Intelligent control system of crawler-type double-roller mining machine for strip mine

Abstract

The invention discloses an intelligent control system for a crawler-type double-roller mining machine in a strip mine, and the system comprises a plurality of different airborne function modules, a control host, a plurality of control modules, a plurality of function modules, and a plurality of CAN branch master stations, the plurality of control modules and the plurality of function modules are respectively in communication connection with the control host; the plurality of CAN branch master stations are arranged in the electrical room and are respectively in communication connection with the control host; and part of the airborne function modules are divided into a plurality of groups and are in communication connection with the plurality of CAN branch master stations one by one. Wherein key modules such as a control module and a function module in the electrical room can be connected to the control host, low delay of main functions of the key modules is ensured, and the airborne function module can be connected to the corresponding CAN sub-master station firstly and then connected to the control host through the CAN sub-master station, so that the data pressure of bus communication of the control host can be reduced; and the adverse effect of interruption of the whole intelligent control system caused by a single link problem can be prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of open-pit mining, in particular to an intelligent control system of an open-pit mine crawler-type double-drum mining machine. BACKGROUND

[0002] The open-pit mine crawler-type double-drum mining machine is a new type of large-scale mining and stripping dual-purpose equipment applied to open-pit continuous mining process. The equipment mainly comprises a cutting mechanism, a shovel loading mechanism, a crushing mechanism, a scraper conveying mechanism, a rocker arm lifting mechanism, a discharging and transporting mechanism, a lubricating mechanism, a cooling mechanism, a spraying mechanism, an electrical chamber, a driver's room, a reel power supply mechanism, etc.

[0003] However, in the control system of a conventional large-scale open-pit mining equipment (such as an open-pit mine crawler-type double-drum mining machine), the control host bus communication data pressure is large, and the single link problem may cause interruption of the entire intelligent control system, and it is also difficult to ensure the low delay of the key module functions. SUMMARY

[0004] Therefore, the present application provides an intelligent control system of an open-pit mine crawler-type double-drum mining machine, which can help to reduce the data pressure of the control host bus communication, prevent the adverse effects of the single link problem causing the interruption of the entire intelligent control system, and ensure the low delay of the main functions of the key modules.

[0005] To achieve the above-mentioned purposes, the present application provides the following technical solutions:

[0006] An intelligent control system of an open-pit mine crawler-type double-drum mining machine comprises a plurality of different on-board functional modules, a control host, a plurality of different control modules and a plurality of different functional modules arranged in an electrical chamber, and further comprises a plurality of CAN sub-master stations.

[0007] The plurality of control modules and the plurality of functional modules are respectively in communication connection with the control host;

[0008] The plurality of CAN sub-master stations are arranged in the electrical chamber and are respectively in communication connection with the control host;

[0009] Part of the plurality of on-board functional modules is divided into a plurality of groups, and the plurality of groups of on-board functional modules are respectively in communication connection with the plurality of CAN sub-master stations.

[0010] Preferably, the plurality of control modules comprises: a left electromagnetic valve control module, a left cutting motor control module, a left crushing pump motor control module, a left blade plate motor control module, a left auxiliary pump motor control module, a left transport motor control module, an unloading transport motor control module, a right electromagnetic valve control module, a right cutting motor control module, a right crushing pump motor control module, a right blade plate motor control module, a right auxiliary pump motor control module, and a right transport motor control module, and are respectively connected to the CAN bus interface of the control host.

[0011] Preferably, the plurality of functional modules comprises: a left traction frequency converter and a right traction frequency converter, and are respectively connected to the Powerlink or Can communication interface of the control host.

[0012] Preferably, the plurality of CAN sub-hosts comprises a first CAN sub-host, and is connected to the control host through an X2X bus, a PCIe backplane bus, an SRIO backplane bus, or an E-bus backplane bus.

[0013] A group of the on-board functional modules comprises: a left boom height acquisition module, a left track encoder module, a left end head operation station, a right boom height acquisition module, a right track encoder module, and a right end head operation station, and are all connected to the first CAN sub-host through a CAN bus.

[0014] Preferably, the plurality of CAN sub-hosts comprises a second CAN sub-host, and is connected to the control host through an X2X bus, a PCIe backplane bus, an SRIO backplane bus, or an E-bus backplane bus.

[0015] Another group of the on-board functional modules comprises: a left sensing center, a left voice early warning module, and a left gas monitoring module, a right sensing center, a right voice early warning module, and a right gas monitoring module, and are all connected to the second CAN sub-host through a CAN bus.

[0016] Preferably, the left sensing center and the right sensing center are respectively arranged on the two sides of the strip-type double-drum mining machine in the open-pit mine, and are used for collecting signals of various sensors of the strip-type double-drum mining machine in the open-pit mine.

[0017] The left sensing center and the right sensing center both support 0-20 mA current analog signal input, digital quantity input, SSI encoder signal input and PT100 temperature sensor input, and adopt independent channel wiring mode, and are used for monitoring total water inlet pressure, cooling water pressure, spray water pressure, total water inlet flow, cooling water flow, spray water flow, oil tank oil pressure, oil tank temperature, oil tank liquid level, lubricating pump pressure, brake gate pressure, cable tension switch, left and right cutting cooling water switch, left and right track traction cooling water switch, left and right rocker arm temperature, left and right traction box temperature, position synchronization switch of the open-pit mine crawler-type double-drum mining machine in real time, and multiple backup interfaces are reserved for system upgrade.

[0018] Preferably, the plurality of CAN sub-hosts includes a third CAN sub-host, and is in communication connection with the control host through an X2X bus, a PCIe backplane bus, an SRIO backplane bus or an E-bus backplane bus.

[0019] Still another group of the on-board functional modules includes a left machine head display module, a right machine head display module and a remote control receiving module, and all are in communication connection with the third CAN sub-host through the CAN bus.

[0020] Preferably, the left machine head display module and the right machine head display module are respectively installed on the two sides of the open-pit mine crawler-type double-drum mining machine, and are used for displaying key data of the open-pit mine crawler-type double-drum mining machine in real time; wherein the key data includes left and right rocker arm cutting height, traction speed, direction and unloading port centering position information, and the displayed data can be selected and edited.

[0021] Preferably, it further includes a driver room and a main switch;

[0022] The driver room is installed on the rear side of the cutting part of the open-pit mine crawler-type double-drum mining machine, and a main display, a secondary display, a loudspeaker telephone, an indoor switch, a left operation box, a right operation box and a CAN concentrator are installed in the driver room;

[0023] The left operation box and the right operation box are respectively connected to the CAN bus interface of the control host through the CAN concentrator;

[0024] The main display, the secondary display and the loudspeaker telephone are respectively connected to the main switch through the indoor switch;

[0025] The main switch is in communication connection with the control host.

[0026] Preferably, the number of the driver rooms is two, and they are respectively a left driver room and a right driver room;

[0027] The left driver room is installed on the rear side of the left cutting part of the open-pit mine crawler-type double-drum mining machine.

[0028] The right cab is mounted at the rear side of the right cutting part of the strip mine crawler-type double-drum mining machine.

[0029] Preferably, the operating rights of the left cab and the right cab are equal; wherein the left cab and the right cab obtain operating rights in time sequence in the shutdown state after double authentication of a key and an electronic identification card, the main display in the corresponding left cab or right cab allows the operation indicating light to be always on, and the main display in the other left cab or right cab allows the operation indicating light to be off; after the strip mine crawler-type double-drum mining machine is powered on again in the shutdown state, the operating rights return to the initial state, at which time the left cab and the right cab need to obtain operating rights after double authentication of a key and an electronic identification card again.

[0030] The left cab and the right cab only allow the left cab or the right cab with operating rights to perform manual operation at the same time; the handle and the key function in the left cab or the right cab without operating rights are invalid, and only the main stop, emergency stop, transport closing, and left and right rocker arm lifting functions are valid.

[0031] Preferably, it further comprises an external switch;

[0032] The plurality of on-board functional modules further comprise a personnel infrared sensor group, an AI depth camera, a camera group, an inertial navigation, a radar sensor group, and a coal flow sensor, and are respectively in communication connection with the external switch;

[0033] The external switch is in communication connection with the main switch.

[0034] Preferably, the inertial navigation is used for autonomous positioning and attitude sensing of the strip mine crawler-type double-drum mining machine, and is used for combining satellite signals received by a wireless terminal to form deep fusion of inertial navigation INS and Beidou GNSS.

[0035] Preferably, the plurality of on-board functional modules further comprise a wireless terminal and an optical fiber carrier module;

[0036] The main switch is in communication connection with a mining machine centralized control center through the wireless terminal and / or the optical fiber carrier module.

[0037] From the above technical solutions can be seen, the intelligent control system of the open-pit mine crawler-type double-drum mining machine provided by the present application, the control module and the function module and other key modules in the electrical room can be connected to the control host, ensuring low delay of the main functions of the key modules, and the corresponding airborne function module of the function module can be connected to the corresponding CAN sub-master station first, and then connected to the control host by the CAN sub-master station, so as to help reduce the data pressure of the control host bus communication, and prevent the adverse effects of single link problems causing the interruption of the entire intelligent control system. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0039] Figure 1 The schematic diagram of the intelligent control system of the open-pit mine crawler-type double-drum mining machine provided by the present application is shown in the figure.

[0040] Figure 2 The partial schematic diagram of the open-pit mine crawler-type double-drum mining machine is shown in the figure. Figure 1

[0041] Figure 3 The other partial schematic diagram of the open-pit mine crawler-type double-drum mining machine is shown in the figure. Figure 1

[0042] ​​Wherein, 1 is a control host, 2 is a first CAN sub-host, 3 is a second CAN sub-host, 4 is a third CAN sub-host, 5 is a left electromagnetic valve control module, 6 is a left cutting motor control module, 7 is a left crushing pump motor control module, 8 is a left shovel plate motor control module, 9 is a left traction frequency converter, 10 is a left auxiliary pump motor control module, 11 is a right electromagnetic valve control module, 12 is a right cutting motor control module, 13 is a right crushing pump motor control module, 14 is a right shovel plate motor control module, 15 is a right traction frequency converter, 16 is a right auxiliary pump motor control module, 17 is a left arm height acquisition module, 18 is a left track encoder module, 19 is a left end operation station, 20 is a right arm height acquisition module, 21 is a right track encoder module, 22 is a right end operation station, 23 is a left sensing center, 24 is a left voice early warning module, 25 is a left gas monitoring module, 26 is a right sensing center, 27 is a right voice early warning module, 28 is a right gas monitoring module, 29 is a left machine head display module, 30 is a right machine head display module, 31 is a left main display, 32 is a left operation box, 33 is a right operation box, 34 is a CAN concentrator, 35 is a right main display, 36 is a left operation box, 37 is a right operation box, 38 is a CAN concentrator, 39 is an external switch, 40 is a personnel infrared sensor group, 41 is an AI depth camera, 42 is a camera group, 43 is an inertial navigation, 44 is a radar sensor group, 45 is a main switch, 46 is a wireless terminal, 47 is an optical fiber carrier module, 48 is a mining machine centralized control center, 49 is an open-pit mine dispatching center, 50 is a left transport motor control module, 51 is an unloading transport motor control module, 52 is a right transport motor control module, 53 is a coal flow sensor, 54 is a left cab, 55 is a right cab, 56 is an electrical room, 57 is a left auxiliary display, 58 is a public address telephone, 59 is an indoor switch, 60 is a right auxiliary display, 61 is a public address telephone, 62 is an indoor switch, and 63 is a remote control receiving module. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0044] The intelligent control system of the open-pit mine crawler-type double-drum mining machine provided by the embodiments of the present application, as shown in Figure 1 The intelligent control system of the open-pit mine crawler-type double-drum mining machine provided by the embodiments of the present application, as shown in

[0045] Multiple control modules and multiple functional modules are respectively connected to the control host 1 for communication.

[0046] Multiple CAN sub-master stations are respectively located in the electrical room 56 and are respectively connected to the control host 1 for communication.

[0047] Some of the airborne functional modules are divided into multiple groups, and each group of airborne functional modules communicates with multiple CAN sub-master stations.

[0048] It should be noted that the control host 1, as the core computing unit of the tracked twin-drum mining machine's overall electrical control system, can be used to summarize data sent by various functional modules in real time and issue control commands. Simultaneously, it records all key sensor signals in real time, such as motor current, voltage, rocker arm tilt angle, track travel speed, machine body three-dimensional attitude, unloading port center point coordinates, and gas concentration values, through standard XML files, OBJ data blocks, etc. Furthermore, it can interact in real time with the remote open-pit mining machine control center 48 via wired or wireless communication, uploading key information and receiving remote control commands; additionally, such as Figure 2 As shown (viewed vertically), the electrical room 56 contains multiple different control modules, including multiple different solenoid valve control modules and multiple different motor control modules, as detailed below. These control modules can be connected to the CAN communication interface of the control host 1. The electrical room 56 also contains multiple different functional modules, including a left traction inverter 9 and a right traction inverter 15, which can be connected to the Powerlink or CAN communication interface of the control host 1. Furthermore, multiple CAN sub-master stations are located within the electrical room 56 and are connected to the control host 1. Some of the onboard functional modules can be grouped according to their function, and each group of onboard functional modules is connected to multiple CAN sub-master stations. The control host 1 can communicate with each CAN sub-master station via an X2X bus or a dedicated backplane protocol, and can control and exchange data with the onboard functional modules mounted on each CAN sub-master station.

[0049] In other words, multiple control modules and functional modules in the electrical room 56 can all be connected to the control host 1 (e.g., they can all be connected to the bus interface built into the control host 1), ensuring low latency for the main functions of the key modules. Moreover, the corresponding airborne functional modules connected to the functional modules can first be connected to each CAN sub-master station. That is, the corresponding airborne functional modules connected to the functional modules can be respectively connected to the communication links of different CAN sub-master stations, and then the CAN sub-master stations connect to the control host 1. In this way, the data pressure of the bus communication of the control host 1 can be reduced, and the adverse effects of a single link problem causing the entire intelligent control system to be interrupted can be prevented. The number of sub-master stations can be increased according to the subsequent system upgrade requirements.

[0050] In short, this solution designs multiple CAN sub-master stations to reduce the data throughput pressure of each CAN bus loop. Simultaneously, multiple CAN sub-master stations can be equipped with corresponding airborne functional modules. Failure of any module on one CAN sub-master station will not affect the operation of airborne functional modules on other CAN sub-master stations. Furthermore, this intelligent control system adopts an object-oriented design principle, allowing each functional module to operate independently and be aggregated to the control host 1 via a high-speed bus. Failure of any sub-functional module will not affect the normal operation of other functional modules, facilitating daily maintenance and improving the overall operating efficiency of the machine.

[0051] In the intelligent control system for the tracked double-drum mining machine in the open-pit mine provided by this solution, key modules such as control modules and functional modules in the electrical room 56 can all be connected to the control host 1, ensuring low latency of the main functions of the key modules. Moreover, the corresponding onboard functional modules can be connected to the corresponding CAN sub-master station first, and then the CAN sub-master station is connected to the control host 1. This helps to reduce the data pressure of the bus communication of the control host 1 and prevents the adverse effects of a single link problem causing the interruption of the entire intelligent control system.

[0052] In this plan, such as Figure 2 As shown, the multiple control modules include: left solenoid valve control module 5, left cutting motor control module 6, left crushing pump motor control module 7, left shovel motor control module 8, left auxiliary pump motor control module 10, left transport motor control module 50, unloading transport motor control module 51, right solenoid valve control module 11, right cutting motor control module 12, right crushing pump motor control module 13, right shovel motor control module 14, right auxiliary pump motor control module 16, and right transport motor control module 52, and are respectively connected to the CAN bus interface of the control host 1. In other words, the control host 1 can communicate and control the left solenoid valve control module 5, the left cutting motor control module 6, the left crushing pump motor control module 7, the left shovel motor control module 8, the left auxiliary pump motor control module 10, the left transport motor control module 50, the unloading transport motor control module 51, the right solenoid valve control module 11, the right cutting motor control module 12, the right crushing pump motor control module 13, the right shovel motor control module 14, the right auxiliary pump motor control module 16, and the right transport motor control module 52 via its built-in CAN bus interface. Of course, the corresponding modules can be arranged symmetrically, which facilitates fault finding and daily maintenance.

[0053] Among them, the left solenoid valve control module 5 can be used to control the lifting and lowering of the left rocker arm, the lifting and lowering of the left shovel plate, the speed adjustment of the left crushing mechanism, the traction brake, forced lubrication, etc., and a spare control interface is reserved for system expansion;

[0054] The right solenoid valve control module 11 can be used to control the lifting and lowering of the right rocker arm, the lifting and lowering of the right shovel plate, and the speed adjustment of the right crushing mechanism, and a spare control interface is reserved for system expansion;

[0055] The left cutting motor control module 6, the left crushing pump motor control module 7, the left shovel motor control module 8, the left auxiliary pump motor control module 10, the left transport motor control module 50, and the unloading transport motor control module 51 can be used to receive commands from the control host 1 in real time, and perform start-stop and protection operations on the left cutting motor, the left crushing pump motor, the left shovel motor, and the left auxiliary pump motor one by one. At the same time, they can monitor the three-phase current, leakage signal, temperature, etc. of each motor circuit in real time and send them to the control host 1.

[0056] The right cutting motor control module 12, right crushing pump motor control module 13, right shovel motor control module 14, right auxiliary pump motor control module 16, and right transport motor control module 52 can receive commands from the control host 1 in real time and perform start-stop and protection operations on the right cutting motor, right crushing pump motor, right shovel motor, and right auxiliary pump motor one by one. At the same time, they can monitor the three-phase current, leakage signal, temperature, etc. of each motor circuit in real time and send them to the control host 1.

[0057] Specifically, such as Figure 2 As shown, multiple functional modules include a left traction inverter 9 and a right traction inverter 15, which are respectively connected to the Powerlink or CAN communication interface of the control host 1. That is, the control host 1 can communicate and control the left traction inverter 9 and the right traction inverter 15 through its built-in Powerlink or CAN communication interface; of course, the communication interface of the control host 1 can also be changed to a Modbus or other communication method depending on the inverter interface. The left traction inverter 9 is used to drive the left track motor, and the right traction inverter 15 is used to drive the right track motor. The control host 1 can control the left and right traction inverters, thereby controlling the movement, acceleration, deceleration, and steering of the tracks.

[0058] Furthermore, such as Figure 2 As shown, multiple CAN sub-master stations include the first CAN sub-master station 2, and are connected to the control host 1 via X2X bus, PCIe backplane bus, SRIO backplane bus or E-bus backplane bus.

[0059] A set of onboard functional modules includes: a left rocker arm height-mining module 17, a left track encoder module 18, a left end-head operating station 19, a right rocker arm height-mining module 20, a right track encoder module 21, and a right end-head operating station 22, all of which are connected to the first CAN sub-master station 2 via a CAN bus. In other words, the first CAN sub-master station 2 can communicate with the left rocker arm height-mining module 17, the left track encoder module 18, the left end-head operating station 19, the right rocker arm height-mining module 20, the right track encoder module 21, and the right end-head operating station 22 via the CAN bus, and signal isolation can be achieved through an isolation barrier. Of course, the control host 1 can control and exchange data with the aforementioned onboard functional modules mounted on the first CAN sub-master station 2; moreover, the corresponding modules can be arranged symmetrically, which facilitates fault finding and daily maintenance.

[0060] The left rocker arm height module 17 and the right rocker arm height module 20 can be installed on the left and right rocker arms respectively. They use built-in 3D MEMS sensors to monitor the rocker arm swing angle in real time, calculate the drum height, and upload it to the control host 1 in real time.

[0061] The left track encoder module 18 and the right track encoder module 21 can be installed on the high-speed shafts of the left and right track drive motors, respectively, and the track travel speed and position information are calculated and uploaded to the control host 1 in real time.

[0062] The left end control station 19 and the right end control station 22 are optional devices, which facilitate ground operators to perform some operations at both ends of the mining machine. For example, they can control the lifting of the rocker arm, the lifting of the shovel, the start and stop of the crushing, etc., and can also control the mining machine to move left and right, stop suddenly, and cut off power.

[0063] Furthermore, such as Figure 2 As shown, multiple CAN sub-master stations include a second CAN sub-master station 3, and are connected to the control host 1 via X2X bus, PCIe backplane bus, SRIO backplane bus or E-bus backplane bus.

[0064] Another set of airborne functional modules includes: left sensor center 23, left voice warning module 24, left gas monitoring module 25, right sensor center 26, right voice warning module 27, and right gas monitoring module 28, all of which are connected to the second CAN sub-master station 3 via a CAN bus. In other words, the second CAN sub-master station 3 can communicate with the left sensor center 23, left voice warning module 24, left gas monitoring module 25, right sensor center 26, right voice warning module 27, and right gas monitoring module 28 via the CAN bus, and signal isolation can be achieved through a barrier. Of course, the control host 1 can control and exchange data with the aforementioned airborne functional modules mounted on the second CAN sub-master station 3; moreover, the corresponding modules can be arranged symmetrically, which facilitates fault finding and routine maintenance.

[0065] The left sensor center 23 and the right sensor center 26 can be arranged on both sides of the mining machine to collect and input signals from various sensors. The sensor centers support 0~20mA analog current signal input, digital input, SSI encoder signal input, PT100 temperature sensor input, etc. They adopt an independent channel wiring mode and can monitor the mining machine's total inlet water pressure, cooling water pressure, spray water pressure, total inlet water flow, cooling water flow, spray water flow, oil tank pressure, oil tank temperature, oil tank level, lubrication pump pressure, brake pressure, cable tension switch, left and right cutting cooling water switch, left and right track traction cooling water switch, left and right rocker arm temperature, left and right traction box temperature, position synchronization switch, etc., and reserve multiple spare interfaces for system upgrades.

[0066] The left voice warning module 24 and the right voice warning module 27 can be installed on both sides of the mining machine respectively. They are used to provide voice prompts and operation warnings to the driver when operating the mining machine. They can also warn and remind personnel within a certain range of the mining machine, thereby ensuring correct operation and personnel safety.

[0067] The left gas monitoring module 25 and the right gas monitoring module 26 are optional configurations and can be installed on both sides of the mining machine respectively. They are used to monitor the gas concentration at the open-pit mining face in real time. When the concentration exceeds the set value, an early warning is issued or the tracked double rolling mining machine is powered off.

[0068] In this plan, such as Figure 2 As shown, multiple CAN sub-master stations include a third CAN sub-master station 4, and are connected to the control host 1 via X2X bus, PCIe backplane bus, SRIO backplane bus or E-bus backplane bus.

[0069] Another set of airborne functional modules includes: a left nose display module 29, a right nose display module 30, and a remote control receiver module 63, all of which are connected to the third CAN sub-master station 4 via a CAN bus. In other words, the third CAN sub-master station 4 can communicate with the left nose display module 29, the right nose display module 30, and the remote control receiver module 63 via the CAN bus. Of course, the control host 1 can control and exchange data with the aforementioned airborne functional modules mounted on the third CAN sub-master station 4. Furthermore, these corresponding modules can be arranged symmetrically, which facilitates fault finding and routine maintenance.

[0070] Among them, the left head display module 29 and the right head display module 30 are optional configurations and can be installed on both sides of the mining machine respectively. They can display key data of the mining machine operation in real time, such as the mining height of the left and right rocker arms, traction speed, direction, and centering position information of the unloading port. The displayed data can be selected and edited, making it convenient for the ground driver to intuitively understand the mining machine operation information when remotely controlling the machine.

[0071] The remote control receiver module 63 can be used to receive signals transmitted by the wireless remote control of the mining machine. It adopts a two-way communication method, receives control commands from the remote control, and sends key operating status information of the mining machine to the remote control for display on the screen of the remote control.

[0072] Specifically, such as Figure 3 As shown (viewed vertically), the intelligent control system for the open-pit mine tracked double-drum mining machine provided in this embodiment of the invention also includes: a driver's cab and a main switch 45;

[0073] The driver's cab is installed on the rear side of the cutting section of the tracked double-drum mining machine in the open mine, and it is equipped with: a main display, a secondary display, a public telephone, an indoor switchboard, a left control box, a right control box, and a CAN hub.

[0074] The left and right control boxes are connected to the CAN bus interface of the control host 1 via CAN hubs;

[0075] The main display, secondary display, and loudspeaker are each connected to the main switch 45 via an indoor switch.

[0076] The main switch 45 is connected to the control host 1 for communication.

[0077] It should be noted that the driver's cab can be installed on the rear side of the cutting section of the tracked double-drum mining machine in an open-pit mine, which makes it convenient for personnel to observe the machine status and operation from one side of the ultra-large equipment, thereby improving production efficiency. The driver's cab (i.e., the cab) is equipped with a main display, a secondary display, a public telephone, an indoor exchange, a left control box, a right control box, and a CAN hub for CAN signal aggregation.

[0078] The driver can manually operate the mining machine from the seat in the cab. For example, the left and right control boxes can be used to control the left and right tracks to accelerate or decelerate, move forward or backward, turn or make U-turns. The control boxes are equipped with buttons for main start, main stop, transport stop, emergency stop, start / stop of left and right conveyors, start / stop of unloading conveyors, start / stop of left and right cutting, start / stop of left and right crushing, start / stop of oil pump, lifting and lowering of left and right rocker arms, reset, dust removal start / stop, start / stop of mist cannon fan, start / stop of mist cannon water pump, start / stop of traction transformer, local-remote-centralized control switching, water tank heating switch, lighting signal light switch, spray switch, and lifting and lowering of left and right shovels, making it convenient for the driver to control the mining machine.

[0079] The main display, secondary display, and loudspeaker can be placed in the driver's cab. The main display can show various information about the mining machine in real time, the secondary display can show information from cameras and machine vision systems on the mining machine in real time, and the loudspeaker can be mainly used for voice communication with other personnel in the driver's cab and around the mining machine.

[0080] Furthermore, such asFigure 3 As shown, there are two driver's cabs, namely the left driver's cab 54 and the right driver's cab 55;

[0081] The left driver's cab 54 is installed on the rear side of the left cutting section of the open-pit tracked double-drum mining machine;

[0082] The right driver's cab 55 is installed on the rear side of the right cutting section of the open-pit tracked double-drum mining machine.

[0083] It should be noted that the left driver's cab 54 and the right driver's cab 55 can be arranged on the rear side of the left cutting section and the right cutting section respectively, so that personnel can observe the machine status and operation on both sides of the ultra-large equipment at the same time, and further improve production efficiency.

[0084] Specifically, such as Figure 3 As shown, the following can be installed in the left driver's cab 54: left main display 31, left auxiliary display 57, loudspeaker telephone 58, indoor switchboard 59, left control box 32, right control box 33 and CAN hub 34 for CAN signal aggregation.

[0085] The left control box 32 and the right control box 33 are respectively connected to the CAN bus interface of the control host 1 through the CAN hub 34; the left main display 31, the left secondary display 57, and the loudspeaker telephone 58 are respectively connected to the main switch 45 through the indoor switch 59; the main switch 45 is connected to the control host 1 for communication.

[0086] The left driver's cab 54 can be installed near the left cutting section; the left control box 32 and the right control box 33 are placed inside the left driver's cab 54. The driver can manually operate the mining machine from the seat. The left and right control boxes can be used to control the left and right tracks to accelerate, decelerate, move forward and backward, turn and turn around. The control boxes are equipped with buttons for main start, main stop, transport stop, emergency stop, left and right transport start and stop, unloading transport start and stop, left and right cutting start and stop, left and right crushing start and stop, oil pump start and stop, left and right rocker arm lifting, reset, dust removal start and stop, fog cannon fan start and stop, fog cannon water pump start and stop, traction transformer start and stop, local-remote-centralized control switching, water tank heating switch, lighting signal light switch, spray switch, left and right shovel lifting, etc., which facilitate the driver's control of the mining machine.

[0087] The left main display 31, the left secondary display 57, and the loudspeaker 58 are placed in the left driver's cab 54. The left main display 31 can display various information of the mining machine in real time. The left secondary display 57 can display information from cameras and machine vision at various locations on the mining machine in real time. The loudspeaker 58 can be mainly used for voice communication with personnel in the right driver's cab 55 and personnel around the mining machine.

[0088] In addition, such as Figure 3As shown, the right driver's cab 55 may be equipped with: a right main display 35, a right secondary display 60, a public address telephone 61, an indoor switchboard 62, a left control box 36, a right control box 37, and a CAN hub 38 for CAN signal aggregation.

[0089] The left control box 36 and the right control box 37 are connected to the CAN bus interface of the control host 1 via the CAN hub 38; the right main display 35, the right secondary display 60, and the loudspeaker 61 are connected to the main switch 45 via the indoor switch 62.

[0090] The right driver's cab 55 can be installed near the right cutting section; the left control box 36 and the right control box 37 are placed inside the right driver's cab 55. The driver can manually operate the mining machine from the seat. The left and right control boxes can be used to control the left and right tracks to accelerate, decelerate, move forward and backward, turn and turn around. The control boxes are equipped with buttons for main start, main stop, transport stop, emergency stop, start and stop of left and right transporters, start and stop of unloading transporters, start and stop of left and right cutting, start and stop of left and right crushing, start and stop of oil pump, lifting and lowering of left and right rocker arms, reset, dust removal start and stop, start and stop of mist cannon fan, start and stop of mist cannon water pump, start and stop of traction transformer, local-remote-centralized control switching, water tank heating switch, lighting signal light switch, spray switch, lifting and lowering of left and right shovels, etc., which facilitate the driver's control of the mining machine.

[0091] The right main display 35, the right secondary display 60, and the loudspeaker 61 are placed in the right driver's cab 55. The right main display 35 can display various information of the mining machine in real time. The right secondary display 60 can display information from cameras and machine vision at various locations on the mining machine in real time. The loudspeaker 61 is mainly used for voice communication with personnel in the left driver's cab 54 and personnel around the mining machine.

[0092] In addition, the operating rights of the left driver's cab 54 and the right driver's cab 55 are equal; when the machine is stopped, the operating rights of the two driver's cabs are obtained in sequence after dual authentication of the key and electronic identification card, and the operation permission indicator light on the main display screen of the corresponding driver's cab is always on; at the same time, the operation permission indicator light on the main display screen of the other driver's cab is off; after the mining machine is stopped and powered on again, the operating rights are restored to the initial state, at which time the driver needs to re-authenticate the key and electronic identification card to obtain the operating rights.

[0093] The left driver's cab 54 and the right driver's cab 55 are only allowed to be operated manually by the driver's cab that has obtained the right to operate at the same time. The handles and buttons in the driver's cab without the right to operate are disabled. Only the main stop, emergency stop, operation and closing, and left and right rocker arm lifting functions are effective. This ensures that the machine can be stopped in time when a dangerous situation is found and assists the driver's cab that has obtained the right to operate in the drum height adjustment operation. Of course, each CAN hub and switch can reserve enough spare interfaces for the addition of new functional modules and system upgrades. Moreover, the components in each driver's cab adopt a distributed layout, which facilitates fault diagnosis and daily maintenance.

[0094] Furthermore, such as Figure 3 As shown, the intelligent control system for the open-pit mine tracked double-drum mining machine provided in this embodiment of the invention also includes an external switch 39;

[0095] Multiple airborne functional modules also include: personnel infrared sensor group 40, AI depth camera 41, camera group 42, inertial navigation 43, radar sensor group 44 and coal flow sensor 53, and are respectively connected to external switch 39 for communication.

[0096] External switch 39 is connected to main switch 45 for communication.

[0097] Among them, the external switch 39 can aggregate the signals of personnel infrared sensor group 40, AI depth camera 41, camera group 42, inertial navigation 43, radar sensor group 44 and coal flow sensor 53 through the RJ45 network port, and connect to the local area ring network of the tracked double drum mining machine through the main switch 45.

[0098] Specifically, the personnel infrared sensor group 40 is an optional device that can be placed in blind spots where dangerous situations may occur when personnel approach the mining machine. The signal can be sent to the control host 1. When personnel are detected approaching the dangerous area, all motors of the mining machine are stopped. After ensuring that the relevant personnel have left the dangerous area, the mining machine is restarted.

[0099] The AI ​​depth camera 41 is an optional device that can serve as an effective supplement to the camera. Utilizing visible light and infrared technology, it can effectively enhance the autonomous driving capabilities of mining machines in harsh working conditions caused by heavy dust, glare, or insufficient lighting.

[0100] The camera group 42 is an optional device that can be arranged around the mining machine body and in key positions such as the left and right rocker arms, track traction unit, transport unit, and driver's cab to achieve 360° real-time monitoring of the mining machine without blind spots, and display it on the left auxiliary display 57 and right auxiliary display 60 in the left and right driver's cabs to assist the driver in operating the mining machine.

[0101] Inertial navigation 43 is an optional device that can be used for autonomous positioning and attitude perception of mining machines. It can also be combined with satellite signals received by wireless terminal 46 to form a deep fusion of inertial navigation INS and Beidou GNSS, providing high-precision positioning information and technical support for unmanned mining machines.

[0102] The radar sensor group 44 is an optional component that can be used for real-time 3D environment modeling of open-pit working faces, providing data support for coal cutting, stripping path planning and digital twin system construction for mining machines.

[0103] In this plan, such as Figure 3 As shown, the multiple airborne functional modules also include: a wireless terminal 46 and an optical fiber carrier module 47;

[0104] The main switch 45 is used to communicate with the mining machine control center 48 via a wireless terminal 46 and / or a fiber optic carrier module 47.

[0105] It should be noted that the wireless terminal 46 can be used to realize wireless communication between the control host 1 and the mining machine control center 48; the fiber optic carrier module 47 can be used to realize wired communication between the control host 1 and the mining machine control center 48, and forms a redundant system with the wireless communication of the wireless terminal 46; the fiber optic carrier module 47 can transmit data through fiber optic or power line carrier; the wireless terminal 46 can be an intelligent networked device integrating V2X communication, 5G mobile communication, multi-mode GNSS and other functions. Through V2X communication, it can realize direct communication with open-pit mine vehicles and other equipment, and communication with the cloud platform. Through the GNSS system, it can realize high-precision positioning of the mining machine. Through 4G / 5G communication, it can meet the functions of data acquisition, recording and reporting, and remote query of the mining machine; moreover, the wireless terminal 46 and the fiber optic carrier module 47 can be connected to the main switch 45 through the RJ45 Ethernet interface, and then can interact with the control host 1; in addition, the bidirectional communication data between the mining machine side and the remote control side can be first aggregated to the mining machine control center 48, and then transmitted to the open-pit mine dispatch center 49 through Ethernet.

[0106] In other words, the intelligent control system for the open-pit tracked double-drum mining machine provided in this solution includes: functional units located in the electrical room, functional units in the driver's cab, and other onboard functional units.

[0107] The functional units in the electrical room 56 include a control host 1, a first CAN sub-master station 2 and related communication links, a second CAN sub-master station 3 and related communication links, and a third CAN sub-master station 4 and related communication links. The control host 1 communicates with each CAN sub-master station through an X2X bus or a backplane dedicated protocol, and can exchange and control data with all modules mounted on each CAN sub-master station.

[0108] The control host 1 can communicate and control the left solenoid valve control module 5, the left cutting motor control module 6, the left crushing pump motor control module 7, the left shovel motor control module 8, the left auxiliary pump motor control module 10, the left transport motor control module 50, the unloading transport motor control module 51, the right solenoid valve control module 11, the right cutting motor control module 12, the right crushing pump motor control module 13, the right shovel motor control module 14, the right auxiliary pump motor control module 16, and the right transport motor control module 52 via its built-in CAN communication interface.

[0109] The control host 1 can communicate with the left traction inverter 9 and the right traction inverter 15 through its own Powerlink or CAN communication interface. Alternatively, the communication method can be changed to CAN or Modbus depending on the interface of the inverter.

[0110] The first CAN sub-master station 2 can communicate with the left rocker arm height acquisition module 17, the left track encoder module 18, the left end operation station 19, the right rocker arm height acquisition module 20, the right track encoder module 21, and the right end operation station 22 via the CAN bus, and the signals are isolated through the isolation barrier;

[0111] The second CAN sub-master station 3 can communicate with the left sensor center 23, the left voice warning module 24, the left gas monitoring module 25, the right sensor center 26, the right voice warning module 27, and the right gas monitoring module 28 via the CAN bus, and the signals are isolated through the isolation barrier;

[0112] The third CAN sub-master station 4 can communicate with the left head display module 29, the right head display module 30, the remote control receiver module 63, etc. via the CAN bus;

[0113] The left driver's cab 54 is installed near the left cutting section. The cab is equipped with a left main display 31, a left auxiliary display 57, a loudspeaker telephone 58, an indoor switchboard 59, a left control box 32, a right control box 33, and a CAN hub 34 for CAN signal aggregation.

[0114] The right driver's cab 55 is installed near the right cutting section. The cab is equipped with a right main display 35, a right secondary display 60, a public address telephone 61, an indoor switchboard 62, a left control box 36, a right control box 37, and a CAN hub 38 for CAN signal aggregation.

[0115] The external switch 39 aggregates signals from personnel infrared sensor group 40, AI depth camera 41, camera group 42, inertial navigation 43, radar sensor group 44, coal flow sensor 53, etc. via RJ45 network port, and connects to the local area ring network of the tracked double drum mining machine through the main switch 45.

[0116] The wireless terminal 46 and the fiber optic carrier module 47 are connected to the main switch 45 via the RJ45 Ethernet interface, and then interact with the control host 1 for data exchange.

[0117] Of course, this solution also has the following beneficial effects:

[0118] 1. The intelligent control system bus mounting modules are symmetrically arranged, which facilitates fault finding and daily maintenance;

[0119] 2. Key modules such as the main motor control module are all connected to the bus interface of the control host to ensure low latency of the main functions; other corresponding airborne function modules are connected to each CAN sub-master station, and the CAN sub-master stations can be added according to the subsequent system upgrade requirements; these corresponding airborne function modules are respectively connected to different CAN sub-master station communication links, which reduces the data pressure of the control host bus communication and can prevent the adverse effects of a single link problem causing the entire intelligent control system to be interrupted.

[0120] 3. Each CAN hub and switch has sufficient spare interfaces for adding new functional modules and system upgrades. At the same time, the distributed layout of this system also facilitates fault diagnosis and daily maintenance.

[0121] 4. This system is equipped with two driver's cabs, which allows personnel to observe the machine status and operation from both sides of the ultra-large equipment at the same time, thereby improving production efficiency;

[0122] 5. This system can use a PC-based soft PLC controller, which has high real-time control accuracy, supports all mainstream industrial buses, and can be adapted to different functional modules from various manufacturers to meet all intelligent requirements.

[0123] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0124] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent control system for an open-pit tracked double-drum mining machine, comprising: The system comprises multiple different airborne functional modules, a control host (1) located in the electrical room (56), multiple different control modules and multiple different functional modules, characterized in that it further comprises: multiple CAN sub-master stations; The multiple control modules and the multiple functional modules are respectively connected to the control host (1) for communication; Multiple CAN sub-master stations are installed in the electrical room (56) and are respectively connected to the control host (1); Some of the airborne functional modules are divided into multiple groups, and each group of airborne functional modules is connected to multiple CAN sub-master stations for communication.

2. The intelligent control system for an open-pit tracked double-drum mining machine according to claim 1, characterized in that, The multiple control modules include: a left solenoid valve control module (5), a left cutting motor control module (6), a left crushing pump motor control module (7), a left shovel motor control module (8), a left auxiliary pump motor control module (10), a left transport motor control module (50), an unloading transport motor control module (51), a right solenoid valve control module (11), a right cutting motor control module (12), a right crushing pump motor control module (13), a right shovel motor control module (14), a right auxiliary pump motor control module (16), and a right transport motor control module (52), and are respectively connected to the CAN bus interface of the control host (1).

3. The intelligent control system for an open-pit mine tracked double-drum mining machine according to claim 1, characterized in that, The multiple functional modules include a left traction inverter (9) and a right traction inverter (15), which are respectively connected to the Powerlink or CAN communication interface of the control host (1).

4. The intelligent control system for an open-pit mine tracked double-drum mining machine according to claim 1, characterized in that, The plurality of CAN sub-master stations include a first CAN sub-master station (2), and are connected to the control host (1) via an X2X bus, PCIe backplane bus, SRIO backplane bus or E-bus backplane bus; The set of airborne functional modules includes: left rocker arm height acquisition module (17), left track encoder module (18), left end control station (19), right rocker arm height acquisition module (20), right track encoder module (21), and right end control station (22), all of which are connected to the first CAN sub-master station (2) via CAN bus.

5. The intelligent control system for an open-pit tracked double-drum mining machine according to claim 1, characterized in that, The multiple CAN sub-master stations include a second CAN sub-master station (3), and are connected to the control host (1) via X2X bus, PCIe backplane bus, SRIO backplane bus or E-bus backplane bus; Another set of airborne functional modules includes: left sensor center (23), left voice warning module (24), left gas monitoring module (25), right sensor center (26), right voice warning module (27), and right gas monitoring module (28), all of which are connected to the second CAN sub-master station (3) via CAN bus.

6. The intelligent control system for an open-pit tracked double-drum mining machine according to claim 5, characterized in that, The left sensing center (23) and the right sensing center (26) are respectively arranged on both sides of the open-pit tracked double-drum mining machine, and are used to collect and access the various sensor signals of the open-pit tracked double-drum mining machine. The left sensing center (23) and the right sensing center (26) both support 0~20mA analog current signal input, digital input, SSI encoder signal input, and PT100 temperature sensor input. They adopt an independent channel wiring mode to monitor in real time the total inlet water pressure, cooling water pressure, spray water pressure, total inlet water flow, cooling water flow, spray water flow, oil tank pressure, oil tank temperature, oil tank level, lubrication pump pressure, brake pressure, cable tension switch, left and right cutting cooling water switch, left and right track traction cooling water switch, left and right rocker arm temperature, left and right traction box temperature, and position synchronization switch. Multiple spare interfaces are reserved for system upgrades.

7. The intelligent control system for an open-pit mine tracked double-drum mining machine according to claim 1, characterized in that, The multiple CAN sub-master stations include a third CAN sub-master station (4), and are connected to the control host (1) via X2X bus, PCIe backplane bus, SRIO backplane bus or E-bus backplane bus; Another set of airborne functional modules includes: a left nose display module (29), a right nose display module (30), and a remote control receiver module (63), all of which are connected to the third CAN sub-master station (4) via a CAN bus.

8. The intelligent control system for an open-pit tracked double-drum mining machine according to claim 7, characterized in that, The left head display module (29) and the right head display module (30) are respectively installed on both sides of the open-pit tracked double-drum mining machine and are used to display the key data of the open-pit tracked double-drum mining machine in real time. The key data includes: the mining height of the left and right rocker arms, the traction speed, the direction, and the centering position information of the unloading port. Moreover, the displayed data can be edited.

9. The intelligent control system for an open-pit tracked double-drum mining machine according to claim 1, characterized in that, Also includes: Driver's cab and main switchboard (45); The driver's cab is installed on the rear side of the cutting section of the tracked double-drum mining machine in the open-pit mine, and it is equipped with: a main display, a secondary display, a public address telephone, an indoor switchboard, a left control box, a right control box, and a CAN hub. The left control box and the right control box are respectively connected to the CAN bus interface of the control host (1) through the CAN hub; The main display, the secondary display, and the loudspeaker are respectively connected to the main switch (45) through the indoor switch. The main switch (45) is communicatively connected to the control host (1).

10. The intelligent control system for an open-pit tracked double-drum mining machine according to claim 9, characterized in that, The number of driver's cabs is two, namely the left driver's cab (54) and the right driver's cab (55). The left driver's cab (54) is installed on the rear side of the left cutting section of the open-pit tracked double-drum mining machine; The right driver's cab (55) is installed on the rear side of the right cutting section of the open-pit tracked double-drum mining machine.

11. The intelligent control system for an open-pit tracked double-drum mining machine according to claim 10, characterized in that, The operating rights of the left driver's cab (54) and the right driver's cab (55) are equal. When the machine is stopped, the left driver's cab (54) and the right driver's cab (55) obtain operating rights in sequence after dual authentication of the key and electronic identification card. The operating indicator light on the main display in the corresponding left driver's cab (54) or right driver's cab (55) is always on, while the operating indicator light on the main display in the other left driver's cab (54) or right driver's cab (55) is off. After the open-pit mine tracked double drum mining machine is stopped and powered on again, the operating rights are restored to the initial state. At this time, the left driver's cab (54) and the right driver's cab (55) need to re-authenticate the key and electronic identification card to obtain operating rights. At any given time, only the driver's cab (54) or the driver's cab (55) with the right to operate is allowed to perform manual operation. The handles and buttons in the driver's cab (54) or the driver's cab (55) without the right to operate are disabled, and only the main stop, emergency stop, operation and closing, and left and right rocker arm lifting functions are retained.

12. The intelligent control system for an open-pit tracked double-drum mining machine according to claim 9, characterized in that, It also includes an external switch (39); The multiple airborne functional modules also include: personnel infrared sensor group (40), AI depth camera (41), camera group (42), inertial navigation (43), radar sensor group (44) and coal flow sensor (53), and are respectively connected to the external switch (39); The external switch (39) is connected to the main switch (45) for communication.

13. The intelligent control system for an open-pit tracked double-drum mining machine according to claim 12, characterized in that, The inertial navigation (43) is used for the autonomous positioning and attitude perception of the open-pit tracked double-drum mining machine, and is also used to combine with the satellite signals received by the wireless terminal (46) to form a deep fusion of inertial navigation INS and Beidou GNSS.

14. The intelligent control system for an open-pit tracked double-drum mining machine according to claim 9, characterized in that, The multiple airborne functional modules also include: a wireless terminal (46) and a fiber optic carrier module (47). The main switch (45) is used to communicate with the mining machine control center (48) through the wireless terminal (46) and / or the fiber optic carrier module (47).

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