Comprehensive Centralized Control System for Mine Belt Conveyor

Abstract

The invention discloses a comprehensive centralized control system for mine belt conveyors, belonging to the technical field of belt conveyors, which includes a main controller and remote control sub-stations. The main controller communicates with distributed remote control sub-stations based on the CAN bus protocol; the remote control sub-stations are configured to collect real-time operation data of the belt conveyors; the main controller is configured to preprocess the collected real-time operation data of the belt conveyors, establish a fault diagnosis model for the belt conveyors to conduct fault diagnosis, and perform fault early warning and comprehensive centralized control on the belt conveyors according to the fault diagnosis results. The invention solves the problem that the existing system cannot conduct real-time monitoring, fault diagnosis and automatic centralized control on mine belt conveyors, resulting in low efficiency and safety level of the mine transportation system. The invention can conduct real-time monitoring, fault diagnosis and automatic centralized control on mine belt conveyors, and can effectively improve the efficiency and safety level of the mine transportation system.

Description

Technical Field

[0001] The present invention relates to the technical field of belt conveyors, and specifically to an integrated centralized control system for mine belt conveyors. Background Art

[0002] As a continuous transportation device, mine belt conveyors are mainly used to transport bulk materials and can also transport packaged goods. They are widely used in mines, power plants, ports, light industries, building materials, metallurgy and other fields. Mine belt conveyors can replace heavy manual labor of workers, improve labor productivity and reduce production costs.

[0003] Chinese patent application with publication number CN212355404U discloses a coal mine belt conveyor, including a box body. The bottom of the inner wall of the box body is processed with a chute. There are two round rods 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. The left side of the screw rod 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 rod. A cross bar is fixedly connected to the left side of the slide plate, and 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 rod and the handle, when the belt has been used for too long and becomes loose, it can be adjusted to tighten the belt; through the cooperation between the second motor, the worm and the eccentric worm, the height of the coal mine belt conveyor can be changed. However, this patent has the following defects:

[0004] The existing technology cannot perform real-time monitoring, fault diagnosis and automatic centralized control on mine belt conveyors, resulting in low efficiency and safety level of the mine transportation system. Summary of the Invention

[0005] The purpose of the present invention is to provide an integrated centralized control system for mine belt conveyors, which can perform real-time monitoring, fault diagnosis and automatic centralized control on mine belt conveyors, effectively improve the efficiency and safety level of the mine transportation system, and solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] An integrated centralized control system for mine belt conveyors includes a main controller and remote control sub-stations. The main controller communicates with the distributed remote control sub-stations based on the CAN bus protocol and adopts distributed control for the belt conveyors, including:

[0008] When the belt conveyor under stop and emergency stop control is the main control object, the belt transmission speed of the controlled object is regulated by using the load of the main control object and the load of the controlled object;

[0009] Remote control sub-stations are configured to collect real-time operation data of the belt conveyor;

[0010] The main controller is configured to preprocess the real-time data of the belt conveyor operation collected, establish a fault diagnosis model for the belt conveyor to conduct fault diagnosis on the belt conveyor, and perform fault early warning and integrated centralized control on the belt conveyor according to the fault diagnosis results.

[0011] Preferably, the main controller communicates with the remote control sub-station based on the CAN bus protocol and adopts distributed control for the belt conveyor, including:

[0012] Extract the belt with the largest cargo transmission load in the belt corresponding to the belt conveyor as the main control object, and regard the other belt conveyors except the main control object as the controlled objects;

[0013] When the main controller performs automatic start, stop, single-action and emergency stop control on multiple belt conveyors in real time according to the fault causes of the belt conveyor and stops and emergency stops the belt conveyor, it judges whether the currently stopped and emergency stopped belt conveyor is the main control object;

[0014] When the currently stopped and emergency stopped belt conveyor is not the main control object, then regard the currently stopped and emergency stopped belt conveyor as the operation termination object;

[0015] Extract the load borne by the operation termination object during operation;

[0016] Compare the load borne by the operation termination object during operation with the load borne by the belt conveyors that are not currently stopped and emergency stopped;

[0017] Regard the belt conveyors that are not currently stopped and emergency stopped and whose load does not exceed the load borne by the operation termination object during operation as the objects to be speeded up;

[0018] Perform speed-up processing on the objects to be speeded up;

[0019] Among them, the speed of the belt conveyor after speed-up is obtained through the following formula:

[0020]

[0021] Among them, Vs represents the speed of the belt conveyor after speed-up; V0 represents the speed of the object to be speeded up before speed-up; F d represents the load borne by the operation termination object during operation; F x represents the load borne by the object to be speeded up; F p represents the average value of the loads corresponding to multiple objects to be speeded up;

[0022] When the belt conveyor controlled by stop and emergency stop is the main control object, the belt transmission speed of the controlled object is regulated by using the load of the main control object and the load of the controlled object.

[0023] Preferably, when the belt conveyor currently controlled by stop and emergency stop is the main control object, the belt transmission speed of the controlled object is regulated by using the load of the main control object and the load of the controlled object, including:

[0024] When the belt conveyor currently controlled by stop and emergency stop is the main control object, the load of the main control object during operation is retrieved;

[0025] The load of the main control object during operation is compared with the rated maximum load of the main control object to obtain the difference between the load of the main control object during operation and the rated maximum load;

[0026] The difference between the load of the main control object during operation and the rated maximum load is ratio-processed with the rated maximum load to obtain the first load ratio coefficient;

[0027] The current load of the controlled object is ratio-processed with the load of the main control object during operation to obtain the second load ratio coefficient;

[0028] The first load ratio coefficient and the second load ratio coefficient are compared;

[0029] The controlled objects with the second load ratio coefficient less than the first load ratio coefficient are extracted as target objects;

[0030] The target objects are speeded up by using the first load ratio coefficient and the second load ratio coefficient;

[0031] Among them, the speed after acceleration corresponding to the target object is obtained through the following formula:

[0032]

[0033] Among them, V m represents the speed after acceleration corresponding to the target object; V m0 represents the speed before acceleration corresponding to the target object; x represents the ratio between the weight value corresponding to the target object and the sum of the corresponding weights of all other target objects; S 01 and S 02 respectively represent the first load ratio coefficient and the second load ratio coefficient;

[0034] When the difference between the load of the main control object during operation and the rated maximum load is 0, each controlled object is speeded up by using the load of the main control object during operation and the current load of the controlled object.

[0035] Among them, the speed corresponding to the controlled object after speed increase is obtained through the following formula:

[0036]

[0037] Among them, V k represents the speed corresponding to the controlled object after speed increase; V k0 represents the speed corresponding to the controlled object before speed increase; F z represents the load of the main control object during operation; F k represents the current load of the controlled object during operation; F e represents the rated maximum load of the controlled object.

[0038] Preferably, real-time data of the belt conveyor operation is collected, including:

[0039] Based on temperature sensors, the operation temperatures of multiple belt conveyors are monitored and collected in real time to obtain the operation temperature data of multiple belt conveyors;

[0040] Based on speed sensors, the operation speeds of multiple belt conveyors are monitored and collected in real time to obtain the operation speed data of multiple belt conveyors;

[0041] Based on deviation sensors, the lateral deviation of the running belts of multiple belt conveyors is monitored and collected in real time to obtain the operation deviation data of multiple belt conveyors;

[0042] Based on tear sensors, the longitudinal tear of the running belts of multiple belt conveyors is monitored and collected in real time to obtain the operation tear data of multiple belt conveyors;

[0043] Based on belt break sensors, the belt break of the running belts of multiple belt conveyors is monitored and collected in real time to obtain the operation belt break data of multiple belt conveyors;

[0044] Based on coal accumulation sensors, the coal level on the running belts of multiple belt conveyors is monitored and collected in real time to obtain the operation coal accumulation data of multiple belt conveyors;

[0045] Based on smoke sensors, the operation smoke of multiple belt conveyors is monitored and collected in real time to obtain the operation smoke data of multiple belt conveyors;

[0046] According to the operation temperature data, operation speed data, operation deviation data, operation tear data, operation belt break data, operation coal accumulation data and operation smoke data of multiple belt conveyors, the real-time data of the belt conveyor operation is determined.

[0047] Preferably, the real-time data of the belt conveyor operation collected is preprocessed, including:

[0048] Clean the real-time operation data of the belt conveyor to remove the noise data and abnormal data that are useless for the comprehensive centralized control of the mine belt conveyor from the real-time operation data of the belt conveyor;

[0049] Normalize the real-time operation data of the belt conveyor to convert the real-time operation data of the belt conveyor into a unified data format, remove the dimensional differences in the real-time operation data of the belt conveyor, and determine the standardized real-time operation data of the belt conveyor;

[0050] Extract features from the real-time operation data of the belt conveyor, extract the feature vectors useful for the comprehensive centralized control of the mine belt conveyor from the real-time operation data of the belt conveyor, and determine the operation feature data of the belt conveyor.

[0051] Preferably, establish a belt conveyor fault diagnosis model, including:

[0052] According to the comprehensive centralized control requirements of the mine belt conveyor, collect the historical operation data of the belt conveyor, and divide the collected historical operation data of the belt conveyor to determine the training set and the test set;

[0053] Use the training set to train the deep learning model, enable the deep learning model to autonomously learn the belt conveyor fault diagnosis behavior from the training set, and determine the belt conveyor fault diagnosis model;

[0054] Use the test set 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.

[0055] Preferably, evaluate the fault diagnosis ability of the belt conveyor fault diagnosis model, including:

[0056] Input the test set into the belt conveyor fault diagnosis model, test and evaluate the fault diagnosis ability of the belt conveyor fault diagnosis model through the test set, and judge whether the belt conveyor fault diagnosis model can achieve the expected effect of fault diagnosis for the belt conveyor;

[0057] When the belt conveyor fault diagnosis model cannot achieve the expected effect of fault diagnosis for the belt conveyor, adjust the parameters of the belt conveyor fault diagnosis model and optimize the belt conveyor fault diagnosis model until the belt conveyor fault diagnosis model can achieve the expected effect of fault diagnosis for the belt conveyor, and then determine the optimal belt conveyor fault diagnosis model.

[0058] Preferably, conduct fault diagnosis on the belt conveyor, including:

[0059] Deploy the optimal belt conveyor fault diagnosis model in the actual belt conveyor fault diagnosis environment;

[0060] Input the belt conveyor operation characteristic data into the belt conveyor fault diagnosis model, analyze the belt conveyor operation characteristic data according to the belt conveyor fault diagnosis model, and perform fault diagnosis on the belt conveyor to determine the belt conveyor fault diagnosis result.

[0061] Preferably, perform fault warning and comprehensive centralized control on the belt conveyor, including:

[0062] Based on the belt conveyor fault diagnosis result and combined with the real-time operation data of the belt conveyor, form a belt conveyor fault diagnosis report, and display the belt conveyor fault diagnosis report to the management personnel in a visual form, so that the management personnel can perform fault warning and comprehensive centralized control on the belt conveyor according to the belt conveyor fault diagnosis report.

[0063] Preferably, performing fault warning and comprehensive centralized control on the belt conveyor further includes:

[0064] Determine the cause of the belt conveyor fault according to the belt conveyor fault diagnosis report;

[0065] Automatically start, stop, single-action and emergency stop the multiple belt conveyors according to the cause of the belt conveyor fault, and monitor the control situation of the belt conveyor in real time. Adjust and optimize the comprehensive centralized control of the belt conveyor according to the monitoring feedback to form a closed-loop management of the belt conveyor.

[0066] Compared with the prior art, the beneficial effects of the present invention are:

[0067] The present invention determines the real-time operation data of the belt conveyor by monitoring the operation temperature, operation speed, lateral deviation of the belt, longitudinal tear of the belt, belt breakage, coal level and smoke situation of multiple belt conveyors in real time, preprocesses the real-time operation data of the belt conveyor to determine the belt conveyor operation characteristic data, analyzes the belt conveyor operation characteristic data through the belt conveyor fault diagnosis model, performs fault diagnosis on the belt conveyor to determine the belt conveyor fault diagnosis result, and performs fault warning and comprehensive centralized control on the belt conveyor according to the fault diagnosis result. It can perform real-time monitoring, fault diagnosis and automatic centralized control on the mine belt conveyor, and can effectively improve the efficiency and safety level of the mine transportation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 It is a flowchart of the comprehensive centralized control system of the mine belt conveyor of the present invention;

[0069] Figure 2This is the structure diagram of the integrated centralized control system for mine belt conveyors of the present invention.

[0070] In the figure: 1. Main controller; 2. Remote control sub-station; 3. Temperature sensor; 4. Speed sensor; 5. Deviation sensor; 6. Tear sensor; 7. Belt break sensor; 8. Coal accumulation sensor; 9. Smoke sensor. Specific implementation mode

[0071] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0072] In order to solve the problem that the existing mine belt conveyor cannot be monitored in real time, fault diagnosed, and automatically controlled centrally, resulting in low efficiency and safety level of the mine transportation system, please refer to Figure 1 - Figure 2 , the following technical solutions are provided in this embodiment:

[0073] The integrated centralized control system for mine belt conveyors includes a main controller 1 and a remote control sub-station 2. The main controller 1 communicates with the distributed remote control sub-station 2 based on the CAN bus protocol, featuring a long transmission distance, high speed, and strong real-time performance.

[0074] Specifically, the main controller 1 communicates with the distributed remote control sub-station 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 the linkage control of multiple belt transportation lines, and can centrally control and manage the belt transportation lines.

[0075] Among them, the remote control sub-station 2 is used to collect the real-time operation data of the belt conveyor;

[0076] Specifically, the main controller 1 communicates with the remote control sub-station 2 based on the CAN bus protocol, and adopts distributed control for the belt conveyor, including:

[0077] Extract the belt with the largest cargo transmission and bearing capacity in the belt corresponding to the belt conveyor as the main control object, and regard the other belt conveyors except the main control object as the controlled objects;

[0078] When the main controller 1 performs automatic start, stop, single-action, and emergency stop control on multiple belt conveyors in real time according to the fault causes of the belt conveyor, and when performing stop and emergency stop control on the belt conveyor, it judges whether the currently stopped and emergently stopped belt conveyor is the main control object;

[0079] When the belt conveyor currently stopped and emergently stopped is not the main control object, the belt conveyor currently stopped and emergently stopped is taken as the operation termination object;

[0080] Extract the load borne by the operation termination object during operation;

[0081] Compare the load borne by the operation termination object during operation with the load borne by the belt conveyors that are not currently stopped and emergently stopped;

[0082] Take the belt conveyors that are not currently stopped and emergently stopped and whose load does not exceed the load borne by the operation termination object during operation as the objects to be speeded up;

[0083] Perform speed-up processing on the objects to be speeded up;

[0084] Among them, the speed corresponding to the speeded-up belt conveyor is obtained through the following formula:

[0085]

[0086] Among them, Vs represents the speed corresponding to the object to be speeded up after speed-up; V0 represents the speed corresponding to the object to be speeded up before speed-up; F d represents the load borne by the operation termination object during operation; F x represents the load borne by the object to be speeded up; F p represents the average value of the loads corresponding to multiple objects to be speeded up; reflects the proportional relationship between the load of the object to be speeded up and the load of the operation termination object, and this proportion reflects the size of the load of the object to be speeded up relative to the operation termination object. As a regulation factor, represents the absolute value of the difference between the load of the object to be speeded up and the average value of the loads of multiple objects to be speeded up. This difference is used as an exponent after being normalized by F d so that the regulation factor varies between 0 and 1. When the load F x of the object to be speeded up and the average value F p have a larger difference, the regulation factor is smaller, and the inhibitory effect on speed increase is greater; otherwise, it is smaller. As the speed adjustment coefficient, it is multiplied by the speed V0 before speed-up to obtain the speed V s after speed-up. That is, according to the relationship between the load of the object to be speeded up, the load of the operation termination object, and the average value of the loads of multiple objects to be speeded up, the speed of the belt conveyor is dynamically adjusted to achieve speed optimization under load balancing.

[0087] When the belt conveyor stopped and emergently stopped is the main control object, the belt transmission speed of the controlled object is regulated by using the load of the main control object and the load of the controlled object.

[0088] The technical effects of the above technical solution are as follows: The main controller 1 communicates with the remote control sub-station 2 based on the CAN bus protocol to achieve distributed control, and can automatically start, stop, single-act and emergency-stop the belt conveyor in real time according to the cause of the fault. When the non-master belt conveyor stops or is emergently stopped, through a series of load comparisons and speed-up processing of other belt conveyors, the system operation state can be quickly adjusted, the overall transportation efficiency reduction caused by local faults can be reduced, and the system's response ability and transportation efficiency in case of faults can be improved. By judging whether the faulty belt conveyor is the master control object, different strategies are adopted respectively. When there is a fault in the non-master control object, the objects to be speeded up are screened and speeded up to reasonably transfer the load to other belt conveyors; when there is a fault in the master control object, the load of the master control object and the load of the controlled object are used to regulate the belt transmission speed of the controlled object, which helps to achieve load balance between belt conveyors in different fault scenarios, avoid excessive load on some belts affecting the 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 operation parameters can be automatically adjusted according to the belt conveyor state and load conditions without excessive manual intervention, improving the intelligent level of the production process, reducing the risk of manual operation errors, while reducing labor costs and improving production management efficiency.

[0089] Specifically, when the belt conveyor currently under stop and emergency-stop control is the master control object, the belt transmission speed of the controlled object is regulated by using the load of the master control object and the load of the controlled object, including:

[0090] When the belt conveyor currently under stop and emergency-stop control is the master control object, the load of the master control object during operation is retrieved;

[0091] The load of the master control object during operation is compared with the rated maximum load of the master control object to obtain the difference between the load of the master control object during operation and the rated maximum load;

[0092] The difference between the load of the master control object during operation and the rated maximum load is processed by ratio with the rated maximum load to obtain the first load ratio coefficient;

[0093] The current running load of the controlled object is processed by ratio with the load of the master control object during operation to obtain the second load ratio coefficient;

[0094] The first load ratio coefficient and the second load ratio coefficient are compared;

[0095] The controlled objects with the second load ratio coefficient less than the first load ratio coefficient are extracted as the target objects;

[0096] Perform speed-up processing on the target object by using the first load ratio coefficient and the second load ratio coefficient;

[0097] Among them, the speed of the target object after speed-up is obtained through the following formula:

[0098]

[0099] Among them, V m represents the speed of the target object after speed-up; V m0 represents the speed of the target object before speed-up; x represents the ratio between the weight value corresponding to the target object and the sum of the weight values corresponding to all other target objects; S 01 and S 02 respectively represent the first load ratio coefficient and the second load ratio coefficient; represents adjusting the speed of the target object according to a certain proportion based on the relative weight of the target object and the relationship with the load-related quantity of the main control object, so as to achieve speed regulation based on load and weight.

[0100] When the difference between the load of the main control object during operation and the rated maximum load is 0, then perform speed-up processing on each controlled object by using the load of the main control object during operation and the current load of the controlled object;

[0101] Among them, the speed of the controlled object after speed-up is obtained through the following formula:

[0102]

[0103] Among them, V k represents the speed of the controlled object after speed-up; V k0 represents the speed of the controlled object before speed-up; F z represents the load of the main control object during operation; F k represents the current load of the controlled object; F e represents the rated maximum load of the controlled object. represents the load F of the main control object during operation z and the current load F of the controlled object k The ratio of the difference to the load of the main control object reflects the gap degree of the load of the controlled object relative to the load of the main control object; represents the rated maximum load F of the controlled object e and the current load F during operation kThe proportion of the difference in the rated maximum load reflects the gap between the current load of the controlled object and its rated maximum load. Multiply these two proportions and then take the square root, and then add 1 to obtain the speed adjustment coefficient. The square root operation may be to fuse the influences of the two in a relatively smooth manner when comprehensively considering the load gaps of both, avoiding the single proportion having too much influence on the speed adjustment. Finally, this adjustment coefficient is multiplied by V k0 to obtain the increased speed V k , that is, according to the dual load gap relationship between the controlled object and the master control object and its own rated load, the speed of the controlled object is dynamically adjusted.

[0104] The technical effects of the above technical solution are as follows: When the master control object is stopped and emergently stopped, by comparing the difference between the load of the master control object (master control object) and the rated maximum load, and the ratio of the load of the controlled object to the master control object, the controlled 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 controlled objects having too low load and some having too high load, realize a more reasonable distribution of the load among the controlled objects, improve the load balancing performance of the entire belt conveyor system, reduce local excessive wear of the equipment, and extend the service life of the equipment. Conduct targeted speed increase processing on the target object or the controlled object, which can make full use of the system's transportation capacity. In the case of the master control object failing to stop, tap the transportation potential of the controlled object, so that the system can still maintain a high transportation efficiency in a non-complete operating state, reduce cargo accumulation and transportation delays, ensure the smooth production process, and improve the overall production efficiency. This technical solution can flexibly adjust the speed of the controlled object according to the actual load conditions of the master control object and the controlled object, enabling the belt conveyor system to have stronger adaptability. Whether facing the failure of the master control object or load fluctuations under different working conditions, it can maintain the stable and efficient operation of the system through reasonable speed control, and enhance the system's adaptability to complex and changeable working conditions.

[0105] In the above technical solutions, when calculating the speed after acceleration, the formulas all consider the load factor of the belt conveyor. For example, calculations are made based on the load of the operation termination object, the load of the object to be accelerated, and their relationships with the rated load, etc. This enables the system to dynamically allocate speeds according to the actual loads of each belt conveyor during the acceleration process, avoiding the situation where some belt conveyors are overloaded while some are underloaded, 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 acceleration through the formula, the transportation potential of the belt conveyor can be fully exploited. When some belt conveyors break down and stop (such as the main control object stops) or need to adjust the operating state, targeted acceleration can be performed on other belt conveyors, enabling the system to still transport goods efficiently in a non-complete operating state, reducing goods accumulation and transportation delays, ensuring the smooth progress of the production process, and thus improving the overall production and transportation efficiency. The formula involves various load-related parameters and parameter comparisons between different belt conveyors (such as load ratio, difference, etc.), which enables the system to automatically adjust the speed of the belt conveyor according to real-time parameters in the face of different working conditions (such as load fluctuations, equipment failures, etc.). This enhances the system's adaptability to complex and changeable working conditions, maintains the stable and efficient operation of the system, eliminates the need for frequent manual intervention and adjustment, and improves the system's automation level and operating reliability. The formula uses a variety of mathematical operations (such as square root, exponential operation, proportional operation, etc.) to comprehensively consider the influence of different factors on speed adjustment. This refined calculation method can more accurately determine the speed value after acceleration compared to simple speed adjustment strategies, making the speed adjustment more in line with the actual operating requirements, reducing transportation problems (such as goods spilling, excessive equipment impact, etc.) caused by unreasonable speed adjustment, and enhancing the accuracy of speed control and the stability of system operation.

[0106] In this embodiment, real-time data of the belt conveyor operation is collected, including:

[0107] 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;

[0108] Specifically, when it is detected that the operating temperature of the belt conveyor exceeds the set value, an alarm is immediately issued, and at the same time, the sprinkler device is activated for rapid water spraying operation to cool down the belt conveyor.

[0109] Based on the speed sensor 4, the operating speeds of multiple belt conveyors are monitored and collected in real time to obtain the operating speed data of multiple belt conveyors;

[0110] Specifically, when it is detected that the belt speed of the belt conveyor exceeds or is lower than the set value within the set time, an alarm is issued and the operation of the belt conveyor is stopped.

[0111] Based on the deviation sensor 5, the lateral deviation of the running belt of multiple belt conveyors is monitored and collected in real time to obtain the running deviation data of multiple belt conveyors;

[0112] Specifically, when it is monitored that the lateral deviation of the running belt of the belt conveyor exceeds the set value, an alarm is given and the operation of the belt conveyor is stopped.

[0113] Based on the tear sensor 6, the longitudinal tear of the running belt of multiple belt conveyors is monitored and collected in real time to obtain the running tear data of multiple belt conveyors;

[0114] Specifically, when it is monitored that the running belt of the belt conveyor has a longitudinal tear, an alarm is given, the tear position is prompted, and the operation of the belt conveyor is immediately stopped.

[0115] Based on the belt break sensor 7, the belt break of the running belt of multiple belt conveyors is monitored and collected in real time to obtain the running belt break data of multiple belt conveyors;

[0116] Specifically, when it is monitored that the running belt of the belt conveyor has a belt break, an alarm is immediately given and an emergency stop is performed to prevent further damage.

[0117] Based on the coal accumulation sensor 8, the coal level on the running belt of multiple belt conveyors is monitored and collected in real time to obtain the running coal accumulation data of multiple belt conveyors;

[0118] Specifically, when it is monitored that the coal level on the running belt of the belt conveyor exceeds the predetermined position, an alarm is given and the operation of the belt conveyor is stopped.

[0119] Based on the smoke sensor 9, the running smoke of multiple belt conveyors is monitored and collected in real time to obtain the running smoke data of multiple belt conveyors;

[0120] Specifically, when it is monitored that the smoke concentration during the operation of the belt conveyor reaches the warning value, an alarm is given and the sprinkler protection is started, and the operation of the belt conveyor can be immediately stopped.

[0121] According to the running temperature data, running speed data, running deviation data, running tear data, running belt break data, running coal accumulation data and running smoke data of multiple belt conveyors, the real-time running data of the belt conveyor is determined.

[0122] Specifically, by monitoring the running temperature, running speed, lateral deviation of the belt, longitudinal tear of the belt, belt break, coal level and smoke condition of multiple belt conveyors in real time, the real-time running data of the belt conveyor is determined, providing a data basis for subsequent fault diagnosis of the belt conveyor.

[0123] Among them, the main controller 1 is used to preprocess the real-time data of the belt conveyor operation collected, establish a fault diagnosis model for the belt conveyor to conduct fault diagnosis on the belt conveyor, and perform fault warning and comprehensive centralized control on the belt conveyor according to the fault diagnosis results.

[0124] In this embodiment, preprocessing the real-time data of the belt conveyor operation collected includes:

[0125] Clean the real-time data of the belt conveyor operation to remove the noise data and abnormal data that are useless for the comprehensive centralized control of the mine belt conveyor from the real-time data of the belt conveyor operation;

[0126] Normalize the real-time data of the belt conveyor operation to convert the real-time data of the belt conveyor operation into a unified data format, remove the dimension differences in the real-time data of the belt conveyor operation, and determine the standardized real-time data of the belt conveyor operation;

[0127] Extract features from the real-time data of the belt conveyor operation, extract the feature vectors useful for the comprehensive centralized control of the mine belt conveyor from the real-time data of the belt conveyor operation, and determine the operation feature data of the belt conveyor.

[0128] In this embodiment, establishing a fault diagnosis model for the belt conveyor includes:

[0129] According to the comprehensive centralized control requirements of the mine belt conveyor, collect the historical operation data of the belt conveyor, and divide the collected historical operation data of the belt conveyor to determine the training set and the test set;

[0130] Use the training set to train the deep learning model, so that the deep learning model autonomously learns the fault diagnosis behavior of the belt conveyor from the training set, and determine the fault diagnosis model of the belt conveyor;

[0131] Use the test set to test the fault diagnosis model of the belt conveyor, evaluate the fault diagnosis ability of the fault diagnosis model of the belt conveyor, and determine the optimal fault diagnosis model of the belt conveyor.

[0132] In this embodiment, evaluating the fault diagnosis ability of the fault diagnosis model of the belt conveyor includes:

[0133] Input the test set into the fault diagnosis model of the belt conveyor, test and evaluate the fault diagnosis ability of the fault diagnosis model of the belt conveyor through the test set, and judge whether the fault diagnosis model of the belt conveyor can achieve the expected effect of fault diagnosis on the belt conveyor;

[0134] When the belt conveyor fault diagnosis model fails to achieve the expected effect of fault diagnosis for the belt conveyor, adjust the parameters of the belt conveyor fault diagnosis model and optimize the belt conveyor fault diagnosis model until the belt conveyor fault diagnosis model can achieve the expected effect of fault diagnosis for the belt conveyor, and then determine the optimal belt conveyor fault diagnosis model.

[0135] In this embodiment, fault diagnosis of the belt conveyor includes:

[0136] Deploy the optimal belt conveyor fault diagnosis model in the actual belt conveyor fault diagnosis environment.

[0137] Input the belt conveyor operation characteristic data into the belt conveyor fault diagnosis model, analyze the belt conveyor operation characteristic data according to the belt conveyor fault diagnosis model, and conduct fault diagnosis on the belt conveyor to determine the belt conveyor fault diagnosis result.

[0138] Specifically, by analyzing the belt conveyor operation characteristic data through the belt conveyor fault diagnosis model and conducting fault diagnosis on the belt conveyor to determine the belt conveyor fault diagnosis result, the fault condition of the belt conveyor can be promptly grasped, which is convenient for better centralized control of the belt conveyor.

[0139] In this embodiment, fault warning and comprehensive centralized control of the belt conveyor include:

[0140] Based on the belt conveyor fault diagnosis result and combined with the real-time operation data of the belt conveyor, form a belt conveyor fault diagnosis report, and display the belt conveyor fault diagnosis report to the management personnel in a visual form, so that the management personnel can conduct fault warning and comprehensive centralized control of the belt conveyor according to the belt conveyor fault diagnosis report.

[0141] In this embodiment, fault warning and comprehensive centralized control of the belt conveyor further include:

[0142] Determine the cause of the belt conveyor fault according to the belt conveyor fault diagnosis report.

[0143] Automatically start, stop, single-action and emergency stop the multiple belt conveyors according to the cause of the belt conveyor fault, and conduct real-time monitoring of the belt conveyor control situation. Adjust and optimize the comprehensive centralized control of the belt conveyor according to the monitoring feedback to form a closed-loop management of the belt conveyor.

[0144] In summary, by monitoring the operating temperature, operating speed, lateral belt deviation, longitudinal belt tear, belt breakage, coal level, and smoke condition of multiple belt conveyors in real time, determining the real-time data of the belt conveyor operation, preprocessing the real-time data of the belt conveyor operation, determining the characteristic data of the belt conveyor operation, analyzing the characteristic data of the belt conveyor operation through the belt conveyor fault diagnosis model, diagnosing the faults of the belt conveyor, determining the belt conveyor fault diagnosis results, and carrying out fault early warning and comprehensive centralized control on the belt conveyor according to the fault diagnosis results, the real-time monitoring, fault diagnosis, and automatic centralized control of the mine belt conveyor can be realized, the efficiency and safety level of the mine transportation system can be effectively improved, and it can be applied to the belt conveyor transportation systems and other production system belt conveyors in fields such as steel plants, power plants, port terminals, mines, tunnels, cement plants, grain processing plants, and ground belt transportation corridors. It can be used for the control and protection of a single belt, and also for the interlocking control of multiple belt transportation lines, and can carry out centralized control and management of the belt transportation line.

[0145] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0146] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Integrated centralized control system for mine belt conveyor, including a main controller (1) and a remote control sub-station (2), characterized in that, The main controller (1) communicates with the distributed remote control sub-stations (2) based on the CAN bus protocol to perform distributed control on the belt conveyor; The remote control sub-station (2) is configured to collect real-time operation data of the belt conveyor; The main controller (1) is configured to preprocess the collected real-time operation data of the belt conveyor, establish a fault diagnosis model for the belt conveyor to perform fault diagnosis on the belt conveyor, and perform fault warning and comprehensive centralized control on the belt conveyor according to the fault diagnosis results; Among them, the distributed control of the belt conveyor includes: Extract the belt with the largest cargo transmission load in the belts corresponding to the belt conveyor as the main control object, and regard the other belt conveyors except the main control object as the controlled objects; When the main controller (1) performs stop and emergency stop control on the belt conveyor, it judges whether the currently stopped and emergently stopped belt conveyor is the main control object, and processes the transmission speed of the belt conveyor according to the judgment result; The main controller (1) communicates with the remote control sub-station (2) based on the CAN bus protocol to perform distributed control on the belt conveyor, including: Extract the belt with the largest cargo transmission load in the belts corresponding to the belt conveyor as the main control object, and regard the other belt conveyors except the main control object as the controlled objects; When the main controller (1) performs automatic start, stop, single-action and emergency stop control on multiple belt conveyors in real time according to the fault causes of the belt conveyor and performs stop and emergency stop control on the belt conveyor, it judges whether the currently stopped and emergently stopped belt conveyor is the main control object; When the currently stopped and emergently stopped belt conveyor is not the main control object, the currently stopped and emergently stopped belt conveyor is regarded as the operation termination object; Extract the load borne by the operation termination object during operation; Compare the load borne by the operation termination object during operation with the load borne by the currently not stopped and emergently stopped belt conveyors; Regard the belt conveyors that are not stopped and emergently stopped and whose load does not exceed the load borne by the operation termination object during operation as the objects to be speeded up; Perform speed-up processing on the objects to be speeded up; When the currently stopped and emergently stopped belt conveyor is the main control object, the belt transmission speed of the controlled object is regulated by using the load of the main control object and the load of the controlled object, including: When the currently stopped and emergently stopped belt conveyor is the main control object, the load of the main control object during operation is retrieved; Compare the load of the main control object during operation with the rated maximum load of the main control object to obtain the difference between the load of the main control object during operation and the rated maximum load; Perform a ratio process on the difference between the load of the main control object during operation and the rated maximum load and the rated maximum load to obtain the first load ratio coefficient; Perform a ratio process on the current load of the controlled object and the load of the main control object during operation to obtain the second load ratio coefficient; Compare the first load ratio coefficient and the second load ratio coefficient; Extract the controlled object whose second load ratio coefficient is less than the first load ratio coefficient as the target object; Use the first load ratio coefficient and the second load ratio coefficient to perform speed-up processing on the target object; When the difference between the load during the operation of the master control object and the rated maximum load is 0, use the load during the operation of the master control object and the load of the controlled object currently in operation to perform speed-up processing on each controlled object.

2. The integrated centralized control system for mine belt conveyors according to claim 1, characterized in that, Collect real-time data on the operation of the belt conveyor, including: Based on the temperature sensor (3), monitor and collect the operating temperatures of multiple belt conveyors in real time to obtain the operating temperature data of multiple belt conveyors; Based on the speed sensor (4), monitor and collect the operating speeds of multiple belt conveyors in real time to obtain the operating speed data of multiple belt conveyors; Based on the deviation sensor (5), monitor and collect the lateral deviation of the running belts of multiple belt conveyors in real time to obtain the running deviation data of multiple belt conveyors; Based on the tear sensor (6), monitor and collect the longitudinal tear of the running belts of multiple belt conveyors in real time to obtain the running tear data of multiple belt conveyors; Based on the belt break sensor (7), monitor and collect the belt break conditions of multiple belt conveyors in real time to obtain the running belt break data of multiple belt conveyors; Based on the coal accumulation sensor (8), monitor and collect the coal level on the running belts of multiple belt conveyors in real time to obtain the running coal accumulation data of multiple belt conveyors; Based on the smoke sensor (9), monitor and collect the smoke conditions of multiple belt conveyors in real time to obtain the running smoke data of multiple belt conveyors; Determine the real-time operation data of the belt conveyor according to the operating temperature data, operating speed data, operating deviation data, operating tear data, operating belt break data, operating coal accumulation data and operating smoke data of multiple belt conveyors.

3. The integrated centralized control system for a mine belt conveyor according to claim 1, characterized in that Preprocess the collected real-time operation data of the belt conveyor, including: Clean the real-time operation data of the belt conveyor to remove the noise data and abnormal data that are useless for the comprehensive centralized control of the mine belt conveyor from the real-time operation data of the belt conveyor; Normalize the real-time operation data of the belt conveyor to convert the real-time operation data of the belt conveyor into a unified data format, remove the dimension difference in the real-time operation data of the belt conveyor, and determine the standardized real-time operation data of the belt conveyor; Extract features from the real-time operation data of the belt conveyor, extract the feature vectors useful for the comprehensive centralized control of the mine belt conveyor from the real-time operation data of the belt conveyor, and determine the operation feature data of the belt conveyor.

4. The integrated centralized control system for a mine belt conveyor according to claim 1, characterized in that, Establish a belt conveyor fault diagnosis model, including: According to the comprehensive centralized control requirements of the mine belt conveyor, collect the historical operation data of the belt conveyor, and divide the collected historical operation data of the belt conveyor to determine the training set and the test set; Use the training set to train the deep learning model, so that the deep learning model autonomously learns the belt conveyor fault diagnosis behavior from the training set, and determine the belt conveyor fault diagnosis model; Use the test set 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.

5. The integrated centralized control system for a mine belt conveyor according to claim 4, characterized in that, Evaluating the fault diagnosis ability of the belt conveyor fault diagnosis model includes: Input the test set into the belt conveyor fault diagnosis model, test and evaluate the fault diagnosis ability of the belt conveyor fault diagnosis model through the test set, and judge 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, adjust the parameters of the belt conveyor fault diagnosis model and optimize the belt conveyor fault diagnosis model until the belt conveyor fault diagnosis model can achieve the expected effect of fault diagnosis for the belt conveyor, and then determine the optimal belt conveyor fault diagnosis model.

6. The integrated centralized control system for a mine belt conveyor according to claim 5, characterized in that, Fault diagnosis of the belt conveyor includes: Deploy the optimal belt conveyor fault diagnosis model in the actual belt conveyor fault diagnosis environment. Input the belt conveyor operation characteristic data into the belt conveyor fault diagnosis model, analyze the belt conveyor operation characteristic data according to the belt conveyor fault diagnosis model, and conduct fault diagnosis on the belt conveyor to determine the belt conveyor fault diagnosis result.

7. The integrated centralized control system for a mine belt conveyor according to claim 6, wherein, Fault warning and comprehensive centralized control of the belt conveyor include: Based on the belt conveyor fault diagnosis result and combined with the real-time operation data of the belt conveyor, form a belt conveyor fault diagnosis report, and display the belt conveyor fault diagnosis report to the management personnel in a visual form, so that the management personnel can conduct fault warning and comprehensive centralized control on the belt conveyor according to the belt conveyor fault diagnosis report.

8. The integrated centralized control system for mine belt conveyors according to claim 7, characterized in that, Fault warning and comprehensive centralized control of the belt conveyor also include: Determine the cause of the belt conveyor fault according to the belt conveyor fault diagnosis report. Automatically start, stop, single-act, and emergency-stop control multiple belt conveyors according to the cause of the belt conveyor fault, and monitor the control situation of the belt conveyor in real time. Adjust and optimize the comprehensive centralized control of the belt conveyor according to the monitoring feedback to form a closed-loop management of the belt conveyor.

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