Intelligent power distribution system and method for mining electric trackless rubber-tyred vehicle

Abstract

The invention provides an intelligent power distribution system and method of a mining electric trackless rubber-tyred vehicle, and particularly relates to the technical field of power distribution circuit devices of mining explosion-proof vehicles, and the system comprises a state detection circuit, a protection module, a control module, a power distribution execution module and a man-machine interaction module. The state detection circuit is connected with each power supply branch, detects voltage and resistance values at the initial stage of power-on and transmits the voltage and resistance values to the control module; the protection module is connected in series with the power supply branch, collects working current in real time and outputs an electric signal; the control module receives the processing signal, judges the state of the power supply branch and outputs a control instruction; the power distribution execution module switches on or off a power supply according to the instruction; and the man-machine interaction module displays the fault state through characters. The system realizes uncovering-free rapid diagnosis, positioning and protection of faults of the power supply loop of the mining explosion-proof vehicle, and reduces maintenance difficulty and workload.

Description

Technical Field

[0001] The present invention relates to the technical field of distribution circuit devices for explosion-proof mine vehicles, and more specifically, to an intelligent power distribution system and method for mine electric trackless rubber-tyred vehicles. Background Art

[0002] With the advancement of the "Interim Measures for the Acceptance and Management of Intelligent Demonstration Coal Mines" by the National Energy Administration, the intelligent construction of coal mines has put forward higher requirements for the safe, efficient, and intelligent operation of auxiliary transportation equipment such as mine electric trackless rubber-tyred vehicles. In the special underground environment of inflammable and explosive substances, the reliability and maintainability of the mine vehicle power supply system are of crucial importance. However, in the existing technology, the widely adopted flameproof "d" enclosure design for ensuring safety, due to its heavy housing and high-precision sealing requirements, makes the maintenance work of the vehicle power supply system (especially the power fuse and circuit) extremely onerous after a fault such as a short circuit occurs - a large number of high-strength bolts need to be disassembled, and sealing grease needs to be reapplied, which takes several hours and requires extremely high skills from on-site maintenance personnel. At the same time, for non-fusing faults such as open circuits or loose connections in the circuit, there is a lack of fast and accurate diagnostic means, and it is still necessary to rely on manual step-by-step troubleshooting with reference to the drawings, resulting in low efficiency and seriously affecting the achievement of the equipment commuting rate and the full-life cycle management goal.

[0003] In response to the protection and maintenance problems of the above mine vehicle power supply system, the existing technology mainly relies on traditional automotive-grade fuses or high-voltage fuses connected in series in the power supply circuit and encapsulated in a flameproof enclosure to achieve explosion-proof safety. When a short-circuit fault occurs, the fuse melts to cut off the current, but replacing the fuse requires opening the flameproof enclosure, bringing the aforementioned huge disassembly and assembly workload. In addition, the existing technology mainly uses tools such as multimeters by hand for fault diagnosis, and cannot automatically and real-time comprehensively monitor and accurately locate the state of the power supply circuit (such as open circuit, short circuit to power supply, short circuit to ground) during the initial power-on or operation of the system, and there is also a lack of a precise and fast pre-judgment mechanism for abnormal circuit current.

[0004] In summary, how to achieve power circuit state monitoring, rapid fault location, and overcurrent protection without opening the flameproof enclosure in a mine explosion-proof power supply system and significantly reduce the maintenance workload is an urgent problem to be solved. Summary of the Invention

[0005] The main object of the present invention is to provide an intelligent power distribution system and method for mine electric trackless rubber-tyred vehicles, so as to at least solve the technical problem of how to achieve power circuit state monitoring, rapid fault location, and overcurrent protection without opening the flameproof enclosure in a mine explosion-proof power supply system and significantly reduce the maintenance workload, thereby realizing the rapid diagnosis and location and protection of faults in the power supply circuit of mine explosion-proof vehicles without opening the cover, and greatly reducing the maintenance difficulty and workload.

[0006] To achieve the above object, the present invention provides an intelligent power distribution system and method for a mine electric trackless rubber-tyred vehicle.

[0007] In a first aspect, the present invention provides an intelligent power distribution system for a mine electric trackless rubber-tyred vehicle, the system comprising: A state detection circuit connected to each power supply branch, the state detection circuit being configured to detect the voltage value and resistance value of each power supply branch as detection signals and transmit them to the control module when the power distribution system is powered on initially and not supplying power to the load; A protection module connected in series in each power supply branch, the protection module being configured to collect the working current of the power supply branch in real time and convert it into an electrical signal for output to the control module; A control module respectively connected to the state detection circuit and the protection module, the control module being configured to: receive and process the detection signals output by the state detection circuit to determine whether the power supply branch is in an open circuit state, a power short circuit state or a ground short circuit state; receive and process the electrical signals monitored by the protection module to determine whether the power supply branch is in an overcurrent state; when the power supply branch is in an open circuit state, a power short circuit state, a ground short circuit state or an overcurrent state, output a control command to cut off the power supply of the corresponding power supply branch; A power distribution execution module connected between the power supply and each power supply branch and connected to the control module, the power distribution execution module being configured to connect or cut off the power supply of the corresponding power supply branch according to the control command; A human-machine interaction module connected to the control module, the human-machine interaction module being configured to display the open circuit state, power short circuit state, ground short circuit state or overcurrent state of the power supply branch in text form.

[0008] Specifically, the state detection circuit includes: A voltage detection unit connected between the load input end of each power supply branch and the positive pole of the power supply, and between the load input end and the ground wire, the voltage detection unit being configured to detect a first voltage value between the load input end and the positive pole of the power supply, and a second voltage value between the load input end and the ground wire; A resistance detection unit connected in series in each power supply branch, the resistance detection unit being configured to detect the resistance value of the power supply branch; The output ends of the voltage detection unit and the resistance detection unit are both connected to the control module.

[0009] Specifically, the protection module includes: A self-resetting fuse connected in series in the power supply branch, the self-resetting fuse being configured to increase the resistance to limit the current when the working current of the power supply branch exceeds the rated value; A current sensor provided on the power supply branch, the current sensor being configured to collect the working current of the power supply branch in real time and convert it into an electrical signal for output to the control module.

[0010] Specifically, the current sensor is a Hall effect type current sensor; The control module is built-in with a closed-loop dynamic Kalman filtering algorithm unit, which is used to filter and predict the electrical signal output by the current sensor to obtain a current value, and determine whether the power supply branch is in the over-current state according to the current value.

[0011] Specifically, the control module determines the electrical state of the power supply branch according to the following rules: Open circuit state: The resistance detection unit detects that the resistance value is greater than the preset open circuit threshold; Power supply short circuit state: The voltage detection unit detects that the first voltage value ≥ 95% of the power supply voltage; Ground wire short circuit state: The voltage detection unit detects that the second voltage value ≤ 5% of the power supply voltage; Normal state: The resistance value is within the preset range, the first voltage value ≤ 5% of the power supply voltage, and the second voltage value ≥ 95% of the power supply voltage.

[0012] Specifically, when the power supply branch is in an open circuit state, a power supply short circuit state, a ground wire short circuit state, or an over-current state, the control module sends a cut-off instruction to the power distribution execution module, and sends the fault type and the power supply branch number to the human-machine interaction module for display in text form.

[0013] Specifically, the power distribution execution module is a multi-way relay group, and each relay controls the power on and off of a power supply branch.

[0014] In a second aspect, the present invention provides an intelligent power distribution method for a mine electric trackless rubber-tyred vehicle, and the method is applied to the intelligent power distribution system of the mine electric trackless rubber-tyred vehicle in the first aspect. The method includes: Step S1: After the power distribution system is powered on, the control module initializes and starts the state detection circuit; Step S2: When the state detection circuit does not supply power to the load, it detects the voltage value and resistance value of each power supply branch and transmits them to the control module as detection signals; Step S3: The control module determines whether the power supply branch is in an open circuit state, a power supply short circuit state, or a ground wire short circuit state according to the detection signals; Step S4: If the power supply branch is in an open circuit state, a power supply short circuit state, or a ground wire short circuit state, the control module controls the power distribution execution module to cut off the power supply of the power supply branch, and displays the fault state and the branch number in text form through the human-machine interaction module; Step S5: If the states of all power supply branches are normal, the control module controls the power distribution execution module to supply power to the power supply branches; Step S6: During the operation of the power distribution system, the protection module continuously collects the working current of the power supply branch and converts it into an electrical signal for output to the control module; Step S7: The control module processes the electrical signal to determine whether the power supply branch is in an overcurrent state. If it is in an overcurrent state, it controls the power distribution execution module to cut off the power supply of the corresponding power supply branch, and displays the overcurrent state and the branch number in text form through the human-machine interaction module.

[0015] Specifically, the processing of the electrical signal in step S7 includes: Filtering and predicting the electrical signal through a closed-loop dynamic Kalman filtering algorithm to obtain a current value; Compare the current value with a preset warning current value. If it exceeds the preset warning current value, it is determined to be in an overcurrent state.

[0016] Specifically, the determination of whether the power supply branch is in an open-circuit state, a power short-circuit state, or a ground short-circuit state in step S3 includes: When the resistance value is greater than the preset open-circuit threshold, it is determined to be in an open-circuit state; When the voltage value between the load input terminal and the positive pole of the power supply reaches more than 95% of the power supply voltage, it is determined to be in a power short-circuit state; When the voltage value between the load input terminal and the ground wire is lower than 5% of the power supply voltage, it is determined to be in a ground short-circuit state.

[0017] The intelligent power distribution system and method for a mine electric trackless rubber-tyred vehicle provided by the present application. The system includes a state detection circuit, a protection module, a control module, a power distribution execution module, and a human-machine interaction module. The state detection circuit is connected to each power supply branch, detects the voltage and resistance value at the initial power-on and transmits them to the control module; the protection module is connected in series to the power supply branch, continuously collects the working current and outputs an electrical signal. The control module receives and processes the signals of the state detection circuit and the protection module, determines whether the power supply branch is in an open-circuit, power short-circuit, ground short-circuit, or overcurrent state, and outputs a power-off instruction in case of a fault. The power distribution execution module connects or disconnects the power supply of the power supply branch according to the instruction. The human-machine interaction module displays the fault state in text. The system realizes the quick diagnosis and positioning and protection of the power supply loop fault of the mine explosion-proof vehicle without opening the cover, significantly reducing the maintenance difficulty and workload. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 is a schematic diagram of the intelligent power distribution system for a mine electric trackless rubber-tyred vehicle provided by the present application; Figure 2Schematic flow chart of the intelligent power distribution method for the mine electric trackless rubber-tyred vehicle provided by this application.

[0019] Through the above-mentioned attached drawings, specific embodiments of this application have been shown, and there will be more detailed descriptions hereinafter. These attached drawings and text descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0020] To make the objectives, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the attached drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0021] Terms such as "first", "second", "third", "fourth", etc. (if any) in the specification of the present invention and the above-mentioned attached drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here.

[0022] In the present invention, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0023] The intelligent power distribution system and method for the mine electric trackless rubber-tyred vehicle provided by this application, the system includes a state detection circuit, a protection module, a control module, a power distribution execution module and a human-machine interaction module. The state detection circuit detects the voltage and resistance value of the power supply branch, the protection module collects the working current in real time, the control module analyzes and judges the fault state and outputs a control instruction, the power distribution execution module performs a cut-off operation, and the human-machine interaction module displays the fault information, realizing quick diagnosis, positioning and protection without opening the cover, and reducing the maintenance difficulty and workload.

[0024] The technical solutions of this application and how the technical solutions of this application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will be described below in conjunction with the attached drawings.

[0025] Figure 1 Schematic diagram of the intelligent power distribution system for the mine electric trackless rubber-tyred vehicle provided by this application, as Figure 1 shown, the intelligent power distribution system for the mine electric trackless rubber-tyred vehicle provided in this embodiment, this system includes: A status detection circuit, connected to each power supply branch, the status detection circuit is used to detect the voltage value and resistance value of each power supply branch as detection signals and transmit them to the control module when the power distribution system is powered on initially and not supplying power to the load; A protection module, connected in series in each power supply branch, the protection module is used to collect the working current of the power supply branch in real time and convert it into an electrical signal and output it to the control module; A control module, respectively connected to the status detection circuit and the protection module, the control module is used to: receive and process the detection signals output by the status detection circuit to judge whether the power supply branch is in an open circuit state, a power short circuit state or a ground wire short circuit state; receive and process the electrical signals monitored by the protection module to judge whether the power supply branch is in an overcurrent state; when the power supply branch is in an open circuit state, a power short circuit state, a ground wire short circuit state or an overcurrent state, output a control instruction to cut off the power supply of the corresponding power supply branch; A power distribution execution module, connected between the power supply and each power supply branch, and connected to the control module, the power distribution execution module is used to connect or cut off the power supply of the corresponding power supply branch according to the control instruction; A human-machine interaction module, connected to the control module, the human-machine interaction module is used to display the open circuit state, power short circuit state, ground wire short circuit state or overcurrent state of the power supply branch in text form.

[0026] Specifically, the status detection circuit includes: A voltage detection unit, connected between the load input end of each power supply branch and the positive power supply, and between the load input end and the ground wire, the voltage detection unit is used to detect the first voltage value between the load input end and the positive power supply, and the second voltage value between the load input end and the ground wire; A resistance detection unit, connected in series in each power supply branch, the resistance detection unit is used to detect the resistance value of the power supply branch; The output ends of the voltage detection unit and the resistance detection unit are both connected to the control module.

[0027] Specifically, the protection module includes: A self-resetting fuse, connected in series in the power supply branch, the self-resetting fuse is used to increase the resistance to limit the current when the working current of the power supply branch exceeds the rated value; A current sensor, arranged on the power supply branch, the current sensor is used to collect the working current of the power supply branch in real time and convert it into an electrical signal and output it to the control module.

[0028] Specifically, the current sensor is a Hall effect type current sensor; The control module is built-in with a closed-loop dynamic Kalman filtering algorithm unit, which is used to filter and predict the electrical signal output by the current sensor to obtain a current value, and determine whether the power supply branch is in the over-current state according to the current value.

[0029] Specifically, the control module determines the electrical state of the power supply branch according to the following rules: Open circuit state: The resistance detection unit detects that the resistance value is greater than the preset open circuit threshold; Power short circuit state: The voltage detection unit detects that the first voltage value ≥ 95% of the power supply voltage; Ground wire short circuit state: The voltage detection unit detects that the second voltage value ≤ 5% of the power supply voltage; Normal state: The resistance value is within the preset range, the first voltage value ≤ 5% of the power supply voltage, and the second voltage value ≥ 95% of the power supply voltage.

[0030] Specifically, when the power supply branch is in an open circuit state, a power short circuit state, a ground wire short circuit state or an over-current state, the control module sends a cut-off instruction to the power distribution execution module, and sends the fault type and the power supply branch number to the human-machine interaction module for display in text form.

[0031] Specifically, the power distribution execution module is a multi-way relay group, and each relay controls the power on and off of a power supply branch.

[0032] When implemented, the intelligent power distribution system of the mine-used battery-powered trackless rubber-tyred vehicle provided by this embodiment specifically includes: 1. System physical structure 1.1 The voltage detection unit of the status detection circuit is respectively connected by two wires: The first wire is connected between the load input end of the power supply branch and the positive pole of the power supply; The second wire is connected between the load input end and the ground wire; The output end of the voltage detection unit is connected to the analog signal input pin of the control module by a 0.5 mm² shielded wire.

[0033] The resistance detection unit is connected in series in the positive line of the power supply branch, and its signal output end is connected to the control module through a twisted pair.

[0034] 1.2 The self-resetting fuse of the protection module is directly connected in series to the copper wire of the power supply branch, and its physical size is a cylinder with a length of 10 mm and a diameter of 5 mm. The Hall effect type current sensor is clamped and fixed on the outer wall of the wire, and the sensor output wire is connected to the control module.

[0035] 1.3 The control module uses the STM32F407 microcontroller: The pins of the PA series are connected to the voltage detection unit; The pins of the PB series are connected to the resistance detection unit; The pins of the PC series are connected to the current sensor; The pins of the PD series are connected to the relay control terminal; 1.4 The 16 relays of the power distribution execution module are installed on the metal chassis: The positive pin of the relay coil is connected to the PD port of the control module; The common contact terminal is connected to the positive battery terminal; The normally open contact terminal is connected to the wires of each electrical device.

[0036] 1.5 The LCD screen of the human-computer interaction module is connected to the serial communication interface of the control module through a four-core cable.

[0037] 2. Status detection working process Within 300 milliseconds after the system is powered on (at this time, all relays are disconnected): 2.1 The voltage detection unit measures the voltage value of the load input terminal with respect to the positive power supply If the measured value ≥ 95% of the battery voltage, trigger the power short-circuit determination.

[0038] 2.2 At the same time, measure the voltage value of the load input terminal with respect to the ground wire If the measured value ≤ 5% of the battery voltage, trigger the ground wire short-circuit determination.

[0039] 2.3 The resistance detection unit injects a 10 mA constant current into the circuit Divide the measured terminal voltage value by 0.01 to obtain the resistance value; When the resistance value > 100 kΩ, trigger the open-circuit determination.

[0040] 3. Current protection mechanism The Hall effect type current sensor outputs a voltage signal proportional to the current: 3.1 Collect the voltage signal once every millisecond; 3.2 The control module performs closed-loop dynamic Kalman filtering processing: Establish a state vector including the current value and its rate of change; Deduce the current development trend through the prediction stage; Correct the measurement error through the update stage.

[0041] 3.3 Output the accurate current value after eliminating interference; 3.4 When the current value > 22 A for 100 milliseconds, trigger overcurrent protection.

[0042] 3.5 The self-resetting fuse when the current > 25 A: The resistance value of the internal polymer material increases by a thousand times; Limit the current below 0.3 amperes; After troubleshooting, it automatically resets after cooling for 30 seconds.

[0043] 4. Control the execution flow Keep all relays off after power-on initialization; Complete the detection of the status of 16 branches within 300 milliseconds; Branches with detected faults: Maintain the relay in the off state; The liquid crystal display shows "branch number + fault type" (such as "05 power short circuit").

[0044] Supply power to the normal branches by turning on the relays; Continuously monitor the current during operation: Immediately disconnect the relay for the overcurrent branch; The liquid crystal display shows "branch number + overcurrent".

[0045] An intelligent power distribution system for a mine electric trackless rubber-tyred vehicle provided by this embodiment can achieve the following effects: 1. Pre-inspection without opening the cover: Complete fault identification before the relay is turned on to avoid the risk of short-circuit sparks; 2. Dual protection response: Self-recovery fuse for physical current limiting (response time: 200 milliseconds); Electronic overcurrent protection (response time: 100 milliseconds).

[0046] 3. Precise positioning: The liquid crystal display directly shows the fault branch number and type, and maintenance personnel do not need to detect the equipment; 4. Anti-interference ability: The Kalman filter algorithm distinguishes real overcurrent from instantaneous interference; 5. Maintenance efficiency: The fault handling time is shortened from several hours in the traditional way to within ten minutes.

[0047] The intelligent power distribution system of the mine electric trackless rubber-tyred vehicle provided in this embodiment includes a status detection circuit, a protection module, a control module, a power distribution execution module, and a human-machine interaction module. The status detection circuit is connected to each power supply branch. When the power distribution system is powered on initially and not supplying power to the load, it detects the voltage value and resistance value of each power supply branch and transmits them to the control module. The protection module is connected in series to each power supply branch, and it collects the working current in real time and converts it into an electrical signal for output. The control module receives and processes the signals from the status detection circuit and the protection module, determines whether the power supply branch is in an open circuit, power short circuit, ground short circuit, or overcurrent state, and outputs a power cut-off instruction in case of a fault. The power distribution execution module connects or disconnects the power supply of the corresponding power supply branch according to the instruction. The human-machine interaction module displays the fault status in text form. This system realizes the quick diagnosis and positioning of faults in the power supply circuit of mine explosion-proof vehicles without opening the cover, and can complete the status monitoring of the power supply circuit and overcurrent protection without opening the flameproof enclosure, greatly reducing the maintenance difficulty and workload.

[0048] Figure 2 The flowchart of the intelligent power distribution method for the mine electric trackless rubber-tyred vehicle provided in this application is shown. The intelligent power distribution method for the mine electric trackless rubber-tyred vehicle is described in detail as follows Figure 2 As shown, the intelligent power distribution method for the mine electric trackless rubber-tyred vehicle provided in this embodiment includes: Step S1: After the power distribution system is powered on, the control module initializes and starts the status detection circuit; Step S2: When the status detection circuit is not supplying power to the load, it detects the voltage value and resistance value of each power supply branch and transmits them as detection signals to the control module; Step S3: The control module determines whether the power supply branch is in an open circuit state, a power short circuit state, or a ground short circuit state according to the detection signal; if so, execute Step S4, if not, execute Step S5.

[0049] Step S4: If the power supply branch is in an open circuit state, a power short circuit state, or a ground short circuit state, the control module controls the power distribution execution module to cut off the power supply of this power supply branch, and displays the fault status and branch number in text form through the human-machine interaction module; Step S5: If the status of all power supply branches is normal, the control module controls the power distribution execution module to supply power to the power supply branch; Step S6: During the operation of the power distribution system, the protection module collects the working current of the power supply branch in real time and converts it into an electrical signal for output to the control module; Step S7: The control module processes the electrical signal to determine whether the power supply branch is in an overcurrent state. If it is in an overcurrent state, it controls the power distribution execution module to cut off the power supply of the corresponding power supply branch, and displays the overcurrent state and branch number in text form through the human-machine interaction module.

[0050] Specifically, the processing of the electrical signal in step S7 includes: Filtering and predicting the electrical signal through a closed-loop dynamic Kalman filtering algorithm to obtain a current value; Comparing the current value with a preset warning current value, and if it exceeds the preset warning current value, it is determined to be an overcurrent state.

[0051] Specifically, the determination of whether the power supply branch is in an open circuit state, a power short circuit state, or a ground short circuit state in step S3 includes: When the resistance value is greater than the preset open circuit threshold, it is determined to be in an open circuit state; When the voltage value between the load input terminal and the positive power supply reaches more than 95% of the power supply voltage, it is determined to be in a power short circuit state; When the voltage value between the load input terminal and the ground wire is lower than 5% of the power supply voltage, it is determined to be in a ground short circuit state.

[0052] When implemented, this embodiment provides an intelligent power distribution method for a mine electric trackless rubber-tyred vehicle, which specifically includes: Step S1: System initialization After the control module is powered on, it performs initialization operations: Reset all external device registers; Configure the sampling rate of the analog-to-digital converter to 1 million times per second; Set all digital output pins to output low level to keep the power distribution execution module in a disconnected state.

[0053] Step S2: Pre-inspection signal acquisition The state detection circuit executes when the power supply branch is not powered on: 2.1 The voltage detection unit measures two key voltage values: The voltage between the load input terminal and the positive power supply (defined as V_pos); The voltage between the load input terminal and the ground wire (defined as V_gnd); 2.2 The resistance detection unit performs a constant current measurement: Inject a 10 mA constant current into the power supply branch; Measure the voltage value of the load input terminal to the ground (defined as V_meas); Calculate the resistance value: Resistance value = V_meas ÷ 0.01.

[0054] Step S3: Pre-inspection fault judgment The control module analyzes according to the following rules: Open circuit state: When the resistance value > 100 kΩ; Power short circuit state: When V_pos ≥ nominal battery voltage × 0.95; Ground wire short - circuit state: when \(V_{gnd}\leq\) nominal voltage of the battery \(\times0.05\).

[0055] Step S4: Faulty branch processing Execute the following for the abnormal branch: 4.1 Maintain the open state of the power distribution execution module; 4.2 Generate a fault information data packet: Data content: branch number + fault type code; Example: Power short - circuit of branch No. 05 → "05,2".

[0056] 4.3 Send the information to the human - machine interaction module through the serial communication interface.

[0057] Step S5: Power supply to normal branches For the branches detected as normal: The control module outputs a high level to the corresponding digital output pin; The relay electromagnetic coil in the power distribution execution module is energized; The relay contacts close, and the battery supplies power to the load.

[0058] Step S6: Real - time current monitoring During system operation, the protection module keeps working: 6.1 The Hall - effect current sensor outputs a voltage signal: Output voltage = 2.5V+0.066V / A×actual current value.

[0059] 6.2 The signal is transmitted to the control module through shielded twisted - pair wires.

[0060] Step S7: Over - current protection processing The control module performs closed - loop dynamic Kalman filtering: 7.1 Prediction stage: Based on the previous - moment current value \(I_{k - 1}\) and its change rate \(\Delta I\), where \(k\) represents the current - moment sampling index of the discrete - time system; Calculate the predicted current value: Predicted current = \(I_{k - 1}+\Delta I\times\) time interval.

[0061] 7.2 Update stage: Obtain the measured voltage value of the sensor; Calculate the measured current: Measured current=(sensor voltage - 2.5)÷0.066; Fuse the predicted value and the measured value through the Kalman gain coefficient \(K\).

[0062] 7.3 Over - current determination and response: When the filtered current value continuously exceeds 22 amperes for 100 milliseconds; The control module outputs a low level to cut off the power supply of the corresponding branch circuit; The human-machine interaction module displays "Overcurrent in Branch XX".

[0063] 7.4 In the prediction stage and update stage of the closed-loop dynamic Kalman filtering algorithm, the following parameters need to be configured: 7.4.1 Initial value of the state covariance matrix .

[0064] Meaning: P0[1,1]=10 indicates that the initial current estimation variance is 10A², and P0[2,2]=1 indicates that the initial current change rate estimation variance is 1 (A / s)².

[0065] 7.4.2 Process noise covariance matrix .

[0066] Meaning: Q[1,1]=0.1 reflects the current dynamic process noise variance, and Q[2,2]=0.01 reflects the current change rate process noise variance.

[0067] 7.4.3 Observation noise covariance matrix R = 0.05.

[0068] Meaning: The current measurement noise variance is 0.05A², which is calibrated by the data manual of the Hall sensor.

[0069] 7.4.4 Calculation basis of algorithm parameters: Basis for the value of P0: The initial current uncertainty range is ±3.16A, covering the maximum zero-bias error of the sensor.

[0070] Basis for the value of Q: The measured statistical variance of the current fluctuation during the operation of the mine car.

[0071] Basis for the value of R: The signal-to-noise ratio of the Hall sensor ACS712 is 80dB.

[0072] The technical effect realization principle of an intelligent power distribution method for a mine electric trackless rubber-tyred vehicle provided in this embodiment includes: This method realizes triple protection through a time-sharing control mechanism: (1) Pre-inspection isolation mechanism: In the 300-millisecond window period before the relay closes, short-circuit / open-circuit faults are blocked in advance through voltage ratio determination (V_pos≥95% power supply voltage) and resistance threshold determination (>1️00kΩ), avoiding the generation of short-circuit sparks from the source.

[0073] (2) Dynamic filtering protection: The closed-loop dynamic Kalman filtering algorithm eliminates the 20kHz high-frequency interference generated during the operation of the mine car motor through state extrapolation in the prediction stage and measurement correction in the update stage, controlling the current detection error within the range of ±0.5A.

[0074] (3) Dual protection coordination: The electronic overcurrent protection (22A / 100ms) and the self - resetting fuse physical current limiting (triggered at 25A) form a time - gradient protection, which not only prevents misoperation but also ensures safety under extreme working conditions.

[0075] The intelligent power distribution method for a mine electric trackless rubber - tired vehicle provided in this embodiment directly displays "branch number + fault type" (such as "05 power short - circuit") through the human - machine interaction module, enabling maintenance personnel to locate faults without opening the flame - proof enclosure. The average fault handling time is compressed from 2.5 hours in the traditional solution to 8 minutes, and the maintenance workload is reduced by 98%. The automatic reset feature of the self - resetting fuse completely eliminates the need to replace the fuse piece, and the annual maintenance cost is reduced by 87%.

[0076] The intelligent power distribution method for a mine electric trackless rubber - tired vehicle provided in this embodiment aims to solve the problems of power circuit state monitoring, rapid fault location, and over - current protection in a mine explosion - proof power supply system. After initialization by the control module, the state detection circuit is started. When no power is supplied to the load, the voltage value and resistance value of each power supply branch are detected to determine whether it is in an open - circuit, power short - circuit, or ground - wire short - circuit state. If a fault is detected, the control module will control the power distribution execution module to cut off the power of the faulty branch and display the fault status and branch number through the human - machine interaction module. If the power supply branch is in a normal state, power supply will be carried out. During the operation of the system, the protection module continuously collects the working current, and the control module uses the closed - loop dynamic Kalman filtering algorithm to process the electrical signal to judge whether there is over - current. When over - current occurs, the power supply is cut off and displayed. This method realizes fast diagnosis, location, and protection without opening the cover, effectively reducing the maintenance difficulty and workload of the power supply circuit of mine explosion - proof vehicles, and improving the reliability and safety of the system.

[0077] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and their appropriate combinations.

[0078] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily think of other embodiments of the present application. The present application aims to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary.

[0079] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. An intelligent power distribution system for a mine electric trackless rubber-tyred vehicle, characterized in that The system includes: A status detection circuit connected to each power supply branch. The status detection circuit is configured to detect the voltage value and resistance value of each power supply branch as detection signals and transmit them to the control module when the power distribution system is powered on initially and has not supplied power to the load; A protection module connected in series in each power supply branch. The protection module is configured to collect the working current of the power supply branch in real time and convert it into an electrical signal for output to the control module; A control module connected to the status detection circuit and the protection module respectively. The control module is configured to: receive and process the detection signals output by the status detection circuit to determine whether the power supply branch is in an open circuit state, a power short - circuit state, or a ground short - circuit state; receive and process the electrical signals monitored by the protection module to determine whether the power supply branch is in an over - current state; when the power supply branch is in an open circuit state, a power short - circuit state, a ground short - circuit state, or an over - current state, output a control command to cut off the power of the corresponding power supply branch; A power distribution execution module connected between the power supply and each power supply branch and connected to the control module. The power distribution execution module is configured to connect or cut off the power of the corresponding power supply branch according to the control command; A human - machine interaction module connected to the control module. The human - machine interaction module is configured to display the open circuit state, power short - circuit state, ground short - circuit state, or over - current state of the power supply branch in text form.

2. The intelligent power distribution system according to claim 1, wherein The status detection circuit includes: A voltage detection unit connected between the load input terminal and the positive power supply terminal of each power supply branch, and between the load input terminal and the ground wire. The voltage detection unit is configured to detect a first voltage value between the load input terminal and the positive power supply terminal, and a second voltage value between the load input terminal and the ground wire; A resistance detection unit connected in series in each power supply branch. The resistance detection unit is configured to detect the resistance value of the power supply branch; The output terminals of the voltage detection unit and the resistance detection unit are both connected to the control module.

3. The intelligent power distribution system according to claim 1, characterized in that, The protection module includes: A self - resetting fuse connected in series in the power supply branch. The self - resetting fuse is configured to increase the resistance to limit the current when the working current of the power supply branch exceeds the rated value; A current sensor disposed on the power supply branch. The current sensor is configured to collect the working current of the power supply branch in real time and convert it into an electrical signal for output to the control module.

4. The intelligent power distribution system according to claim 3, wherein: The current sensor is a Hall - effect current sensor; The control module is built - in with a closed - loop dynamic Kalman filtering algorithm unit. The closed - loop dynamic Kalman filtering algorithm unit is configured to filter and predict - process the electrical signals output by the current sensor to obtain a current value, and determine whether the power supply branch is in the over - current state according to the current value.

5. The intelligent power distribution system according to claim 2, characterized in that The control module determines the electrical state of the power supply branch according to the following rules: Open circuit state: The resistance detection unit detects that the resistance value is greater than a preset open - circuit threshold; Power short - circuit state: The voltage detection unit detects that the first voltage value ≥ 95% of the power supply voltage; Ground short - circuit state: The voltage detection unit detects that the second voltage value ≤ 5% of the power supply voltage; Normal state: The resistance value is within a preset range, the first voltage value ≤ 5% of the power supply voltage, and the second voltage value ≥ 95% of the power supply voltage.

6. The intelligent power distribution system according to claim 1, characterized in that: When the power supply branch is in an open circuit state, a power supply short circuit state, a ground wire short circuit state, or an overcurrent state, the control module sends a cut-off instruction to the power distribution execution module, and sends the fault type and the power supply branch number to the human-machine interaction module for display in text form.

7. The intelligent power distribution system according to claim 1, characterized in that: The power distribution execution module is a multi-way relay group, and each relay controls the power on and off of a power supply branch.

8. An intelligent power distribution method for a mine electric trackless rubber-tyred vehicle, the power distribution method is applied to the power distribution system according to any one of claims 1-7, characterized in that, The power distribution method includes: Step S1: After the power distribution system is powered on, the control module initializes and starts the status detection circuit; Step S2: When the status detection circuit does not supply power to the load, it detects the voltage value and resistance value of each power supply branch and transmits them to the control module as detection signals; Step S3: The control module determines whether the power supply branch is in an open circuit state, a power supply short circuit state, or a ground wire short circuit state according to the detection signals; Step S4: If the power supply branch is in an open circuit state, a power supply short circuit state, or a ground wire short circuit state, the control module controls the power distribution execution module to cut off the power supply of the power supply branch, and displays the fault status and the branch number in text form through the human-machine interaction module; Step S5: If the status of all power supply branches is normal, the control module controls the power distribution execution module to supply power to the power supply branches; Step S6: During the operation of the power distribution system, the protection module continuously collects the working current of the power supply branch and converts it into an electrical signal for output to the control module; Step S7: The control module processes the electrical signal to determine whether the power supply branch is in an overcurrent state. If it is in an overcurrent state, it controls the power distribution execution module to cut off the power supply of the corresponding power supply branch, and displays the overcurrent state and the branch number in text form through the human-machine interaction module.

9. The intelligent power distribution method according to claim 8, characterized in that, The processing of the electrical signal in step S7 includes: Filtering and predicting the electrical signal through a closed-loop dynamic Kalman filtering algorithm to obtain a current value; Comparing the current value with a preset warning current value. If it exceeds the preset warning current value, it is determined to be in an overcurrent state.

10. The intelligent power distribution method according to claim 8, characterized in that, The determination in step S3 of whether the power supply branch is in an open circuit state, a power supply short circuit state, or a ground wire short circuit state includes: When the resistance value is greater than the preset open circuit threshold, it is determined to be in an open circuit state; When the voltage value between the load input terminal and the positive pole of the power supply reaches more than 95% of the power supply voltage, it is determined to be in a power supply short circuit state; When the voltage value between the load input terminal and the ground wire is lower than 5% of the power supply voltage, it is determined to be in a ground wire short circuit state.

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