Mine carder energy circulation system and collaborative control method

Abstract

The application discloses a mine truck cableway energy circulation system and a collaborative control method. The circulation system comprises a mine truck, an energy hub vehicle, a mine area power grid and a control center. The mine truck is connectable with another mine truck. The energy hub vehicle is connectable with the mine truck. The mine area power grid is connectable with the mine truck and the energy hub vehicle. The control center is signal-connected with each mine truck and the energy hub vehicle. The collaborative control method comprises an uphill scheduling method and a downhill scheduling method. The uphill scheduling method is that when the residual power of an uphill mine truck is lower than a minimum threshold, another mine truck or the energy hub vehicle on the downhill is used to charge the uphill mine truck. The downhill scheduling method is that when the residual power of a downhill mine truck is higher than a maximum threshold, the downhill mine truck is used to charge another mine truck or the energy hub vehicle on the uphill. Compared with the prior art, the circulation system and the collaborative control method fully recover the downhill energy of the mine truck through the direct connection of the uphill and downhill mine trucks or the energy storage and transfer of the energy hub vehicle, and thus the waste of energy is avoided.

Description

Technical Field

[0001] This invention relates to the field of mine management technology, specifically to an energy circulation system and collaborative control method for mine ramps. Background Technology

[0002] With the development of new energy technologies, a revolutionary new model for traditional mining transportation has emerged: when a fully loaded mining truck (i.e., a mining truck) is descending a hill heavily loaded, its electric motor switches to generator mode. Utilizing the vehicle's immense gravitational potential energy, it drives the rotor to rotate and generate electricity, which is then stored in the onboard battery via a frequency converter control system—a process known as "downhill charging" through kinetic energy recovery. Subsequently, this recovered and stored energy can power the truck when it's empty and ascending a hill, creating a green cycle of "charging downhill when heavily loaded and consuming power uphill when empty." Ideally, this achieves "perpetual motion" for the electric truck, eliminating the need for external charging. Furthermore, the kinetic energy recovery system, used for braking and deceleration, significantly reduces wear and tear on the truck's mechanical braking system.

[0003] However, actual operating conditions rarely achieve such an ideal state, perfectly matching battery capacity with potential energy differences. For example, when the downhill elevation difference is too large, the resulting braking energy is enormous and continuous. Once the onboard battery is fully charged, it can no longer receive energy, and the kinetic energy recovery system fails. At this time, to control the vehicle speed, the vehicle's braking system must switch to the traditional mechanical braking mode. On the one hand, this results in the waste of a huge amount of recoverable energy; on the other hand, this energy is dissipated as heat on the brake discs and pads, causing severe wear on key components of the braking system, increasing maintenance costs and replacement frequency. Furthermore, the mechanical brakes may also experience performance degradation due to continuous high heat, which not only affects braking performance but also potentially increases operational safety risks. When the downhill elevation difference is small, the energy recovered during a heavy-load downhill descent is insufficient to drive the mining truck uphill unloaded, requiring additional charging. In addition, different loading conditions of mining trucks, different capacities of onboard batteries in different models of mining trucks, and even different degrees of capacity degradation due to different battery lifespans all lead to variations in the matching of power management and task requirements for different mining trucks, greatly increasing management difficulty.

[0004] In recent years, solutions have emerged in mining areas involving the construction of centralized large-scale charging stations or battery swapping stations, aiming to rapidly replenish power using large-scale facilities. However, this approach fails to address the problem of wasted energy during the most valuable downhill transport phases in mines. Secondly, charging stations centrally located at the top and bottom of mountains are insufficient for replenishing the power of mining trucks traveling uphill or downhill. When uphill vehicles suddenly run out of power on slopes lacking charging facilities, they not only cannot obtain emergency power but also experience platoon congestion, leading to production interruptions.

[0005] Building charging stations along slopes presents several challenges. First, the challenging environment of slopes leads to high initial construction costs. The establishment of fixed charging stations requires extensive civil engineering work tailored to the specific conditions of mine slopes. This includes reinforcing and hardening the road surface at the deployment sites, laying separate high-voltage transmission lines, and constructing explosion-proof and lightning-proof charging facility sheds. If multiple slopes need to be covered, multiple stations must be built and a power grid network established, making the overall construction process complex and costly. Furthermore, some mine slopes suffer from insufficient road surface load-bearing capacity, extremely steep gradients, and numerous bends, making them unsuitable for fixed charging station construction. Forcing construction would not only present significant engineering difficulties but also easily trigger safety hazards such as collapses and landslides. Additionally, the operation and maintenance of fixed charging stations requires long-term manpower for routine inspections of cables, charging piles, and power equipment. The dusty and highly turbulent environment of mines accelerates equipment aging, increasing long-term costs for maintenance and replacement.

[0006] Secondly, a core characteristic of mining is that the working face continuously shifts as the ore body is excavated, and the corresponding transportation routes are dynamically adjusted accordingly. This characteristic highlights the limitations of fixed charging stations. The deployment locations of fixed charging stations are relatively fixed. Once the mining working face moves, the frequency of mining truck transportation on the original slope will decrease significantly, and the existing stations will face the dilemma of functional idleness. If they are to be relocated along the transportation route, it is necessary to select a new site, dismantle the original facilities, and carry out new infrastructure construction, resulting in the duplication and waste of assets. Summary of the Invention

[0007] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a mining truck ramp energy circulation system and collaborative control method to solve the technical problem in the prior art that mining trucks are difficult to match between power management and task requirements, resulting in a large amount of energy waste and high operating costs.

[0008] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a mining truck ramp energy circulation system, comprising: a mining truck, an energy hub vehicle, a mining area power grid, and a control center. The mining card has a first battery unit, and the mining card can be connected to another mining card, using one of the first battery units to charge the other first battery unit; The energy hub vehicle has a second battery unit; the energy hub vehicle can be connected to the mining truck, using the second battery unit to charge the first battery unit, or using the first battery unit to charge the second battery unit; The mining area power grid can be connected to the mining truck and the energy hub vehicle to charge the first battery unit and the second battery unit respectively, or to charge the mining area power grid using the first battery unit or the second battery unit. The control center is connected to each of the mining trucks and each of the energy hub vehicles via signal transmission.

[0009] Secondly, the present invention also provides a method for coordinated energy control of mine roadway slopes, employing a mine roadway slope energy circulation system, including an uphill scheduling method and a downhill scheduling method. The uphill scheduling method is as follows: when the remaining power of the first battery unit of a mining truck in an uphill state is lower than the minimum threshold, another mining truck in a downhill state with the remaining power of its first battery unit higher than the maximum threshold is used to charge it, or an energy hub vehicle with the remaining power of its second battery unit higher than the intermediate threshold is used to charge it. The downhill scheduling method is as follows: when the remaining power of the first battery unit of a mining truck in a downhill state is higher than the highest threshold, it is used to charge another mining truck in an uphill state whose remaining power of the first battery unit is lower than the lowest threshold, or it is used to charge an energy hub vehicle whose remaining power of the second battery unit is lower than the intermediate threshold.

[0010] In some embodiments, the uphill scheduling method includes the following steps: The control center detects whether the remaining power of the first battery unit of mining truck A is below the minimum threshold. If the detection result is "no", mining truck A proceeds uphill normally. If the detection result is "yes", the control center queries whether there are other mining trucks within a first distance range from mining truck A that are downhill and have a remaining power of the first battery unit above the maximum threshold. If the query result is "yes", the control center notifies one of the mining trucks, mining truck B, to connect with mining truck A and use mining truck B's first battery unit to charge mining truck A's first battery unit. If the query result is "no", the control center continues to query whether there are energy hub vehicles within a second distance range from mining truck A that have a remaining power above the intermediate threshold. If the query result is "yes", the control center notifies one of the energy hub vehicles to connect with mining truck A and use the energy hub vehicle's second battery unit to charge mining truck A's first battery unit. If the query result is "no", the control center instructs mining truck A to go to the charging facilities of the mining area's power grid to charge itself, or to go to a suitable location to wait for other mining trucks or energy hub vehicles to charge it.

[0011] In some embodiments, the downhill scheduling method includes the following steps: The control center detects whether the remaining power of the first battery unit of mining truck C is higher than the maximum threshold. If the detection result is "no", mining truck C proceeds downhill normally. If the detection result is "yes", the control center queries whether there are other mining trucks within a first distance range from mining truck C that are uphill and whose remaining power of the first battery unit is lower than the minimum threshold. If the query result is "yes", the control center instructs mining truck C to connect with one of the mining trucks D, and uses mining truck C's first battery unit to charge mining truck D's first battery unit. If the query result is "no", the control center continues to query whether there are energy hub vehicles within a second distance range from mining truck C that have remaining power lower than the intermediate threshold. If the query result is "yes", the control center instructs one of the energy hub vehicles to connect with mining truck C, and uses mining truck C's first battery unit to charge the energy hub vehicle's second battery unit. If the query result is "no", the control center instructs mining truck C to go to the charging facility of the mining area power grid to charge the mining area power grid; or instructs mining truck C to go to a suitable location to wait for other mining trucks or energy hub vehicles to accept its charging.

[0012] In some embodiments, the uphill scheduling method further includes: The control center detects whether the remaining power of the first battery unit of mining truck A is lower than the low warning value, which is higher than the minimum threshold. If the detection result is "no", mining truck A proceeds uphill normally. If the detection result is "yes", the control center calculates whether the remaining power of the first battery unit of mining truck A is sufficient to safely complete the uphill climb. If the detection result is "yes", mining truck A proceeds uphill normally. If the detection result is "no", the control center determines that mining truck A is in a potential energy shortage state and queries whether there are other mining trucks or energy hub vehicles on mining truck A's route that can charge mining truck A. If the query result is "yes", the control center establishes an energy interaction communication link between the two and determines the charging location. If the query result is "no", the control center continues to query until the remaining power of the first battery unit of mining truck A is lower than the minimum threshold.

[0013] In some embodiments, the downhill scheduling method further includes: The control center detects whether the remaining power of the first battery unit of mining truck C is higher than the high warning value, which is lower than the highest threshold. If the detection result is "no", mining truck C proceeds downhill normally. If the detection result is "yes", the control center calculates whether the remaining power of the first battery unit of mining truck C is sufficient to safely complete the downhill descent. If the detection result is "yes", mining truck C proceeds downhill normally. If the detection result is "no", the control center determines that mining truck C is in a potential energy overflow state and queries whether there are other mining trucks or energy hub vehicles on the route of mining truck C that can accept charging from mining truck C. If the query result is "yes", the control center establishes an energy interaction communication link between the two and determines the charging location. If the query result is "no", the control center continues to query until the remaining power of the first battery unit of mining truck C is higher than the highest threshold.

[0014] In some embodiments, the minimum threshold is 25% to 35% of the total charge of the first battery cell, the low warning value is 35% to 45% of the total charge of the first battery cell, the intermediate threshold is 30% to 70% of the total charge of the second battery cell, the first distance range is 300m to 1000m, and the second distance range is 3km to 8km.

[0015] In some embodiments, the highest threshold is 75% to 85% of the total charge of the first battery cell, the high warning value is 60% to 70% of the total charge of the first battery cell, the intermediate threshold is 30% to 70% of the total charge of the second battery cell, the first distance range is 300m to 1000m, and the second distance range is 3km to 8km.

[0016] In some embodiments, a self-testing method is also included, comprising communication link calibration, battery monitoring module calibration, and hardware status detection. The communication link calibration ensures stable signal transmission between the control center, the mining truck, and the energy hub vehicle through anti-interference testing. The battery monitoring module calibration includes calibrating the sensor's acquisition accuracy of battery remaining power, temperature rise, and charge / discharge rate, and presets safe thresholds for battery remaining power, temperature rise, and charge / discharge rate. The hardware status detection includes detecting the cell connection status of the second battery unit of the energy hub vehicle, the flexibility of the locking mechanism of the energy interaction interface, and the parking braking performance of the walking mechanism to ensure that the energy hub vehicle has the hardware conditions to receive or replenish energy. It also includes detecting the response sensitivity of the braking system of the mining truck, the sealing integrity of the first battery unit, and the contact status of the contact points of the energy interaction interface to ensure that the mining truck has the hardware conditions to receive or replenish energy.

[0017] In some embodiments, the control center collects the location, load status, and battery health of the mining truck in real time, and collects the energy storage status and energy interaction interface status of the energy hub vehicle in real time.

[0018] Compared with existing technologies, the mining truck ramp energy recycling system and collaborative control method provided by this invention, when the battery level of an uphill mining truck falls below a minimum threshold, it is charged using a downhill mining truck or energy hub vehicle with a battery level above the maximum threshold. Conversely, when the battery level of a downhill mining truck rises above the maximum threshold, its energy is transferred to an uphill mining truck or energy hub vehicle with a battery level below the minimum threshold. By directly connecting the uphill and downhill mining trucks or using energy hub vehicles for energy storage and transfer, the system effectively recovers the downhill energy from the downhill mining trucks, avoiding energy waste. Furthermore, compared to fixed charging stations, the energy hub vehicle... No large-scale civil engineering construction or power grid transformation is required; existing simple roads in the mining area can be used to access work sites. Its operation and maintenance only need to focus on the routine maintenance of vehicle-mounted energy storage modules and energy converters, without having to share the depreciation of fixed infrastructure and the maintenance costs of complex supporting facilities. Furthermore, it can be synchronized with the mining progress and quickly transferred to new key energy supply and demand nodes without additional infrastructure investment. For short-distance transportation sections of temporary mining faces, mobile hub vehicles can be dispatched for emergency parking to fill the coverage gaps of fixed facilities and ensure that the energy supply network of the entire mining area is always precisely matched with the transportation route. Attached Figure Description

[0019] Figure 1 This is a principle block diagram of the energy collaborative control method for mine road ramps provided in an embodiment of the present invention; Figure 2 This is a flowchart of a mine car ramp energy collaborative control method provided in an embodiment of the present invention; Figure 3 This is a flowchart of a mine car ramp energy collaborative control method provided in another embodiment of the present invention; Figure 4 This is a flowchart of the self-testing method. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0021] To address the technical problem of current mining trucks struggling to match power management with task requirements, resulting in significant energy waste and high operating costs, this invention provides a mining truck ramp energy recycling system and collaborative control method. This system can fully recover the downhill energy of mining trucks, avoiding energy waste, while also having lower deployment and maintenance costs.

[0022] It should be noted that the mine car ramp energy circulation system described in this invention is used in, but not limited to, mining operations. For ease of explanation, this invention only uses the application of the mine car ramp energy circulation system in mining operations as an example. The principle of the mine car ramp energy circulation system applied to other scenarios requiring "heavy load downhill and light load uphill" is essentially the same as the principle applied in mining, and will not be elaborated here.

[0023] The mine's ramp energy circulation system includes mine trucks, energy hub vehicles, the mine's power grid, and a control center.

[0024] Mining trucks are mining trucks used to transport ore. They have a primary battery unit and can utilize existing new energy mining trucks, including pure electric and plug-in hybrid models, but pure electric mining trucks are preferred due to their larger battery capacity and better energy management. The mining truck can connect to another mining truck, using one of its primary battery units to charge the other. That is, the battery management system of this mining truck has an external discharge function and a built-in charging connector, enabling direct charging with another mining truck. It's easy to understand that the charging rate should be as fast as possible within a safe range to improve energy transfer efficiency.

[0025] The energy hub vehicle has a second battery unit for storing and transferring energy. The energy hub vehicle can be a truck, with the second battery unit housed in the cargo compartment. Ideally, the second battery unit should have a larger capacity than the first battery unit to provide stronger energy dispatch and transfer capabilities. The energy hub vehicle can be powered by pure electric, plug-in hybrid, range-extended, or fuel-powered vehicles, but pure electric operation is preferred, powered by the second battery unit.

[0026] The energy hub vehicle can connect to a mining truck, using a second battery unit to charge the first battery unit, or vice versa. In other words, the energy hub vehicle's battery management system has an external discharge capability and includes a charging connector for connection to another mining truck. Furthermore, the charging rate should be as fast as possible within a safe range to improve energy transfer efficiency.

[0027] It's easy to understand that the connectors for mining trucks and energy hub vehicles should ideally use a unified standard. If multiple connector standards exist, then various adapters will need to be prepared to meet the connection requirements between different standards.

[0028] A mining area power grid is also set up, connected to the external power grid, and equipped with charging and energy storage facilities. The mining area power grid can connect to mining trucks and energy hub vehicles to charge the first and second battery units respectively, or use the first or second battery units to charge the mining area power grid itself. In other words, the mining area power grid can use its own energy storage facilities or be powered by the external power grid to charge the mining trucks and energy hub vehicles. The mining trucks and energy hub vehicles can also store their excess electrical energy in the energy storage facilities of the mining area power grid.

[0029] The control center connects to each mining truck and each energy hub vehicle via wireless network signal to monitor the status of each mining truck and energy hub vehicle, and allocates mining trucks and energy hub vehicles based on the collected data.

[0030] Please see Figure 1 , Figure 1 This is a principle block diagram of the mine roadway energy collaborative control method provided in this embodiment of the invention. This mine roadway energy collaborative control method employs a mine roadway energy circulation system, including an uphill scheduling method and a downhill scheduling method.

[0031] The uphill dispatching method is as follows: when the remaining power of the first battery unit of a mining truck in an uphill state is lower than the minimum threshold, another mining truck in a downhill state with the remaining power of its first battery unit higher than the maximum threshold is used to charge it, or an energy hub vehicle with the remaining power of its second battery unit higher than the intermediate threshold is used to charge it.

[0032] The downhill scheduling method is as follows: when the remaining power of the first battery unit of a mining truck in a downhill state is higher than the highest threshold, it is used to charge another mining truck in an uphill state whose remaining power of the first battery unit is lower than the lowest threshold, or it is used to charge an energy hub vehicle whose remaining power of the second battery unit is lower than the intermediate threshold.

[0033] During charging, the mining truck and energy hub vehicle should be driven to a location with suitable parking conditions, avoiding obstruction of normal uphill and downhill traffic. After parking the mining truck and energy hub vehicle, connect them using the power transmission equipment, and control the charging flow direction on the onboard system to charge according to the required direction.

[0034] In this way, when the elevation difference on the downhill slope is too large and the recovered energy exceeds the capacity of the first battery unit of the downhill mining truck, the truck can stop midway downhill and transfer its electrical energy to the energy hub vehicle or the uphill mining truck for use by the uphill mining truck. Then the downhill mining truck continues downhill, continuing to recover energy, avoiding energy waste and significantly reducing wear and tear on the mining truck's braking system.

[0035] Please see Figure 2 , Figure 2This is a flowchart of a mine slope energy collaborative control method according to an embodiment of the present invention. In this embodiment, the uphill scheduling method includes the following steps: The control center checks whether the remaining power (SOC) of the first battery unit of mining truck A is below the minimum threshold. If the result is "No," it means that mining truck A has sufficient power temporarily and can proceed uphill normally. If the result is "Yes," the control center checks whether there are other mining trucks within a first distance range from mining truck A that are going downhill and have a remaining power of their first battery unit above the maximum threshold. If the result is "Yes," the control center instructs one of the mining trucks, mining truck B, to connect with mining truck A and use mining truck B's first battery unit to charge mining truck A's first battery unit. If the result is "No," the control center continues to check whether there are energy hub vehicles within a second distance range from mining truck A that have a remaining power above the intermediate threshold. If the result is "Yes," the control center instructs one of the energy hub vehicles to connect with mining truck A and use the energy hub vehicle's second battery unit to charge mining truck A's first battery unit. If the result is "No," the control center instructs mining truck A to go to the charging facilities of the mining area's power grid for charging, or to go to a suitable location to wait for other mining trucks or energy hub vehicles to charge it.

[0036] In the uphill scheduling method, when the battery level of uphill mining truck A falls below the minimum threshold, the system first checks if there is a downhill mining truck with a State of Charge (SOC) above the maximum threshold. If not, it then checks the energy hub vehicle. In other words, downhill mining trucks are prioritized for charging uphill mining trucks; only when suitable downhill mining trucks are unavailable are uphill mining trucks at energy hub vehicles used for charging. This scheduling strategy reduces the number of energy transfers, thereby reducing energy loss.

[0037] Meanwhile, when multiple downhill mining cards are available for charging, the selection of which downhill mining card to use can be based on several factors. A distance-first strategy can be adopted, choosing the downhill mining card closest to mining card A. Alternatively, a power-first strategy can be used, selecting the downhill mining card with the highest State of Charge (SOC). A strategy that considers both distance and power can also be employed, assigning weights to both distance and SOC for a comprehensive evaluation. Once the most suitable mining card B is selected, the control center instructs both uphill mining card A and downhill mining card B to proceed to the appropriate location for energy transfer.

[0038] Similarly, when there are multiple energy hub vehicles available for charging, a strategy that prioritizes distance, power consumption, or both can be adopted to select the most suitable energy hub vehicle. The control center then instructs the uphill mining truck A and the energy hub vehicle to proceed to the appropriate location for energy transfer.

[0039] In this embodiment, the downhill scheduling method includes the following steps: The control center checks whether the remaining power of the first battery unit of mining truck C is higher than the maximum threshold. If the result is "no," it means that mining truck C has sufficient battery capacity for energy recovery, and mining truck C proceeds downhill normally. If the result is "yes," the control center checks whether there are other mining trucks within a first distance range from mining truck C that are uphill and whose first battery unit's remaining power is lower than the minimum threshold. If the result is "yes," the control center instructs mining truck C to connect with one of the mining trucks, mining truck D, and use mining truck C's first battery unit to charge mining truck D's first battery unit. If the result is "no," the control center continues to check whether there are energy hub vehicles within a second distance range from mining truck C whose remaining power is lower than the intermediate threshold. If the result is "yes," the control center instructs one of the energy hub vehicles to connect with mining truck C and use mining truck C's first battery unit to charge the energy hub vehicle's second battery unit. If the result is "no," the control center instructs mining truck C to go to the charging facility of the mining area's power grid to charge, or instructs mining truck C to go to a suitable location to wait for other mining trucks or energy hub vehicles to accept its charging.

[0040] Similar to the uphill scheduling method, when there are multiple uphill mining trucks or energy hub vehicles that can be charged, a strategy that prioritizes distance, power consumption, or both can be adopted.

[0041] The minimum threshold is set at 25% to 35% of the total capacity of the first battery cell. This range is used to reserve a certain amount of capacity, providing redundancy while preventing complete depletion of the battery, thus extending its lifespan. The minimum threshold can be selected from 25%, 26%, 27%, 28%, 29%, 30%, 31%, 32%, 33%, 34%, 35%, or other values ​​within this range. In this embodiment, 30% is preferred.

[0042] The maximum threshold is 75% to 85% of the total charge of the first battery unit. This range is used to retain a certain battery capacity, allowing the first battery unit of the mining truck to have energy recovery capabilities before finding a unit to receive its power, thus extending the service life of the braking system. The maximum threshold can be selected from 75%, 76%, 77%, 78%, 79%, 80%, 81%, 82%, 83%, 84%, 85%, or other values ​​within this range. In this embodiment, 80% is preferred.

[0043] The intermediate threshold is 30% to 70% of the total capacity of the second battery unit. It can be selected from 30%, 35%, 40%, 45%, 50%, 55%, 60%, 65%, 70%, or other values ​​within this range. The choice can be made based on the actual conditions of the mine. For example, when the downhill slope has a large elevation difference, the energy recovered under heavy load is greater than the energy consumed under light load, allowing the mining truck to generate additional energy during operation. In this case, a smaller intermediate threshold, such as 30%, 35%, or 40%, can be used. After charging the uphill mining truck, the downhill truck stores the excess energy in the energy hub vehicle, which then stores the energy in the mine's power grid for use by other production and living equipment in the mine. Conversely, when the downhill slope has a small elevation difference, the energy recovered under heavy load is less than the energy consumed under light load, and the mining truck still requires additional energy during operation, a larger intermediate threshold, such as 60%, 65%, or 70%, can be used. The energy hub vehicle pre-stores a significant amount of electrical energy, providing online recharging for mining trucks on the uphill journey, avoiding the need for trucks to travel to the mine's power grid charging facilities. After a day's work, the energy hub vehicle replenishes its power to the intermediate threshold at the mine's power grid charging facilities during rest periods, ready for the next day's operation. When the downhill elevation difference is moderate, and the energy recovered under heavy load is not significantly different from the energy consumed under light load on the uphill, the intermediate threshold can be set to a middle value, such as 45%, 50%, or 55%, to balance uphill charging and downhill power reception.

[0044] For more complex mining slopes, segmented processing can be implemented, deploying energy hub vehicles with different intermediate thresholds for different slopes. Furthermore, as the ore body is excavated and the transportation route changes, the intermediate thresholds can be flexibly adjusted.

[0045] The first distance range is 300m to 1000m, and can be 300m, 400m, 500m, 600m, 700m, 800m, 900m, 1000m, or other values ​​within this range. In this embodiment, 500m is preferred. The second distance range is 3km to 8km. 3km, 4km, 5km, 6km, 7km, 8km, or other values ​​within this range can be selected. In this embodiment, 5km is preferred.

[0046] Please see Figure 2 and Figure 3 , Figure 3 This is a flowchart of a mine car ramp energy collaborative control method provided in another embodiment of the present invention. It should be noted that this application omits... Figure 3 Zhongyu Figure 2 The same partial steps will Figure 2 and Figure 3 Combining these elements yields a complete flowchart.

[0047] In this embodiment, the uphill scheduling method further includes: The control center checks whether the remaining power of the first battery cell of mining truck A is below the low warning threshold, which is higher than the minimum threshold. If the detection result is "no", mining truck A proceeds uphill normally. If the detection result is "yes", the control center calculates whether the remaining power of the first battery cell of mining truck A is sufficient to safely complete the uphill climb. Safely completing the uphill climb means that the remaining driving range of mining truck A must be greater than the uphill mileage plus a safety redundancy value. If the detection result is "yes", the control center determines that mining truck A has no energy shortage, and mining truck A proceeds uphill normally. If the detection result is "no", the control center determines that mining truck A is in a "potential energy shortage state" and queries whether there are other mining trucks or energy hub vehicles on mining truck A's route that can charge mining truck A. If the query result is "yes", the control center establishes an energy interaction communication link between the two and determines the charging location. The selection strategy can adopt the method described above, which will not be repeated here. If the query result is "no", mining truck A continues to climb while the control center continues to query until the remaining power of the first battery cell of mining truck A is lower than the minimum threshold. The control center determined that mining card A was in a "clear energy deficit state" and needed to initiate external power replenishment. The subsequent steps are the same as described above and will not be repeated here.

[0048] In this embodiment, the highest and lowest thresholds can be within the same range as described above, while the low warning value is 35% to 45% of the total charge of the first battery unit. A certain charge buffer is left for the control center to locate available downhill mining trucks or energy hub vehicles for charging. The low warning value can be selected from 35%, 36%, 37%, 38%, 39%, 40%, 41%, 42%, 43%, 44%, 45%, or other values ​​within this range. In this embodiment, 40% is preferred.

[0049] In this embodiment, the downhill scheduling method further includes: The control center checks if the remaining charge of the first battery cell of mining truck C is higher than the high warning value, which is lower than the maximum threshold. If the detection result is "no", mining truck C proceeds downhill normally. If the detection result is "yes", the control center calculates whether the remaining charge of the first battery cell of mining truck C is sufficient to safely complete the downhill descent. Safely completing the downhill descent means that the capacity of mining truck C is greater than the energy that can be recovered upon completion of the downhill descent plus a safety redundancy value. If the detection result is "yes", mining truck C proceeds downhill normally. If the detection result is "no", the control center determines that mining truck C is in a "potential energy overflow state" and queries whether there are other mining trucks or energy hub vehicles on mining truck C's route that can accept charging from mining truck C. If the query result is "yes", the control center establishes an energy interaction communication link between the two and determines the charging location. The selection strategy can adopt the method described above, which will not be repeated here. If the query result is "no", mining truck C continues to descend while the control center continues to query until the remaining charge of the first battery cell of mining truck C is higher than the maximum threshold. The control center determines that mining truck C is in a "clear energy overflow state" and needs to activate external energy reception. The subsequent steps are the same as those described above, and will not be repeated here.

[0050] In this embodiment, the highest and lowest thresholds can be within the same range as described above, while the high warning value is 60% to 70% of the total capacity of the first battery cell. A certain capacity buffer is reserved for the control center to locate uphill mining trucks or energy hub vehicles that can accept charging. The high warning value can be selected as 60%, 61%, 62%, 63%, 64%, 65%, 66%, 67%, 68%, 69%, 70%, or other values ​​within this range. In this embodiment, 65% is preferred.

[0051] Please see Figure 4 , Figure 4 This is a flowchart of the self-testing method.

[0052] In some embodiments, the energy collaborative control method for mine ramps further includes a self-testing method, which includes communication link calibration, battery monitoring module calibration, and hardware status detection.

[0053] Communication link calibration ensures stable signal transmission between the control center and mining trucks and energy hub vehicles through anti-interference testing.

[0054] The battery monitoring module calibration includes calibrating the sensor's accuracy in collecting data on remaining battery capacity, temperature rise, and charge / discharge rate, and presetting safety thresholds for these parameters. If the battery temperature is detected to be too high, the charging power can be reduced to prevent further heating and ensure battery safety.

[0055] Hardware status detection includes detecting the cell connection status of the second battery unit of the energy hub vehicle, the flexibility of the locking mechanism of the energy interaction interface, and the parking braking performance of the walking mechanism to ensure that the energy hub vehicle has the hardware conditions to receive or replenish energy. It also includes detecting the response sensitivity of the braking system of the mining truck, the sealing integrity of the first battery unit, and the contact status of the contacts of the energy interaction interface to ensure that the mining truck has the hardware conditions to receive or replenish energy.

[0056] These tests can be completed using the self-testing functions of the control center, mining trucks, and energy hub vehicles.

[0057] After the self-test is completed, the control center collects the location, load status, and battery health of the mining truck in real time, and also collects the energy storage status and energy interaction interface status of the energy hub vehicle in real time. Energy management of the mining truck is then performed based on the pre-collected ramp data.

[0058] The control center constructs a comprehensive model adapted to the actual working conditions of the mining area and completes the division of core functional areas. During the modeling process, the system accurately identifies three key areas by combining the load variation curve of the mining truck and the battery SOC degradation law: High-risk areas for energy overflow: These are located in the middle of long downhill sections, where the potential energy conversion of heavy-duty mining trucks is most concentrated. The mining truck batteries are prone to reaching their receiving limit after continuously recovering braking energy.

[0059] Uphill energy consumption gap zone: set in the transition zone between the bottom of the slope and the starting point of the uphill slope, corresponding to the energy demand node after the mining truck has finished unloading and before it goes uphill unloaded.

[0060] Energy Balance Dispatch Zone: Covering the area surrounding the energy dispatch center in the mining area, used to coordinate the energy storage surplus and shortage and task allocation of energy hub vehicles.

[0061] Once the regions are divided, the control center will synchronize the functional attributes of each region to all mining cards and energy hub vehicles, providing a location basis for subsequent energy interactions.

[0062] After the area division is completed, the control center initiates a multi-vehicle collaborative scheduling mechanism, the core of which is to allocate energy hub vehicle resources based on task priority. The scheduling rules are sorted according to a three-level priority system: P0 level: Emergency energy recovery under heavy load downhill: Prioritizes responding to energy overflow requests from mining trucks under heavy load downhill. The determination criteria include the mining truck's battery saturation, temperature rise, and current load capacity, with the weights of the three decreasing in that order.

[0063] P1 Level: Uphill Critical Energy Consumption Replenishment: In response to the energy shortage needs of mining trucks going uphill, resources are prioritized for mining trucks with insufficient battery power to ensure that they can complete uphill transportation.

[0064] P2 Level: Energy Hub Vehicle Energy Storage Balancing: When the energy demand of mining trucks is fully met, low-energy-storage energy hub vehicles are dispatched to fixed energy stations to replenish energy, while high-energy-storage energy hub vehicles transmit power back to the mining area power grid. At the same time, a certain amount of energy storage is reserved, i.e., intermediate threshold redundancy to cope with sudden tasks.

[0065] During the dispatching process, the system will monitor the load status of each energy hub vehicle in real time. If a single energy hub vehicle is unable to undertake the task, it will automatically trigger the coordinated support of surrounding energy hub vehicles.

[0066] In this mining truck ramp energy recycling system, the energy hub vehicle participates in energy scheduling based on multi-scenario proactive intervention logic. Its core working trigger conditions and response actions can be divided into four categories: When a large number of mining trucks are simultaneously in downhill operation and the braking energy recovery exceeds the maximum threshold, the energy hub vehicle initiates "storage intervention" to take over redundant energy to avoid energy waste. When a large number of mining trucks are simultaneously entering uphill operation and the power supply capacity cannot meet the power demand, the energy hub vehicle triggers "energy replenishment intervention" to output reserve energy to the mining trucks to ensure operational continuity. If a single mining truck suddenly experiences a low battery energy failure and there are no suitable energy-interacting mining trucks nearby, the energy hub vehicle executes "emergency support intervention" to quickly replenish the energy of the failed mining truck. During off-peak hours, the energy hub vehicle actively draws power from the grid and stores it for backup, reserving resources in advance for energy scheduling in subsequent operation scenarios. This mechanism, by adapting to the cluster energy status under different operating conditions, realizes the dynamic switching of the energy hub vehicle between "energy storage - proactive energy replenishment - emergency support - off-peak energy storage".

[0067] The energy circulation system and collaborative control method for the mine's card-slope tunnel feature the following technological advancements: I. Overcome the physical bottleneck of vehicle-mounted braking energy recovery and eliminate safety hazards on long downhill slopes.

[0068] In long downhill sections of heavy-duty mining transportation, existing onboard regenerative braking systems are limited by the physical constraints of battery charging power and capacity, making them prone to energy recovery saturation. Excess potential energy can only be dissipated as heat through mechanical braking, resulting in significant energy waste, accelerated wear of braking components, and even the safety hazard of brake fade. This mining truck slope energy recycling system can absorb excess braking energy that the truck's onboard battery cannot hold at critical points during heavy-duty downhill sections, allowing the vehicle to maintain stable deceleration without switching to mechanical braking. This design breaks through the limitations of single-vehicle energy recovery, converting previously wasted gravitational potential energy into reusable electrical energy, and significantly reduces the frequency of mechanical braking. It fundamentally alleviates the wear rate of braking components, completely avoids the risk of brake performance degradation under long downhill conditions, and achieves a dual improvement in energy recovery and driving safety.

[0069] Second, achieve seamless connection between transportation and energy replenishment to ensure the continuity of mining operations.

[0070] Existing mine energy replenishment solutions suffer from significant operational process fragmentation. Static charging and centralized battery swapping stations require mining trucks to leave the transportation loop and travel to fixed stations for replenishment, directly reducing the overall fleet uptime. Charging network solutions for ports and other scenarios are difficult to adapt effectively due to the complex terrain and dynamically changing transportation routes in mining areas, and full-area coverage would lead to uncontrollable construction costs. This mining truck ramp energy recycling system precisely deploys energy exchange hubs at key nodes on ramps essential for mine transportation. Utilizing bidirectional charging and discharging interfaces, it achieves coordinated energy scheduling for mining trucks. Redundant recovered energy from downhill trucks can be directly transferred to adjacent uphill trucks without requiring additional detours, while an energy hub vehicle provides backup. This deeply integrated transportation and energy replenishment model not only meets the core needs of continuous mining operations and ensures smooth material transportation but also avoids the resource waste of full-area coverage with fixed facilities, achieving a balance between transportation efficiency and scenario adaptability.

[0071] Third, improve the collaborative energy efficiency of the energy system and reduce the cost of operation and maintenance throughout the entire life cycle.

[0072] The existing mine energy replenishment system is fragmented, with a lack of data sharing between vehicle energy management, fleet scheduling, and charging facility control. This leads to imbalances in energy supply and demand, and the need for large-scale energy storage facilities to mitigate grid impacts results in high infrastructure and maintenance costs. Furthermore, fixed facilities are ill-suited for the dynamic relocation of mining operations. This mine truck ramp energy recycling system, through comprehensive operational condition modeling and multi-vehicle collaborative scheduling, collects real-time data on truck load, battery status, and ramp parameters to accurately match energy supply and demand, achieving closed-loop energy reuse within the cluster and significantly reducing dependence on the external power grid. Moreover, deploying energy hub vehicles eliminates the need for large-scale civil engineering and grid modifications, reducing initial infrastructure investment and lowering subsequent equipment adaptation and maintenance costs, thus achieving synergistic optimization of system energy efficiency and economy.

[0073] Fourth, the mine will move during the excavation process, which allows for better dynamic coordination with the movement of the mine.

[0074] The energy hub vehicle is highly adaptable to the dynamic operational characteristics of mining, perfectly meeting the core needs of face relocation and dynamic adjustment of transportation routes during mining operations. During mining operations, the progress of ore extraction drives the continuous movement of the working face, causing constant changes in the location, length, and frequency of transport ramps. Traditional fixed energy replenishment facilities, due to their fixed locations, are prone to coverage failures or resource idleness, and relocation requires repeated investment in infrastructure costs. The energy hub vehicle, however, can quickly respond to adjustments in transportation routes, flexibly transferring to newly formed critical energy supply and demand nodes without requiring additional civil engineering construction or power grid modifications. For short-distance transportation sections of temporary mining faces, mobile energy hub vehicles can also be dispatched for emergency parking, filling coverage gaps in fixed facilities and ensuring that the energy circulation network of the entire mining area is always precisely matched with dynamically changing transportation routes, continuously guaranteeing the coordinated continuity of heavy-load transportation and energy replenishment in the mine.

[0075] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An energy recycling system for a mining truck ramp, characterized in that, include: A mining card having a first battery unit, the mining card being connectable to another mining card, wherein one of the first battery units is used to charge the other first battery unit; An energy hub vehicle having a second battery unit; the energy hub vehicle can be connected to the mining truck, using the second battery unit to charge the first battery unit, or using the first battery unit to charge the second battery unit; The mining area power grid can be connected to the mining truck and the energy hub vehicle to charge the first battery unit and the second battery unit respectively, or to charge the mining area power grid using the first battery unit or the second battery unit. The control center is connected to each of the mining trucks and each of the energy hub vehicles via signal transmission.

2. A method for coordinated energy control of mine car ramps, characterized in that, The mine car ramp energy circulation system as described in claim 1 includes an uphill scheduling method and a downhill scheduling method. The uphill scheduling method is as follows: when the remaining power of the first battery unit of a mining truck in an uphill state is lower than the minimum threshold, another mining truck in a downhill state with the remaining power of its first battery unit higher than the maximum threshold is used to charge it, or an energy hub vehicle with the remaining power of its second battery unit higher than the intermediate threshold is used to charge it. The downhill scheduling method is as follows: when the remaining power of the first battery unit of a mining truck in a downhill state is higher than the highest threshold, it is used to charge another mining truck in an uphill state whose remaining power of the first battery unit is lower than the lowest threshold, or it is used to charge an energy hub vehicle whose remaining power of the second battery unit is lower than the intermediate threshold.

3. The energy-coordinated control method for mine roadway according to claim 2, characterized in that, The uphill scheduling method includes the following steps: The control center detects whether the remaining power of the first battery unit of mining truck A is below the minimum threshold. If the detection result is "no", mining truck A proceeds uphill normally. If the detection result is "yes", the control center queries whether there are other mining trucks within a first distance range from mining truck A that are downhill and have a remaining power of the first battery unit above the maximum threshold. If the query result is "yes", the control center notifies one of the mining trucks, mining truck B, to connect with mining truck A and use mining truck B's first battery unit to charge mining truck A's first battery unit. If the query result is "no", the control center continues to query whether there are energy hub vehicles within a second distance range from mining truck A that have a remaining power above the intermediate threshold. If the query result is "yes", the control center notifies one of the energy hub vehicles to connect with mining truck A and use the energy hub vehicle's second battery unit to charge mining truck A's first battery unit. If the query result is "no", the control center instructs mining truck A to go to the charging facilities of the mining area's power grid to charge itself, or to go to a suitable location to wait for other mining trucks or energy hub vehicles to charge it.

4. The energy coordinated control method for mine roadway according to claim 2, characterized in that, The downhill scheduling method includes the following steps: The control center detects whether the remaining power of the first battery unit of mining truck C is higher than the maximum threshold. If the detection result is "no", mining truck C proceeds downhill normally. If the detection result is "yes", the control center queries whether there are other mining trucks within a first distance range from mining truck C that are uphill and whose remaining power of the first battery unit is lower than the minimum threshold. If the query result is "yes", the control center instructs mining truck C to connect with one of the mining trucks D and use mining truck C's first battery unit to charge mining truck D's first battery unit. If the query result is "no", the control center continues to query whether there are energy hub vehicles within a second distance range from mining truck C that have remaining power lower than the intermediate threshold. If the query result is "yes", the control center instructs one of the energy hub vehicles to connect with mining truck C and use mining truck C's first battery unit to charge the energy hub vehicle's second battery unit. If the query result is "no", the control center instructs mining truck C to go to the charging facility of the mining area power grid to charge the mining area power grid; or instructs mining truck C to go to a suitable location to wait for other mining trucks or energy hub vehicles to accept its charging.

5. The energy-coordinated control method for mine roadway ramps according to claim 3, characterized in that, The uphill scheduling method also includes: The control center detects whether the remaining power of the first battery unit of mining truck A is lower than the low warning value, which is higher than the minimum threshold. If the detection result is "no", mining truck A proceeds uphill normally. If the detection result is "yes", the control center calculates whether the remaining power of the first battery unit of mining truck A is sufficient to safely complete the uphill climb. If the detection result is "yes", mining truck A proceeds uphill normally. If the detection result is "no", the control center determines that mining truck A is in a potential energy shortage state and queries whether there are other mining trucks or energy hub vehicles on mining truck A's route that can charge mining truck A. If the query result is "yes", the control center establishes an energy interaction communication link between the two and determines the charging location. If the query result is "no", the control center continues to query until the remaining power of the first battery unit of mining truck A is lower than the minimum threshold.

6. The energy-coordinated control method for mine roadway according to claim 4, characterized in that, The downhill scheduling method also includes: The control center detects whether the remaining power of the first battery unit of mining truck C is higher than the high warning value, which is lower than the highest threshold. If the detection result is "no", mining truck C proceeds downhill normally. If the detection result is "yes", the control center calculates whether the remaining power of the first battery unit of mining truck C is sufficient to safely complete the downhill descent. If the detection result is "yes", mining truck C proceeds downhill normally. If the detection result is "no", the control center determines that mining truck C is in a potential energy overflow state and queries whether there are other mining trucks or energy hub vehicles on the route of mining truck C that can accept charging from mining truck C. If the query result is "yes", the control center establishes an energy interaction communication link between the two and determines the charging location. If the query result is "no", the control center continues to query until the remaining power of the first battery unit of mining truck C is higher than the highest threshold.

7. The energy-coordinated control method for mine roadway ramps according to claim 5, characterized in that, The minimum threshold is 25% to 35% of the total charge of the first battery unit, the low warning value is 35% to 45% of the total charge of the first battery unit, the intermediate threshold is 30% to 70% of the total charge of the second battery unit, the first distance range is 300m to 1000m, and the second distance range is 3km to 8km.

8. The energy coordinated control method for mine roadway according to claim 6, characterized in that, The highest threshold is 75% to 85% of the total charge of the first battery unit, the high warning value is 60% to 70% of the total charge of the first battery unit, the intermediate threshold is 30% to 70% of the total charge of the second battery unit, the first distance range is 300m to 1000m, and the second distance range is 3km to 8km.

9. The energy coordinated control method for mine roadway according to claim 2, characterized in that, The system also includes a self-testing method, which includes communication link calibration, battery monitoring module calibration, and hardware status detection. The communication link calibration ensures stable signal transmission between the control center, the mining truck, and the energy hub vehicle through anti-interference testing. The battery monitoring module calibration includes calibrating the sensor's acquisition accuracy of battery remaining power, temperature rise, and charge / discharge rate, and presets safe thresholds for battery remaining power, temperature rise, and charge / discharge rate. The hardware status detection includes detecting the cell connection status of the second battery unit of the energy hub vehicle, the flexibility of the locking mechanism of the energy interaction interface, and the parking braking performance of the walking mechanism to ensure that the energy hub vehicle has the hardware conditions to receive or replenish energy. It also includes detecting the response sensitivity of the braking system of the mining truck, the sealing integrity of the first battery unit, and the contact status of the contact points of the energy interaction interface to ensure that the mining truck has the hardware conditions to receive or replenish energy.

10. The energy coordinated control method for mine roadway according to claim 2, characterized in that, The control center collects the location, load status, and battery health of the mining truck in real time, and also collects the energy storage status and energy interaction interface status of the energy hub vehicle in real time.

Images