realize distributed control, and can automatically start, stop, single-act and emergency stop the belt conveyor according to the cause of the fault in real time. When the non-main control object belt conveyor stops and stops in an emergency, through a series of load comparisons and speed-up processing of other belt conveyors, the system operation state can be quickly adjusted to reduce the overall transportation efficiency caused by local faults, and improve the system's response ability and transportation efficiency in the event of a fault. By judging whether the faulty belt conveyor is the main control object, different strategies are adopted respectively. When the non-main control object fails, the object to be accelerated is selected and the speed is increased, so that the load is reasonably transferred to other belt conveyors; when the main control object fails, the load of the main control object and the distribution control object is used to adjust the belt transmission speed of the distribution control object, which is helpful to achieve load balancing between belt conveyors under different fault scenarios, avoid excessive load on some belts affecting equipment life and transportation stability, and improve the overall operation stability and reliability of the system. The entire control process has a high degree of automation, and the operating parameters can be automatically adjusted according to the status and load conditions of the belt conveyor without excessive human intervention, which improves the intelligence level of the production process, reduces the risk of manual operation errors, and at the same time reduces labor costs and improves production management efficiency.

[0024] Specifically, when the belt conveyor currently being stopped and emergency-stopped is the main control object, the belt transmission speed of the distribution control object is regulated by using the load of the main control object and the load of the distribution control object, including: When the belt conveyor currently being stopped and emergency-stopped is the main control object, the load of the main control object during operation is retrieved; Comparing the load of the main controlled object during operation with the rated maximum load of the main controlled object to obtain the difference between the load of the main controlled object during operation and the rated maximum load; Ratioing the difference between the load of the main controlled object during operation and the rated maximum load to the rated maximum load to obtain a first load ratio coefficient; Performing a ratio processing on the load of the configuration and control object currently in operation and the load of the main control object during operation to obtain a second load ratio coefficient; comparing the first load ratio coefficient and the second load ratio coefficient; Extracting a control object whose second load ratio coefficient is smaller than the first load ratio coefficient as a target object; Using the first load ratio coefficient and the second load ratio coefficient to speed up the processing of the target object; The speed of the target object after acceleration is obtained by the following formula: Among them, V m Indicates the speed of the target object after acceleration; V m0 represents the speed of the target object before acceleration; x represents the ratio of the weight value corresponding to the target object to the corresponding weight and value of all other target objects; S 01 and S 02 represent the first load ratio coefficient and the second load ratio coefficient respectively; It means that according to the relative weight of the target object and its relationship with the load-related quantity of the main control object, the speed of the target object is adjusted in a certain proportion to achieve speed control based on load and weight.

[0025] When the difference between the load of the main control object during operation and the rated maximum load is 0, the load of the main control object during operation and the load of the control object currently running are used to speed up each control object; The speed of the control object after acceleration is obtained by the following formula: Among them, V k Indicates the speed of the control object after acceleration; V k0 Indicates the speed of the control object before acceleration; F z Indicates the load of the main control object during operation; F k Indicates the current load of the control object; F e Indicates the rated maximum load corresponding to the control object. Indicates the load F of the master object during operation z The current load F of the control objectk The ratio of the difference to the load of the main control object reflects the difference between the load of the distribution control object and the load of the main control object. Indicates the rated maximum load F of the control object e With the current operating load F k The difference between the two ratios accounts for the ratio of the rated maximum load, which reflects the difference between the current load of the control object and its rated maximum load. Multiply the two ratios and take the square root, then add 1 to get the speed adjustment coefficient. The square root operation may be to combine the two load differences in a relatively smooth way when considering the difference between the two loads, so as to avoid a single ratio having too much influence on the speed adjustment. Finally, the adjustment coefficient is added to V k0 Multiply to get the speed V after acceleration k That is, the speed of the control object is dynamically adjusted according to the dual load gap relationship between the control object and the main control object and its own rated load.

[0026] The technical effect of the above technical scheme is: when the main control object is stopped and stopped urgently, by comparing the difference between the load of the main control object (main control object) and the rated maximum load, and the ratio of the load of the distribution control object to the main control object, the distribution control object with the second load ratio coefficient less than the first load ratio coefficient is selected as the target object for speed increase. This method can dynamically adjust the speed according to the load conditions of each belt conveyor, avoid some distribution control objects with too low load and some with too high load, realize a more reasonable distribution of load among distribution control objects, improve the load balancing performance of the entire belt conveyor system, reduce local excessive wear of equipment, and extend the service life of equipment. Targeted speed-up processing of target objects or distribution control objects can make full use of the system capacity. In the case of failure and stop of the main control object, the transportation potential of the distribution control object is explored, so that the system can still maintain a high transportation efficiency in an incomplete operating state, reduce cargo accumulation and transportation delays, ensure smooth production processes, and improve overall production efficiency. This technical scheme can flexibly adjust the speed of the distribution control object according to the actual load conditions of the main control object and the distribution control object, so that the belt conveyor system has stronger adaptive capabilities. Whether facing a failure in the main controlled object or load fluctuations under different working conditions, the system can be kept running stably and efficiently through reasonable speed control, thus enhancing the system's adaptability to complex and changeable working conditions.

[0027] The formulas in the above technical solutions take into account the load factor of the belt conveyor when calculating the speed after speeding up. For example, the calculation is based on the load of the object that has terminated operation, the load of the object to be speeded up, and their relationship with the rated load. This enables the system to dynamically allocate speeds according to the actual load conditions of each belt conveyor during the speed-up process, avoiding the situation where some belt conveyors are overloaded and some are too light, thereby effectively improving the load balancing performance of the entire belt conveyor system, reducing local excessive wear of the equipment, and extending the service life of the equipment. By calculating a reasonable speed after speeding up through the formula, the transportation potential of the belt conveyor can be fully tapped. When some belt conveyors stop due to failure (such as the main control object stops) or the operating status needs to be adjusted, other belt conveyors can be accelerated in a targeted manner, so that the system can still efficiently transport goods in an incomplete operating state, reduce cargo accumulation and transportation delays, ensure the smooth progress of the production process, and thus improve the overall production and transportation efficiency. The formula involves a variety of load-related parameters and parameter comparisons between different belt conveyors (such as load ratios, differences, etc.), which enables the system to automatically adjust the speed of the belt conveyor according to real-time parameters when facing different working conditions (such as load fluctuations, equipment failures, etc.). The system's adaptability to complex and changeable working conditions is enhanced, and the system is maintained to operate stably and efficiently without frequent manual intervention and adjustment, which improves the system's automation level and operational reliability. The formula uses a variety of mathematical operations (such as square root, exponential operation, proportional operation, etc.) to comprehensively consider the impact of different factors on speed adjustment. Compared with simple speed adjustment strategies, this refined calculation method can more accurately determine the speed value after speeding up, making the speed adjustment more in line with actual operating needs, reducing transportation problems caused by unreasonable speed adjustment (such as spilled goods, excessive equipment impact, etc.), and improving the accuracy of speed control and the stability of system operation.

[0028] In this embodiment, real-time data of belt conveyor operation is collected, including: Based on the temperature sensor 3, the operating temperatures of multiple belt conveyors are monitored and collected in real time to obtain the operating temperature data of multiple belt conveyors; Specifically, when it is monitored that the operating temperature of the belt conveyor exceeds the set value, an immediate alarm is sounded and the sprinkler device is started to spray water quickly to cool the belt conveyor.

[0029] Based on the speed sensor 4, the running speeds of multiple belt conveyors are monitored and collected in real time to obtain the running speed data of multiple belt conveyors; Specifically, when it is monitored that the belt speed of the belt conveyor exceeds or falls below a set value within a set time, an alarm is triggered and the operation of the belt conveyor is stopped.

[0030] Based on the deviation sensor 5, the lateral deviation of the running belts of multiple belt conveyors is monitored and collected in real time to obtain the running deviation data of multiple belt conveyors; Specifically, when it is detected that the lateral deviation of the running belt of the belt conveyor exceeds a set value, an alarm is sounded and the operation of the belt conveyor is stopped.

[0031] Based on the tearing sensor 6, the longitudinal tearing conditions of the running belts of multiple belt conveyors are monitored and collected in real time to obtain the running tearing data of multiple belt conveyors; Specifically, when it is detected that the running belt of the belt conveyor is longitudinally torn, an alarm is issued and the tearing position is prompted, and the operation of the belt conveyor is stopped immediately.

[0032] Based on the broken belt sensor 7, the running belt broken conditions of multiple belt conveyors are monitored and collected in real time to obtain the running broken belt data of multiple belt conveyors; Specifically, when it is detected that the running belt of the belt conveyor is broken, an alarm is immediately sounded and an emergency shutdown is performed to prevent further damage.

[0033] Based on the coal pile sensor 8, the coal position conditions on the running belts of multiple belt conveyors are monitored and collected in real time to obtain the running coal pile data of multiple belt conveyors; Specifically, when it is monitored that the coal level on the running belt of the belt conveyor exceeds a predetermined position, an alarm is sounded and the operation of the belt conveyor is stopped.

[0034] Based on the smoke sensor 9, the operating smoke conditions of multiple belt conveyors are monitored and collected in real time to obtain the operating smoke data of multiple belt conveyors; Specifically, when it is monitored that the smoke concentration during the operation of the belt conveyor reaches the warning value, an alarm will be triggered and sprinkler protection will be started, which can immediately stop the operation of the belt conveyor.

[0035] The real-time operation data of the belt conveyors is determined based on the operating temperature data, operating speed data, operating deviation data, operating tearing data, operating belt breakage data, operating coal pile data and operating smoke data of multiple belt conveyors.

[0036] Specifically, by real-time monitoring of the operating temperature, operating speed, lateral deviation of the belt, longitudinal tearing of the belt, belt breakage, coal position and smoke conditions of multiple belt conveyors, the real-time operating data of the belt conveyors is determined, providing a data basis for subsequent fault diagnosis of the belt conveyors.

[0037] Among them, the main controller 1 is used to pre-process the collected real-time data of the belt conveyor operation, establish a belt conveyor fault diagnosis model to diagnose the belt conveyor fault, and perform fault warning and comprehensive centralized control on the belt conveyor according to the fault diagnosis results.

[0038] In this embodiment, the collected real-time data of the belt conveyor operation is preprocessed, including: Clean the real-time data of belt conveyor operation to remove the noise data and abnormal data that are useless for the integrated centralized control of mining belt conveyor; Normalize the real-time data of the belt conveyor operation, convert the real-time data of the belt conveyor operation into a unified data format, remove the dimension difference in the real-time data of the belt conveyor operation, and determine the standardized real-time data of the belt conveyor operation; Feature extraction is performed on the real-time data of belt conveyor operation, feature vectors useful for the integrated centralized control of mining belt conveyors are extracted from the real-time data of belt conveyor operation, and the characteristic data of belt conveyor operation is determined.

[0039] In this embodiment, a belt conveyor fault diagnosis model is established, including: According to the comprehensive centralized control requirements of mining belt conveyors, the historical operation data of belt conveyors are collected, and the collected historical operation data of belt conveyors are divided to determine the training set and the test set; The deep learning model is trained using the training set, so that the deep learning model can autonomously learn the belt conveyor fault diagnosis behavior from the training set and determine the belt conveyor fault diagnosis model; The test set is used to test the belt conveyor fault diagnosis model, evaluate the fault diagnosis ability of the belt conveyor fault diagnosis model, and determine the optimal belt conveyor fault diagnosis model.

[0040] In this embodiment, the fault diagnosis capability of the belt conveyor fault diagnosis model is evaluated, including: The test set is input into the belt conveyor fault diagnosis model, and the fault diagnosis capability of the belt conveyor fault diagnosis model is tested and evaluated through the test set to determine whether the belt conveyor fault diagnosis model can achieve the expected effect of fault diagnosis for the belt conveyor; When the belt conveyor fault diagnosis model cannot achieve the expected effect of fault diagnosis for the belt conveyor, the parameters of the belt conveyor fault diagnosis model are adjusted, and the belt conveyor fault diagnosis model is optimized until the belt conveyor fault diagnosis model can achieve the expected effect of fault diagnosis for the belt conveyor, thereby determining the optimal belt conveyor fault diagnosis model.

[0041] In this embodiment, fault diagnosis of the belt conveyor includes: Deploy the optimal belt conveyor fault diagnosis model and deploy the optimal belt conveyor fault diagnosis model in the actual belt conveyor fault diagnosis environment; The belt conveyor operation characteristic data is input into the belt conveyor fault diagnosis model, the belt conveyor operation characteristic data is analyzed according to the belt conveyor fault diagnosis model, and the belt conveyor fault diagnosis is performed to determine the belt conveyor fault diagnosis result.

[0042] Specifically, the belt conveyor operation characteristic data is analyzed through the belt conveyor fault diagnosis model, and the belt conveyor fault is diagnosed to determine the belt conveyor fault diagnosis result. The belt conveyor fault condition can be grasped in time, which is convenient for better centralized control of the belt conveyor.

[0043] In this embodiment, fault early warning and comprehensive centralized control of the belt conveyor are performed, including: According to the fault diagnosis results of the belt conveyor and combined with the real-time operation data of the belt conveyor, a belt conveyor fault diagnosis report is formed, and the belt conveyor fault diagnosis report is displayed to the management personnel in a visual form, so that the management personnel can carry out fault warning and comprehensive centralized control of the belt conveyor according to the belt conveyor fault diagnosis report.

[0044] In this embodiment, the fault early warning and comprehensive centralized control of the belt conveyor also include: Determine the cause of the belt conveyor failure according to the belt conveyor failure diagnosis report; According to the cause of the belt conveyor failure, multiple belt conveyors are automatically started, stopped, single-acted and emergency stopped, and the belt conveyor control status is monitored in real time. The integrated centralized control of the belt conveyor is adjusted and optimized according to the monitoring feedback to form a closed-loop management of the belt conveyor.

[0045] In summary, by real-time monitoring of the operating temperature, operating speed, lateral deviation of the belt, longitudinal tearing of the belt, belt breakage, coal position and smoke conditions of multiple belt conveyors, the real-time data of the belt conveyor operation is determined, the real-time data of the belt conveyor operation is preprocessed, the characteristic data of the belt conveyor operation is determined, the belt conveyor operation characteristic data is analyzed by the belt conveyor fault diagnosis model, and the belt conveyor is fault diagnosed to determine the belt conveyor fault diagnosis results, and the belt conveyor is fault-prevented and comprehensively controlled according to the fault diagnosis results. The mine belt conveyor can be monitored in real time, fault diagnosed and automatically centralized controlled, which can effectively improve the efficiency and safety level of the mine transportation system. It can be applied to the monitoring and protection of belt conveyor transportation systems and other production systems in steel plants, power plants, ports and docks, mines, tunnels, cement plants, grain processing plants, ground belt transportation corridors, etc. It can be used for the control and protection of a single belt, as well as the linkage control of multiple belt transportation lines, and can centrally control and manage belt transportation lines.

[0046] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A comprehensive centralized control system for a mining belt conveyor, comprising a main controller (1) and a remote control substation (2), characterized in that: The main controller (1) communicates with the distributed remote control substation (2) based on the CAN bus protocol, and adopts distributed control for the belt conveyor; A remote control substation (2) configured to collect real-time data of the belt conveyor operation; A main controller (1) is configured to pre-process the collected real-time data of the belt conveyor operation, establish a belt conveyor fault diagnosis model to diagnose the belt conveyor fault, and perform fault warning and comprehensive centralized control on the belt conveyor according to the fault diagnosis result; Among them, distributed control is adopted for belt conveyor, including: The belt with the largest cargo transmission capacity among the belts corresponding to the belt conveyor is extracted as the main control object, and other belt conveyors except the main control object are taken as the distribution control objects; When the main controller (1) performs stop and emergency stop control on the belt conveyor, it determines whether the belt conveyor currently being stopped and emergency stopped is the main control object, and processes the transmission speed of the belt conveyor according to the determination.

2. The integrated control system for mining belt conveyors according to claim 1, characterized in that: The main controller (1) communicates with the remote control substation (2) based on the CAN bus protocol and adopts distributed control for the belt conveyor, including: The belt with the largest cargo transmission capacity among the belts corresponding to the belt conveyor is extracted as the main control object, and other belt conveyors except the main control object are taken as the distribution control objects; The main controller (1) automatically starts, stops, acts and stops multiple belt conveyors according to the cause of the belt conveyor failure in real time, and when a belt conveyor is stopped or stopped urgently, determines whether the belt conveyor currently stopped or stopped urgently is the main control object; When the belt conveyor currently being stopped and emergency-stopped is not the main control object, the belt conveyor currently being stopped and emergency-stopped is taken as the operation termination object; Extracting the load borne by the operation termination object during operation; Comparing the load amount borne by the operation-terminating object during operation with the load amount borne by the belt conveyor that is not currently stopped or emergency-stopped; The belt conveyor that has not been stopped or emergency-stopped and whose load does not exceed the load borne by the operation termination object during operation is regarded as the object to be accelerated; Performing speed-up processing on the object to be speeded up; When the belt conveyor that is stopped and emergency-stopped is the main control object, the belt transmission speed of the distribution control object is regulated by using the load of the main control object and the load of the distribution control object.

3. The integrated control system for mining belt conveyors according to claim 2, characterized in that: When the belt conveyor currently stopped and emergency-stopped is the main control object, the load of the main control object and the load of the distribution control object are used to adjust the belt transmission speed of the distribution control object, including: When the belt conveyor currently being stopped and emergency-stopped is the main control object, the load of the main control object during operation is retrieved; Comparing the load of the main controlled object during operation with the rated maximum load of the main controlled object to obtain the difference between the load of the main controlled object during operation and the rated maximum load; Ratioing the difference between the load of the main controlled object during operation and the rated maximum load to the rated maximum load to obtain a first load ratio coefficient; Performing a ratio processing on the load of the configuration and control object currently in operation and the load of the main control object during operation to obtain a second load ratio coefficient; comparing the first load ratio coefficient and the second load ratio coefficient; Extracting a control object whose second load ratio coefficient is smaller than the first load ratio coefficient as a target object; Using the first load ratio coefficient and the second load ratio coefficient to speed up the processing of the target object; When the difference between the load of the main controlled object during operation and the rated maximum load is 0, the load of the main controlled object during operation and the current load of the controlled object are used to speed up each controlled object.

4. The integrated control system for mining belt conveyors according to claim 1, characterized in that: Collect real-time data of belt conveyor operation, including: Based on the temperature sensor (3), the operating temperatures of the plurality of belt conveyors are monitored and collected in real time to obtain the operating temperature data of the plurality of belt conveyors; Based on the speed sensor (4), the operating speeds of the plurality of belt conveyors are monitored and collected in real time to obtain the operating speed data of the plurality of belt conveyors; Based on the deviation sensor (5), the lateral deviation of the running belts of the multiple belt conveyors is monitored and collected in real time to obtain the running deviation data of the multiple belt conveyors; Based on the tearing sensor (6), real-time monitoring and collection of the longitudinal tearing conditions of the running belts of the plurality of belt conveyors are performed to obtain the running tearing data of the plurality of belt conveyors; Based on the broken belt sensor (7), real-time monitoring and collection of the broken belt conditions of the running belts of the multiple belt conveyors are performed to obtain the broken belt data of the multiple belt conveyors; Based on the coal pile sensor (8), the coal position conditions on the running belts of the multiple belt conveyors are monitored and collected in real time to obtain the running coal pile data of the multiple belt conveyors; Based on the smoke sensor (9), real-time monitoring and collection of the operating smoke conditions of the plurality of belt conveyors are performed to obtain the operating smoke data of the plurality of belt conveyors; The real-time operation data of the belt conveyors is determined based on the operating temperature data, operating speed data, operating deviation data, operating tearing data, operating belt breakage data, operating coal pile data and operating smoke data of multiple belt conveyors.

5. The integrated control system for mining belt conveyors according to claim 1, characterized in that: Pre-process the collected real-time data of belt conveyor operation, including: Clean the real-time data of belt conveyor operation to remove the noise data and abnormal data that are useless for the integrated centralized control of mining belt conveyor; Normalize the real-time data of the belt conveyor operation, convert the real-time data of the belt conveyor operation into a unified data format, remove the dimension difference in the real-time data of the belt conveyor operation, and determine the standardized real-time data of the belt conveyor operation; Feature extraction is performed on the real-time data of belt conveyor operation, feature vectors useful for the integrated centralized control of mining belt conveyors are extracted from the real-time data of belt conveyor operation, and the characteristic data of belt conveyor operation is determined.

6. The integrated control system for mining belt conveyors according to claim 1, characterized in that: Establish a belt conveyor fault diagnosis model, including: According to the comprehensive centralized control requirements of mining belt conveyors, the historical operation data of belt conveyors are collected, and the collected historical operation data of belt conveyors are divided to determine the training set and the test set; The deep learning model is trained using the training set, so that the deep learning model can autonomously learn the belt conveyor fault diagnosis behavior from the training set and determine the belt conveyor fault diagnosis model; The test set is used to test the belt conveyor fault diagnosis model, evaluate the fault diagnosis ability of the belt conveyor fault diagnosis model, and determine the optimal belt conveyor fault diagnosis model.

7. The integrated control system for mining belt conveyors according to claim 6, characterized in that: Evaluate the fault diagnosis capability of the belt conveyor fault diagnosis model, including: The test set is input into the belt conveyor fault diagnosis model, and the fault diagnosis capability of the belt conveyor fault diagnosis model is tested and evaluated through the test set to determine whether the belt conveyor fault diagnosis model can achieve the expected effect of fault diagnosis for the belt conveyor; When the belt conveyor fault diagnosis model cannot achieve the expected effect of fault diagnosis for the belt conveyor, the parameters of the belt conveyor fault diagnosis model are adjusted, and the belt conveyor fault diagnosis model is optimized until the belt conveyor fault diagnosis model can achieve the expected effect of fault diagnosis for the belt conveyor, thereby determining the optimal belt conveyor fault diagnosis model.

8. The integrated control system for mining belt conveyors according to claim 6, characterized in that: Conduct troubleshooting on conveyor belts, including: Deploy the optimal belt conveyor fault diagnosis model and deploy the optimal belt conveyor fault diagnosis model in the actual belt conveyor fault diagnosis environment; The belt conveyor operation characteristic data is input into the belt conveyor fault diagnosis model, the belt conveyor operation characteristic data is analyzed according to the belt conveyor fault diagnosis model, and the belt conveyor fault diagnosis is performed to determine the belt conveyor fault diagnosis result.

9. The integrated control system for mining belt conveyors according to claim 8, characterized in that: Fault warning and comprehensive centralized control of belt conveyors, including: According to the fault diagnosis results of the belt conveyor and combined with the real-time operation data of the belt conveyor, a belt conveyor fault diagnosis report is formed, and the belt conveyor fault diagnosis report is displayed to the management personnel in a visual form, so that the management personnel can carry out fault warning and comprehensive centralized control of the belt conveyor according to the belt conveyor fault diagnosis report.

10. The integrated control system for mining belt conveyors according to claim 9, characterized in that: Fault warning and comprehensive centralized control of belt conveyors also include: Determine the cause of the belt conveyor failure according to the belt conveyor failure diagnosis report; According to the cause of the belt conveyor failure, multiple belt conveyors are automatically started, stopped, single-acted and emergency stopped, and the belt conveyor control status is monitored in real time. The integrated centralized control of the belt conveyor is adjusted and optimized according to the monitoring feedback to form a closed-loop management of the belt conveyor.

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