Heavy load transmission device and flexible start-stop control method of scraper conveyor

Abstract

The present application relates to the technical field of scraper conveyor control, a heavy load transmission device and a flexible start-stop control method of a scraper conveyor, comprising: based on a scraper conveyor start instruction, a preset collection interval and a working condition sensing controller, a load state parameter collection operation is performed to obtain a load state parameter, an average current value is calculated, a low load threshold and a regular load threshold are calculated, a flexible start control operation is performed on the scraper conveyor to obtain a stable running scraper conveyor, the current running speed and the current motor current value are obtained, the coal mining machine parameters are confirmed, an adaptive speed control operation is performed on the stable running scraper conveyor to obtain a normally running scraper conveyor, a flexible stop control operation is performed on the normally running scraper conveyor to obtain a stopped running scraper conveyor, and the flexible start-stop control of the scraper conveyor is completed based on the stopped running scraper conveyor. The present application can realize flexible start-stop control without impact start-stop and dynamic load adaptation.

Description

Technical Field

[0001] This invention relates to the field of scraper conveyor control technology, and in particular to a heavy-duty transmission device and a flexible start-stop control method for scraper conveyors. Background Technology

[0002] A scraper conveyor is a type of transport equipment that uses a chain as the traction component and scrapers to continuously transport bulk materials along a fixed trough. Flexible start-stop control is a control technology that uses progressive adjustment of the motor output to smoothly transition the speed, acceleration, and torque of the equipment from a standstill to its rated operating state (or vice versa), avoiding mechanical and electrical shocks.

[0003] Scraper conveyors are responsible for the continuous transport of coal, and their operational stability directly affects coal mine production efficiency and operational safety. This equipment commonly suffers from high drive power, uneven load distribution, and susceptibility to impact loads. Traditional start-stop control methods often employ direct start or simple soft-start technology, resulting in inrush currents that can reach five to seven times the rated current during startup, easily causing fluctuations in the power grid. Simultaneously, rigid impacts exacerbate wear on critical components such as the scraper chain and reducer, shortening the equipment's lifespan. While existing soft-start solutions such as frequency converters and hydraulic couplings offer some improvement, they suffer from drawbacks such as harmonic interference, low power balance accuracy, and insufficient adaptability during start-stop processes, making it difficult to adapt to dynamic load demands under complex operating conditions. Therefore, achieving impact-free start-stop and flexible start-stop control that adapts to dynamic loads is an urgent technical problem to be solved. Summary of the Invention

[0004] This invention provides a heavy-duty transmission device and a flexible start-stop control method for scraper conveyors, as well as a computer-readable storage medium. Its main purpose is to achieve flexible start-stop control that adapts to dynamic loads and eliminates impact during start-stop.

[0005] To achieve the above objectives, the present invention provides a heavy-duty transmission device and a flexible start-stop control method for a scraper conveyor, comprising: The system receives the scraper conveyor start command, and performs load status parameter acquisition based on the scraper conveyor start command, the preset acquisition interval, and the working condition sensing controller to obtain the load status parameters, which include: the head motor current value and the tail motor current value. The average current is calculated based on the current values ​​of the head motor and tail motor, and the low load threshold and normal load threshold are calculated based on the preset rated current values. A stable scraper conveyor is obtained by performing flexible start-up control operation based on low load threshold and normal load threshold. The current operating speed and current motor current value are obtained based on the stable operation of the scraper conveyor; The parameters of the coal mining machine are confirmed, including: coal mining height, coal mining depth, coal mining speed, and coal mining position. Based on the parameters of the coal mining machine, the current operating speed, and the current motor current value, an adaptive speed regulation control operation is performed on the stable-running scraper conveyor to obtain a normally operating scraper conveyor. Receive a shutdown command, and perform a flexible shutdown control operation on the normally operating scraper conveyor based on the shutdown command to obtain the scraper conveyor that has stopped running; Based on the scraper conveyor that has stopped operating, complete the flexible start-stop control of the scraper conveyor.

[0006] Optionally, the step of performing flexible start-up control on the scraper conveyor based on low load threshold and normal load threshold to obtain a stable scraper conveyor includes: If the average current is less than the low load threshold, the scraper conveyor is designated as a low load scraper conveyor. Low load parameters are obtained based on the low load scraper conveyor, and a stable operating scraper conveyor is identified based on the low load parameters. If the average current is greater than or equal to the low load threshold and the average current is less than the normal load threshold, then the scraper conveyor is regarded as the normal load scraper conveyor. The normal load parameters are obtained based on the normal load scraper conveyor, and the stable operating scraper conveyor is confirmed based on the normal load parameters. Otherwise, the scraper conveyor will be used as a high-load scraper conveyor, and high-load parameters will be obtained based on the high-load state. The high-load parameters include: high starting acceleration curve and target high speed. The chain tension of a high-load scraper conveyor is adjusted to obtain a standard chain tension value. A stable scraper conveyor is obtained by driving the motor based on the high starting acceleration curve, the target high speed, and the standard chain tension value.

[0007] Optionally, the chain tension control and adjustment operation for the high-load scraper conveyor to obtain a standard chain tension value includes: The chain tension of the high-load scraper conveyor is collected to obtain the current chain tension value, the normal working chain tension value, the target chain tension value, and the chain tension difference between the target chain tension value and the current chain tension value. The tension difference range is determined based on the target chain tension value; If the chain tension difference is not within the tension difference range, the cylinder adjustment length is calculated based on the target chain tension value, the current chain tension value, and the preset tension adjustment coefficient. The cylinder length is adjusted based on the chain tension difference and the cylinder adjustment length to obtain an adjusted hydraulic control unit. The updated chain tension value is obtained based on the adjusted hydraulic control unit and used as the current chain tension value. The process returns to the step of calculating the chain tension difference based on the target chain tension value and the current chain tension value until the chain tension difference is within the tension difference range. If the chain tension difference is within the tension difference range, the updated chain tension value is used as the standard chain tension value.

[0008] Optionally, the adaptive speed control operation of the scraper conveyor based on the parameters of the coal mining machine, the current operating speed, and the current motor current value to obtain a normally operating scraper conveyor includes: Obtain the coal loading time by calculating the current time based on the coal mining machine's position, current operating speed, and coal loading time parameters. Calculate the amount of coal produced by the coal mining machine based on the coal mining machine's mining height, cutting depth, traveling speed, and current time. The target operating speed is obtained by calculating the operating speed based on the current motor current value and the amount of coal in the coal mining machine. The theoretical transition time is calculated based on the target operating speed and the current operating speed, and then compared with the preset control cycle time. If the theoretical transition time is less than the control cycle time, the target operating speed is sent to the frequency converter to obtain a normally operating scraper conveyor; If the theoretical transition time is not less than the control cycle time, a ramp speed curve is generated based on the target operating speed and the current operating speed. Based on the ramp speed curve and the frequency converter, the operating speed is adjusted to obtain a normally operating scraper conveyor.

[0009] Optionally, the formula for calculating the current time is as follows: in, Indicates the current time. Indicates the coal loading time. This indicates the preset base time. Indicates the operating speed of the coal mining machine. Indicates the location of the coal mining machine. This indicates the operating speed of the coal mining machine.

[0010] Optionally, the formula for calculating the coal quantity of the coal mining machine is as follows: in, This indicates the amount of coal produced by the coal mining machine. This indicates the preset coal loading coefficient of the coal mining machine. Indicates the mining height of the coal mining machine. This indicates the cutting depth of the coal mining machine.

[0011] Optionally, the step of calculating the operating speed based on the current motor current value and the amount of coal in the coal mining machine to obtain the target operating speed includes: If the current motor current is greater than the preset current limit and the coal quantity of the coal mining machine is greater than the preset coal quantity limit, then the speed increase percentage is extracted from the pre-built speed increase percentage database. The speed increment is calculated based on the speed increase percentage and the current operating speed. The increased operating speed is calculated based on the speed increment and the current operating speed. The minimum value extraction operation is performed on the increased operating speed and the preset maximum safe operating speed to obtain the high load operating speed. If the current motor current is less than the preset lower current limit and the coal quantity of the coal mining machine is less than the preset lower coal quantity limit, then the speed reduction percentage is extracted from the speed increase percentage database. Based on the speed reduction percentage and the current operating speed, the speed reduction is calculated. Based on the speed reduction and the current operating speed, the operating speed is reduced. The maximum value is extracted from the reduced operating speed and the preset minimum safe operating speed to obtain the low load operating speed. Otherwise, the current running speed will be used as the normal running speed; The target operating speed is determined based on the operating speed under high load, low load, or normal operating speed.

[0012] Optionally, the step of performing a flexible shutdown control operation on the normally operating scraper conveyor based on a shutdown command to obtain a scraper conveyor that has stopped operating includes: Based on the shutdown command, the operating speed of the normally operating scraper conveyor is adjusted and paused to obtain the current paused operating speed and the current load status. Set the target safe low speed, confirm the deceleration speed based on the current load status, input the pause current running speed and deceleration speed into the pre-built ramp function generator to obtain the required running speed, and perform speed adjustment operation on the frequency converter according to the required running speed to obtain the adjusted running speed; Obtain the current motor current and no-load current; If the current motor current is less than or equal to the no-load current, and the adjusted running speed is less than or equal to the target safe low speed, then the motor is stopped based on the target safe low speed and the adjusted running speed, resulting in a stopped scraper conveyor. Otherwise, the adjusted running speed is used as the paused current running speed, and the process returns to the step of inputting the paused current running speed and the speed reduction input to the pre-built ramp function generator until the current motor current is less than or equal to the no-load current and the adjusted running speed is less than or equal to the target safe low speed.

[0013] To achieve the above objectives, the present invention also provides a heavy-duty transmission device and a flexible start-stop control system for a scraper conveyor, comprising: The conveyor load detection module is used to receive the scraper conveyor start command, and to collect load status parameters based on the scraper conveyor start command, the preset acquisition interval and the working condition sensing controller. The load status parameters include: the head motor current value and the tail motor current value. The average current value is calculated based on the head motor current value and the tail motor current value. The low load threshold and the normal load threshold are calculated based on the preset rated current value. The flexible start control module is used to perform flexible start control operation on the scraper conveyor based on low load threshold and normal load threshold to obtain a stable scraper conveyor operation. Based on the stable operation of the scraper conveyor, the current running speed and the current motor current value are obtained. The adaptive speed control module is used to determine the parameters of the coal mining machine, including the coal mining machine height, coal mining machine cutting depth, coal mining machine travel speed, and coal mining machine position. Based on the coal mining machine parameters, the current operating speed, and the current motor current value, the module performs adaptive speed control on the stable-running scraper conveyor to obtain a normally operating scraper conveyor. The flexible shutdown control module is used to receive shutdown commands, perform flexible shutdown control operations on the normally operating scraper conveyor based on the shutdown commands, obtain the scraper conveyor that has stopped running, and complete the flexible start-stop control of the scraper conveyor based on the stopped scraper conveyor.

[0014] To address the above problems, the present invention also provides an electronic device, the electronic device comprising: Memory, storing at least one instruction; The processor executes the instructions stored in the memory to implement the aforementioned flexible start-stop control method for the heavy-duty transmission device and scraper conveyor.

[0015] To address the aforementioned problems, the present invention also provides a computer-readable storage medium storing at least one instruction, which is executed by a processor in an electronic device to implement the aforementioned heavy-duty transmission device and the flexible start-stop control method for scraper conveyors.

[0016] To address the problems described in the background art, this invention receives a scraper conveyor start command, and based on the start command, a preset acquisition interval, and a condition sensing controller, performs load status parameter acquisition operations to obtain load status parameters. These load status parameters include the current values ​​of the head motor and the tail motor. An average current value is calculated based on these values, and a low-load threshold and a normal-load threshold are calculated based on a preset rated current value. This invention comprehensively reflects the overall start-up load of the scraper conveyor through the average current values ​​of the head and tail motors, eliminating the limitations of single-end current detection and scientifically calibrating the low-load threshold based on the rated current value. This invention establishes standardized criteria for determining the starting load based on low and normal load thresholds. Flexible start control is then implemented on the scraper conveyor based on these thresholds to achieve stable operation. This differentiated flexible start control avoids the current surges and mechanical vibrations associated with traditional direct hard starts, effectively reducing wear on core components such as the motor and transmission chain during startup and extending equipment lifespan. Furthermore, the invention acquires the current operating speed and motor current value based on the stable operation of the scraper conveyor. After the scraper conveyor enters stable operation, this invention continuously collects the current operating speed and motor current value in real time. The flow rate is used to accurately capture core operating parameters of the equipment under stable operating conditions, providing real-time data on the equipment's operating status for subsequent adaptive speed control. This identifies the parameters of the coal mining machine, including its mining height, cutting depth, travel speed, and position. Based on these parameters, the current operating speed, and the current motor current, adaptive speed control is performed on the stable-running scraper conveyor to achieve normal operation. This invention integrates the coal mining machine's operating parameters, the scraper conveyor's current operating speed, and the motor current to implement adaptive speed control, dynamically matching the scraper conveyor's operating speed to the real-time material feed rate of the coal mining machine, thus avoiding high feed rates. This invention addresses the issues of material accumulation and drive overload during periods of high material flow, while also preventing equipment idling and increased energy consumption during periods of low material flow. It achieves energy-efficient and high-performance operation of the scraper conveyor by receiving a stop command and performing flexible stop control on the normally operating scraper conveyor based on the command. This results in a stopped scraper conveyor. The invention uses a stop command as a trigger to implement flexible stop control on a normally operating scraper conveyor, replacing the traditional direct hard stop method. This effectively avoids material accumulation, chain slippage, and mechanical impact caused by sudden speed drops during the stop phase, ensuring the safe operation of all equipment components during shutdown. Flexible start-stop control of the scraper conveyor is then completed based on the stopped scraper conveyor. Therefore, this invention can achieve impact-free start-stop and flexible start-stop control that adapts to dynamic loads. Attached Figure Description

[0017] Figure 1This is a flowchart illustrating a heavy-duty transmission device and a flexible start-stop control method for a scraper conveyor provided in an embodiment of the present invention. Figure 2 This is a functional block diagram of a heavy-duty transmission device and a flexible start-stop control system for a scraper conveyor provided in an embodiment of the present invention; Figure 3 A schematic diagram of the structure of an electronic device for implementing the heavy-duty transmission device and the flexible start-stop control method of the scraper conveyor according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a heavy-duty transmission device and a flexible start-stop control method for scraper conveyors provided in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Electronic equipment; 10. Processor; 11. Memory; 12. Bus; 200. Hydraulic control unit; 201. Hydraulic cylinder; 202. Frequency converter; 203. Electric motor; 204. Scraper conveyor control system; 205. Working condition sensing controller; 206. Scraper conveyor.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0021] This application provides a flexible start-stop control method for a heavy-duty transmission device and a scraper conveyor. The executing entity of the flexible start-stop control method for the heavy-duty transmission device and scraper conveyor includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the flexible start-stop control method for the heavy-duty transmission device and scraper conveyor can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0022] Example 1: Refer to Figure 4 As shown, a heavy-duty transmission device according to an embodiment of the present invention includes: The heavy-duty transmission device includes: a scraper conveyor control system 204, a working condition sensing controller 205, a motor 203, a frequency converter 202, and a hydraulic control unit 200. The heavy-duty transmission device is connected to the scraper conveyor 206. The hydraulic control unit includes a hydraulic cylinder 201.

[0023] It should be noted that the scraper conveyor control system is the decision-making and scheduling system of the heavy-duty transmission device. It receives real-time data (such as motor current and load status) collected by the condition sensing controller and, in conjunction with preset control logic (such as flexible start / stop and adaptive speed regulation strategies), issues control commands to the frequency converter, hydraulic control unit, and other execution components. This achieves unified management and control of the scraper conveyor's operating speed, start / stop status, and auxiliary hydraulic functions, ensuring the safe and efficient operation of the scraper conveyor under different working conditions. The motor is the power output unit of the heavy-duty transmission device. It receives the power supply frequency adjusted by the frequency converter, converts electrical energy into mechanical energy, and directly drives the chain and scrapers of the scraper conveyor through the transmission mechanism (used to transmit the rotational power output by the motor to the drive drum of the scraper conveyor), completing the conveying operation of materials such as coal. A scraper conveyor is a transportation device that uses a chain as the traction component and scrapers to continuously transport bulk materials along a fixed trough. The frequency converter, hydraulic control unit, and hydraulic cylinders will be explained in detail later.

[0024] Example 2: Refer to Figure 1 The diagram shown is a flowchart illustrating a heavy-duty transmission device and a flexible start-stop control method for a scraper conveyor according to an embodiment of the present invention. In this embodiment, the heavy-duty transmission device and the flexible start-stop control method for the scraper conveyor are applied to the heavy-duty transmission device, including: S1. Receive the scraper conveyor start command, and perform load status parameter acquisition operation based on the scraper conveyor start command, the preset acquisition interval and the working condition sensing controller to obtain the load status parameters, including: head motor current value and tail motor current value.

[0025] It should be explained that the scraper conveyor start command is an instruction initiated by the operator to trigger the scraper conveyor to enter the start-up process. The data acquisition interval is a pre-set time interval for the scraper conveyor control system to continuously collect load status parameters. The operating condition sensing controller is the control unit of the scraper conveyor control system, used to collect load status parameters, perform data processing (capable of calculating the average current based on the collected load status parameters), and determine the load condition (low load, normal load, and high load). The head motor current value and tail motor current value are the operating currents generated by the drive motors at the head and tail of the scraper conveyor during operation, respectively.

[0026] S2. Calculate the average current based on the current values ​​of the head motor and tail motor, and calculate the low load threshold and normal load threshold based on the preset rated current values.

[0027] It should be explained that the average current is the average of the current values ​​of the head motor and the tail motor obtained through arithmetic operations. The average current reflects the overall starting load level of the scraper conveyor. The rated current is the inherent rated operating current of the head motor and tail motor of the scraper conveyor. The steps for calculating the low load threshold and the normal load threshold based on the preset rated current value are as follows: multiply the rated current value by a preset low load coefficient (e.g., 0.3) to obtain the low load threshold, and multiply the rated current value by a preset normal load coefficient (e.g., 0.7) to obtain the normal load threshold.

[0028] It should be noted that the scraper conveyor is equipped with drive motors at the head and tail, which provide power for the conveyor. In actual startup, the head and tail motors are affected by factors such as uneven material distribution and differences in conveying resistance. The current of the head or tail motor can only reflect the local load status of the corresponding drive motor and cannot fully reflect the overall startup load of the scraper conveyor. If only the current value of the head or tail motor is used as the basis for load judgment, the load judgment may be biased due to the mismatch between the local load and the overall load. This may cause the scraper conveyor control system to select a startup speed and acceleration that is not compatible with the overall load of the scraper conveyor based on a one-sided load judgment, resulting in problems such as insufficient power or unreasonable speed adjustment during startup. In this invention, the average current value is calculated by selecting the current values ​​of the head motor and the tail motor. This can integrate the current values ​​of the head motor and the tail motor of the drive motors at both ends, so that the current deviation caused by the abnormal local load condition at one end can be compensated by the current at the other end, thereby offsetting the local deviation of the current at one end. This reflects the overall load level of the scraper conveyor during the start-up phase and provides a basis for subsequent flexible start-stop control strategies that are matched and adapted based on load level (such as low load, normal load or high load).

[0029] S3. Based on the low load threshold and the normal load threshold, perform flexible start control operation on the scraper conveyor to obtain a stable scraper conveyor.

[0030] In detail, the method of performing flexible start-up control on the scraper conveyor based on low load threshold and normal load threshold to obtain a stable scraper conveyor includes: If the average current is less than the low load threshold, the scraper conveyor is designated as a low load scraper conveyor. Low load parameters are obtained based on the low load scraper conveyor, and a stable operating scraper conveyor is identified based on the low load parameters. If the average current is greater than or equal to the low load threshold and the average current is less than the normal load threshold, then the scraper conveyor is regarded as the normal load scraper conveyor. The normal load parameters are obtained based on the normal load scraper conveyor, and the stable operating scraper conveyor is confirmed based on the normal load parameters. Otherwise, the scraper conveyor will be used as a high-load scraper conveyor, and high-load parameters will be obtained based on the high-load state. The high-load parameters include: high starting acceleration curve and target high speed. The chain tension of a high-load scraper conveyor is adjusted to obtain a standard chain tension value. A stable scraper conveyor is obtained by driving the motor based on the high starting acceleration curve, the target high speed, and the standard chain tension value.

[0031] Understandably, if the average current is less than the low load threshold, it indicates that the overall load of the scraper conveyor during startup is low. At this time, the amount of material on the scraper conveyor is small, the conveying resistance is low, and the load on the drive motors at the head and tail is far below the rated load level of the equipment, eliminating the risk of heavy-load startup. A low-load scraper conveyor is one whose average current is less than the low load threshold. The acquisition of low-load parameters based on the low-load scraper conveyor involves extracting low-load parameters from a pre-built load parameter database based on the average current corresponding to the low-load scraper conveyor. These low-load parameters include: the acceleration curve under low load and the motor speed corresponding to low load. The load parameter database is a pre-built database storing start-up control parameters corresponding to different load conditions. This database categorizes load conditions into low load, normal load, and high load, storing start-up control parameters adapted to each load condition. For low load conditions, it also stores associated low-load parameters such as the acceleration curve matching the average current of the scraper conveyor under low load, and the corresponding motor speed. The load parameter database can adapt the start-up control parameters based on the load condition determined by the scraper conveyor and the corresponding average current. The process of confirming stable operation of the scraper conveyor based on low load parameters involves adjusting the scraper conveyor under low load according to the low load parameters, gradually adjusting and stabilizing the operating speed and acceleration of the scraper conveyor until they reach the low-load acceleration curve and the corresponding motor speed. At this point, the scraper conveyor is considered to be operating stably. If the average current is greater than or equal to the low load threshold and less than the normal load threshold, it indicates that the overall load of the scraper conveyor during startup is under normal load conditions. At this time, the material receiving capacity and conveying resistance on the scraper conveyor are within normal ranges, and the operating loads of the drive motors at the head and tail are at the normal load levels for normal startup of the scraper conveyor, with no risk of overload startup. A normal load scraper conveyor is one whose overall load during startup is between the low load threshold and the normal load threshold.

[0032] Understandably, conventional load parameters are start-up control parameters adapted to conventional load conditions. These parameters include the acceleration curve of the conventional load and the corresponding motor speed. The method for confirming stable operation of the scraper conveyor based on conventional load parameters is the same as the method for confirming stable operation of the scraper conveyor based on low load parameters, and will not be repeated here. A high-load scraper conveyor is one where the overall load during the start-up phase is greater than or equal to the conventional load threshold. During start-up, high-load scraper conveyors experience large material conveying volumes and high overall conveying resistance, resulting in higher load impacts than conventional conveyors. Therefore, a smooth start-up requires a high-load start-up control strategy and chain tension adjustment. The high-load start-up acceleration curve is a pre-set curve of motor start-up acceleration changes adapted to high-load start-up conditions. This curve is a continuous acceleration control curve used to drive the motor to increase speed slowly and smoothly, avoiding load impacts and component damage caused by rapid acceleration under high load, and ensuring the smoothness of the high-load start-up process. The target high speed is a pre-set operating speed for the scraper conveyor under high-load start-up conditions, representing the speed the motor must reach after completing a high-load flexible start-up. Both the high-load and normal-load parameters are extracted from a load parameter database. Detailed steps for adjusting the chain tension of the high-load scraper conveyor to obtain the standard chain tension value will be provided later.

[0033] Specifically, the chain tension control and adjustment operation for the high-load scraper conveyor to obtain a standard chain tension value includes: The chain tension of the high-load scraper conveyor is collected to obtain the current chain tension value, the normal working chain tension value, the target chain tension value, and the chain tension difference between the target chain tension value and the current chain tension value. The tension difference range is determined based on the target chain tension value; If the chain tension difference is not within the tension difference range, the cylinder adjustment length is calculated based on the target chain tension value, the current chain tension value, and the preset tension adjustment coefficient. The cylinder length is adjusted based on the chain tension difference and the cylinder adjustment length to obtain an adjusted hydraulic control unit. The updated chain tension value is obtained based on the adjusted hydraulic control unit and used as the current chain tension value. The process returns to the step of calculating the chain tension difference based on the target chain tension value and the current chain tension value until the chain tension difference is within the tension difference range. If the chain tension difference is within the tension difference range, the updated chain tension value is used as the standard chain tension value.

[0034] It should be explained that the chain tension acquisition operation for the high-load scraper conveyor is performed using a tension detection element connected to the working condition sensing controller. Optionally, the tension detection element can be a tension sensor or a pressure sensor. The current chain tension value is the tension value of the chain in the high-load scraper conveyor acquired by the tension detection element. The normal operating chain tension value is the inherent tension value of the scraper conveyor chain, calibrated at the factory and adapted for stable operation of the entire machine. The step of calculating the target chain tension value based on the normal operating chain tension value is as follows: multiply the normal operating chain tension value by a preset tension increase coefficient (e.g., 1.2) to obtain the target chain tension value. The tension increase coefficient is a value set by the operator in advance based on the chain's rated tension, safety redundancy, high-load anti-slip requirements, and on-site heavy-load test results. The chain tension difference is the difference obtained by subtracting the target chain tension value from the current chain tension value. The step of determining the tension difference range based on the target chain tension value is as follows: Add a preset tension deviation percentage (e.g., 5%) to the target chain tension value to obtain the upper limit of the tension value; subtract the product of the tension deviation percentage and the target chain tension value from the target chain tension value to obtain the lower limit of the tension value; construct the tension difference range based on the upper and lower limits of the tension value. If the chain tension difference is not within the tension difference range, it indicates that the current actual chain tension deviates from the target tension under high load conditions beyond the tension difference range. If the scraper conveyor is started directly with the current chain tension value, excessive chain tension may cause component damage, while insufficient tension may cause chain slippage, failing to meet the requirement of smooth start-up under high load. Therefore, the chain tension needs to be adjusted.

[0035] It is understandable that the step of calculating the cylinder adjustment length according to the target chain tension value, the current chain tension value and the preset tension adjustment coefficient is as follows: Subtract the current chain tension value from the target chain tension value, and then multiply the difference by the tension adjustment coefficient to obtain the cylinder adjustment length. The tension adjustment coefficient is a preset proportional coefficient that adapts the linkage control of the cylinder length of the hydraulic control unit and the chain tension, and is used to quantify the length adjustment amount of the hydraulic cylinder corresponding to the chain tension deviation, so that the calculated cylinder adjustment length matches the actual tension adjustment requirement. The setting method of the tension adjustment coefficient: First, according to the nominal specification, breaking tensile force and the tension characteristic parameters calibrated by the manufacturer of the conveyor chain supporting the scraper conveyor, combined with the linkage characteristics of the cylinder stroke, cylinder thrust and chain tension of the hydraulic control unit, determine the basic reference value of the tension adjustment coefficient. Secondly, through multiple bench tests and on-site commissioning under high-load conditions of the scraper conveyor, collect the actual control data of the cylinder adjustment length under different chain tension deviations, and correct the basic reference value (the basic reference value can be corrected by existing algorithms such as PID control and data fitting, which will not be elaborated here), and obtain the initial tension adjustment coefficient suitable for the equipment body, which is the tension adjustment coefficient. The hydraulic control unit is the execution unit for adjusting the chain tension of the scraper conveyor. It can receive the adjustment instruction from the working condition perception controller and realize the control of the tension of the conveyor chain of the scraper conveyor by adjusting the length of its own hydraulic cylinder. The operation of adjusting the cylinder length is that the working condition perception controller issues an adjustment instruction to the hydraulic control unit according to the calculated cylinder adjustment length, and the hydraulic control unit performs a mechanical adjustment operation of extending (the cylinder adjustment length is greater than zero) or shortening (the cylinder adjustment length is less than zero) its internal hydraulic cylinder according to this instruction.

[0036] It should also be explained that since one end of the cylinder body of the hydraulic cylinder is fixed on the equipment frame, and the other end of the piston rod is connected to the chain tensioner or tensioning seat. When the hydraulic cylinder extends, it pushes the tensioner or tensioning seat to move outwards, tightens the chain, and increases the tension. When the hydraulic cylinder shortens, it带动 the tensioner or tensioning seat to move inwards, relaxes the chain, and reduces the tension, thereby completing the control of the chain tension. The hydraulic cylinder is an actuator that converts hydraulic energy into mechanical linear motion. The adjusted hydraulic control unit is the hydraulic control unit after completing the operation of adjusting the cylinder length. The updated chain tension value is the adjusted chain tension obtained by the hydraulic control unit using the tension sensor to collect the real-time tension of the conveyor chain of the scraper conveyor again after completing the cylinder length adjustment. If the chain tension difference is within the tension difference range, it means that the deviation between the current actual tension of the chain and the target tension under high-load conditions is within the tension difference range. At this time, the chain tension state meets the requirements for starting a high-load scraper conveyor, and there is no need to adjust the chain tension anymore. The standard chain tension value is the updated chain tension value collected when the chain tension difference finally falls within the tension difference range after multiple cycles of chain tension detection and adjustment.

[0037] S4. Obtain the current operating speed and current motor current value based on the stable operation of the scraper conveyor.

[0038] Understandably, a stable-operation scraper conveyor is one that has reached a stable operating state after being regulated by a start-up control strategy adapted to its own start-up load conditions (low load, normal load, or high load). The current operating speed is the speed at which the scraper conveyor transports materials when it has completed startup and is in a stable operating state. The current motor current value is the average operating current of the head and tail drive motors during the stable operation of the scraper conveyor.

[0039] S5. Confirm the parameters of the coal mining machine, including: coal mining height, coal mining depth, coal mining speed, and coal mining position.

[0040] Understandably, the mining height of a coal mining machine is the vertical cutting height from the bottom (ground) to the top (top) of the coal seam during operation. The mining height of a coal mining machine is simply the mining height of the machine. The cutting depth of a coal mining machine is the horizontal cutting depth into the coal face during each cutting operation. The cutting depth of a coal mining machine is simply the cutting depth of the machine. The traveling speed of a coal mining machine is the speed at which it moves along the guide rails (pin rails) of the scraper conveyor. The position of a coal mining machine is its real-time spatial location while performing coal mining operations on the guide rails of the scraper conveyor.

[0041] S6. Based on the parameters of the coal mining machine, the current operating speed, and the current motor current value, perform adaptive speed regulation control on the stable-running scraper conveyor to obtain a normally operating scraper conveyor.

[0042] In detail, the adaptive speed control operation of the scraper conveyor based on the parameters of the coal mining machine, the current operating speed, and the current motor current value to obtain a normally operating scraper conveyor includes: Obtain the coal loading time by calculating the current time based on the coal mining machine's position, current operating speed, and coal loading time parameters. Calculate the amount of coal produced by the coal mining machine based on the coal mining machine's mining height, cutting depth, traveling speed, and current time. The target operating speed is obtained by calculating the operating speed based on the current motor current value and the amount of coal in the coal mining machine. The theoretical transition time is calculated based on the target operating speed and the current operating speed, and then compared with the preset control cycle time. If the theoretical transition time is less than the control cycle time, the target operating speed is sent to the frequency converter to obtain a normally operating scraper conveyor; If the theoretical transition time is not less than the control cycle time, a ramp speed curve is generated based on the target operating speed and the current operating speed. Based on the ramp speed curve and the frequency converter, the operating speed is adjusted to obtain a normally operating scraper conveyor.

[0043] It should be explained that the calculation steps for calculating the current time based on the coal mining machine's position, current operating speed, and coal loading time, and the calculation steps for calculating the coal quantity based on the coal mining machine's mining height, cutting depth, travel speed, and current time, will be given later. The detailed steps for calculating the target operating speed based on the current motor current value and the coal quantity will also be given later. The steps for calculating the theoretical transition time based on the target operating speed and the current operating speed are as follows: extract the maximum acceleration from the high-load acceleration curve, calculate the absolute difference speed between the target operating speed and the current operating speed (the absolute value of the difference between the target operating speed and the current operating speed), and divide the absolute difference speed by the maximum acceleration to obtain the theoretical transition time. The control cycle time is a pre-set fixed time for the scraper conveyor control system to complete one speed regulation signal issuance, execution, and feedback. If the theoretical transition time is less than the control cycle time, it means that the theoretical time required for the scraper conveyor to switch from the current operating speed to the target operating speed is shorter than the control cycle time of a single speed adjustment by the scraper conveyor control system. The scraper conveyor control system can directly send the target operating speed command (the target operating speed command is a command used to adjust the operating speed) to the frequency converter to complete the speed switch in one go. There is no need to use a phased, step-like or ramp-like gradual speed adjustment method, which can ensure rapid speed adjustment response and achieve smooth speed switching.

[0044] Understandably, a frequency converter (VDC) is a control device used in conjunction with the drive motors at the head or tail of a scraper conveyor to regulate the motor's speed. The VDC controls the actual speed of the motor by changing the power supply frequency supplied to it, thereby achieving adaptive adjustment of the scraper conveyor's operating speed. A normally operating scraper conveyor is one that has been regulated by the VDC. If the theoretical transition time is not less than the control cycle time, it means that the theoretical time required for the scraper conveyor to switch from its current operating speed to the target operating speed is greater than or equal to the control cycle time of a single speed adjustment by the scraper conveyor control system. If the target operating speed command is directly issued, problems such as load impact and sudden speed changes may occur due to excessively rapid speed adjustment, easily damaging equipment components. Therefore, a step-by-step ramp speed adjustment method is needed to complete the speed switch and ensure the smoothness of the speed adjustment process. The step-by-step ramp speed adjustment method breaks down the speed change from the current operating speed to the target operating speed into multiple small stages, gradually increasing or decreasing the speed. Each small stage only fine-tunes the speed, allowing the motor and scraper conveyor speeds to transition slowly, continuously, and smoothly, avoiding impacts and overloads caused by sudden speed changes. The generation of the ramp speed curve based on the target operating speed and the current operating speed involves sending the current operating speed and the target operating speed to a ramp function generator. The generator calculates the ramp speed curve using the current operating speed as the starting value and the target operating speed as the ending value. The ramp function generator is a functional module in the scraper conveyor control system used to generate ramp speed curves. It receives two input parameters: the current operating speed and the target operating speed of the scraper conveyor. It incorporates a linear ramp generation algorithm (such as a first-order linear interpolation algorithm) and automatically generates a continuous ramp speed curve without abrupt changes, using the received current operating speed as the starting value and the target operating speed as the ending value. The horizontal axis of the ramp speed curve represents time, and the vertical axis represents operating speed. It should be noted that the use of a ramp function generator to generate ramp speed curves is existing technology and will not be elaborated upon here. The speed adjustment operation involves sending the generated ramp speed curve to the frequency converter, which then gradually adjusts the output power frequency according to the time and speed correspondence indicated in the ramp speed curve. This drives the head or tail motor to adjust its speed according to the ramp speed curve, thereby gradually transitioning the scraper conveyor's operating speed from the current speed to the target operating speed along the ramp curve.

[0045] In detail, the formula for calculating the current time is as follows: in, Indicates the current time. Indicates the coal loading time. This indicates the preset base time. Indicates the operating speed of the coal mining machine. Indicates the location of the coal mining machine. This indicates the operating speed of the coal mining machine.

[0046] It should be explained that the coal loading time is the instantaneous event during continuous operation where the coal mining machine cuts off a specific section of coal and loads it onto the scraper conveyor. The reference time is the time during which the coal mining machine and the scraper conveyor coordinate their operations. In the formula for calculating the current time mentioned above... It represents the cumulative displacement of the coal mining machine as it operates from the reference time to the coal loading time, reflecting the spatial position change of the coal mining machine during this period. It is the initial displacement of the coal mining machine relative to the coal loading position of the scraper conveyor at the reference time, and the result is obtained by combining the two. , This represents the actual absolute displacement of the coal mining machine from the reference position to the coal loading time, where, The number is used to adapt the forward (+) or backward (-) running direction of the coal mining machine relative to the scraper conveyor. Dividing the actual absolute displacement by the coal mining machine's running speed yields the process matching time corresponding to the coal mining machine's displacement. This time is the spatial displacement time compensation amount of coal from the coal drop point to the scraper conveyor's coal loading point after the coal mining machine's position changes. Then, by adding this spatial displacement time compensation amount to the basic coal loading time, the actual coal loading completion time adapted to the real-time position of the coal mining machine can be obtained.

[0047] In detail, the formula for calculating the coal quantity of the coal mining machine is as follows: in, This indicates the amount of coal produced by the coal mining machine. This indicates the preset coal loading coefficient of the coal mining machine. Indicates the mining height of the coal mining machine. This indicates the cutting depth of the coal mining machine.

[0048] It should be explained that the coal loading coefficient of the coal mining machine is a fixed correction coefficient calibrated for the actual coal mining operation scenario. This fixed correction coefficient comprehensively considers actual working conditions such as coal spillage and leakage during the coal cutting process, correcting the theoretical coal mining volume to make the calculated coal volume more closely match the actual amount of coal conveyed by the coal mining machine to the scraper conveyor. The method for setting the coal loading coefficient of the coal mining machine is as follows: based on the coal seam conditions and the coal mining machine model, commonly used empirical values ​​in the industry are selected: the value range of the coal loading coefficient for general fully mechanized mining faces is [0.9, 0.98], the value range of the coal loading coefficient for thin coal seams or steeply inclined coal seams is [0.85, 0.93], and the value range of the coal loading coefficient for high-efficiency fully mechanized mining faces (advanced equipment) is greater than 0.95. The coal loading coefficient of the coal mining machine under the current coal seam conditions and coal mining machine model is confirmed from the above commonly used empirical values ​​in the industry. The formula for calculating the coal volume of the coal mining machine... This refers to the real-time coal loading rate of the coal mining machine, where... This is the theoretical coal volume mined by the coal mining machine per unit time. Multiplying this by the coal seam's bulk density (tons / cubic meter) converts it to the theoretical coal weight mined per unit time. After correction by the coal mining machine's loading coefficient, the actual coal loading rate, after eliminating losses such as spillage and leakage, is obtained. Then, this real-time actual coal loading rate is measured over a time interval... The integral operation within the time period involves summing up the actual coal loading amount at each instant within that time interval. This yields the total amount of coal actually transported by the mining machine to the scraper conveyor during that time interval, reflecting the actual material intake of the scraper conveyor during the corresponding time period. This provides data support for matching the target operating speed of the scraper conveyor with the motor current value.

[0049] In detail, the operation of calculating the operating speed based on the current motor current value and the amount of coal in the coal mining machine to obtain the target operating speed includes: If the current motor current is greater than the preset current limit and the coal quantity of the coal mining machine is greater than the preset coal quantity limit, then the speed increase percentage is extracted from the pre-built speed increase percentage database. The speed increment is calculated based on the speed increase percentage and the current operating speed. The increased operating speed is calculated based on the speed increment and the current operating speed. The minimum value extraction operation is performed on the increased operating speed and the preset maximum safe operating speed to obtain the high load operating speed. If the current motor current is less than the preset lower current limit and the coal quantity of the coal mining machine is less than the preset lower coal quantity limit, then the speed reduction percentage is extracted from the speed increase percentage database. Based on the speed reduction percentage and the current operating speed, the speed reduction is calculated. Based on the speed reduction and the current operating speed, the operating speed is reduced. The maximum value is extracted from the reduced operating speed and the preset minimum safe operating speed to obtain the low load operating speed. Otherwise, the current running speed will be used as the normal running speed; The target operating speed is determined based on the operating speed under high load, low load, or normal operating speed.

[0050] It should be explained that if the current motor current is greater than the preset current limit, and the coal quantity in the coal mining machine is greater than the preset coal quantity limit, it indicates that the scraper conveyor is currently facing a dual high-load state: the coal mining machine's material input rate is exceeding its design equilibrium, and there is a risk of material accumulation. Continuously increasing the coal quantity will further increase the scraper conveyor's operating load. Maintaining the current speed can easily lead to material accumulation and drive overload. Therefore, it is necessary to increase the scraper conveyor's conveying efficiency by increasing the speed to match the material input rhythm and reduce the overall load. The current limit is the maximum safe operating current value of the drive motor at the head or tail of the machine during stable operation. The coal quantity limit is the maximum amount of coal that the scraper conveyor can smoothly convey at the current operating speed. The speed increase percentage database is a pre-set database storing the speed adjustment ratios of scraper conveyors corresponding to different high-load operating conditions. The speed increase percentage is determined based on the current motor current value and the amount of coal received by the coal mining machine, indicating that the current scraper conveyor speed is under high-load material receiving conditions. According to the correspondence between high-load material receiving conditions and speed increase percentages, the speed increase ratio of the scraper conveyor speed adapted to the current high-load material receiving conditions is extracted from the speed increase percentage database. It reflects the proportion of the scraper conveyor speed that needs to be increased under the current operating conditions to the current operating speed.

[0051] Importantly, the step of calculating the speed increment based on the speed increase percentage and the current operating speed is as follows: the speed increment is obtained by multiplying the speed increase percentage by the current operating speed. The increased operating speed is obtained by adding the speed increment to the current operating speed. The maximum safe operating speed is the highest operating speed preset by the scraper conveyor. Optionally, the maximum safe operating speed can be obtained from the scraper conveyor's design drawings. The minimum value extraction operation between the increased operating speed and the preset maximum safe operating speed is the operation of taking the minimum value between the increased operating speed and the maximum safe operating speed. The high-load operating speed is the speed obtained by performing the minimum value extraction operation between the increased operating speed and the maximum safe operating speed. If the current motor current is less than the preset lower current limit and the coal quantity of the coal mining machine is less than the preset lower coal quantity limit, it indicates that the scraper conveyor is currently in a low-load operation state where the amount of coal conveyed by the coal mining machine is insufficient and the drive load of the scraper conveyor itself is low. The current motor current is lower than the lower current limit, indicating that the actual load of the scraper conveyor drive system is low and the overall machine operating load is light. The coal quantity of the coal mining machine is lower than the lower coal quantity limit, indicating that the amount of coal conveyed by the coal mining machine to the scraper conveyor is low. The current operating speed of the scraper conveyor is much higher than the actual incoming material speed. If the current speed is maintained, problems such as idling, increased energy consumption, and ineffective wear of equipment may occur. It is necessary to reduce the speed to match the low incoming material rhythm.

[0052] It should be noted that the lower current limit is the minimum load current value of the head or tail drive motor during stable operation, which is preset. The lower coal quantity limit is the minimum coal conveying capacity that the scraper conveyor can efficiently convey at the current operating speed, which is preset. The lower current limit is set as follows: the scraper conveyor is started and runs stably under no-load (no material) and rated operating conditions. The real-time operating current of the head and tail drive motors is measured, and the average current value of continuous operation for 5 minutes is taken as the measured no-load current. According to the scraper conveyor design specifications, the increment of drive motor current required to overcome the minimum material conveying resistance (calculated based on the minimum designed conveying material flow density) during material conveying is calculated. The measured no-load current is added to the increment of drive motor current to obtain the initial value. Then, combined with the rated current (I) of the drive motor, the maximum value of the initial value and 0.2I is taken as the lower current limit of this invention. The lower limit for coal quantity is set as follows: Based on the current operating speed of the scraper conveyor, combined with the effective cross-sectional area of ​​the trough, material bulk density, and conveying efficiency of the scraper conveyor, calculate the minimum conveying capacity at that speed (i.e., the product of the current operating speed of the scraper conveyor, the effective cross-sectional area of ​​the trough, the material bulk density, and the conveying efficiency). Combined with the minimum cutting parameters of the coal mining machine (such as minimum cutting height, minimum cutting depth, and minimum travel speed), calculate the minimum coal output of the coal mining machine (i.e., the product of minimum cutting height, minimum cutting depth, and minimum travel speed). The maximum value between the minimum conveying capacity and the minimum coal output is taken as the lower limit for coal quantity. The methods for setting the upper limit for current and the upper limit for coal quantity are similar to those for setting the lower limit for current and the lower limit for coal quantity, and will not be repeated here.

[0053] It should also be explained that the method for obtaining the speed reduction percentage is as follows: A correspondence between low-load material receiving conditions and speed reduction percentages is established in advance in the speed increase percentage database. The current motor current value of the scraper conveyor and the coal quantity of the coal mining machine are collected in real time. Based on the current motor current value and the coal quantity of the coal mining machine, it is determined that the current material receiving condition is low-load, and the corresponding speed reduction percentage is extracted from the database according to the low-load material receiving condition. The speed reduction percentage reflects the proportion of the scraper conveyor's operating speed that needs to be reduced under the current operating condition to the current operating speed. The method for calculating the speed reduction based on the speed reduction percentage and the current operating speed is the same as the method for calculating the speed increase based on the speed increase percentage and the current operating speed, and will not be repeated here. The speed reduction is the actual speed reduction value calculated based on the speed reduction percentage and the current operating speed of the scraper conveyor. The reduced operating speed is the speed obtained by subtracting the speed reduction from the current operating speed. The minimum safe operating speed is the lowest operating speed pre-calibrated by the scraper conveyor. The maximum value extraction operation for the increased operating speed and the preset minimum safe operating speed is the operation of extracting the maximum value from the increased operating speed and the minimum safe operating speed. The low-load operating speed is obtained by taking the maximum value between the reduced operating speed and the minimum safe operating speed. The normal operating speed is the current stable operating speed maintained by the scraper conveyor when it has neither reached the high-load nor low-load criteria. The target operating speed is either the high-load operating speed, the low-load operating speed, or the normal operating speed.

[0054] It should be noted that in the above steps of the present invention, since the maximum safe operating speed is the highest operating speed threshold that cannot be exceeded by the mechanical structure and safe operation requirements of the scraper conveyor, if the calculated increase in operating speed is directly used as the speed adjustment target, its value may exceed the maximum operating speed threshold, which may easily cause safety faults such as overspeed operation of the scraper conveyor, overload of transmission components, and instability of material conveying. Therefore, the present invention performs a minimum value extraction operation on the increase in operating speed and the preset maximum safe operating speed, which can ensure that the final determined high-load operating speed does not exceed the maximum safe operating speed of the scraper conveyor. This achieves both speed increase and speed adjustment under high-load conditions to match the high material intake of the coal mining machine, and ensures that the scraper conveyor always operates within the safe speed range (the range composed of the maximum safe operating speed and the minimum safe operating speed). Since the minimum safe operating speed is the lowest operating speed threshold set by the scraper conveyor to prevent chain slippage, prevent low-speed material accumulation and blockage, and meet the minimum operating requirements of the scraper conveyor transmission, if the calculated reduced operating speed is directly used as the speed adjustment target, its value may be lower than the minimum operating speed threshold, which may easily cause scraper conveyor malfunction and affect normal operation. Therefore, this invention performs a maximum value extraction operation on the reduced operating speed and the preset minimum safe operating speed, which can ensure that the finally determined low-load operating speed is not lower than the minimum safe operating speed of the equipment. This achieves speed reduction and adjustment under low-load conditions to match the low material intake of the coal mining machine and save energy and reduce consumption, while also ensuring the basic safe operation requirements of the scraper conveyor.

[0055] S7. Receive a shutdown command and perform a flexible shutdown control operation on the normally operating scraper conveyor based on the shutdown command to obtain the scraper conveyor that has stopped running.

[0056] Specifically, the process of performing a flexible shutdown control operation on a normally operating scraper conveyor based on a shutdown command to obtain a stopped scraper conveyor includes: Based on the shutdown command, the operating speed of the normally operating scraper conveyor is adjusted and paused to obtain the current paused operating speed and the current load status. Set the target safe low speed, confirm the deceleration speed based on the current load status, input the pause current running speed and deceleration speed into the pre-built ramp function generator to obtain the required running speed, and perform speed adjustment operation on the frequency converter according to the required running speed to obtain the adjusted running speed; Obtain the current motor current and no-load current; If the current motor current is less than or equal to the no-load current, and the adjusted running speed is less than or equal to the target safe low speed, then the motor is stopped based on the target safe low speed and the adjusted running speed, resulting in a stopped scraper conveyor. Otherwise, the adjusted running speed is used as the paused current running speed, and the process returns to the step of inputting the paused current running speed and the speed reduction input to the pre-built ramp function generator until the current motor current is less than or equal to the no-load current and the adjusted running speed is less than or equal to the target safe low speed.

[0057] It should be understood that the shutdown command is a control command issued by the scraper conveyor control system to terminate operation. The speed regulation pause operation is the operation of the scraper conveyor pausing its original adaptive speed regulation control after receiving the shutdown command. The paused current operating speed is the real-time operating speed of the scraper conveyor when the speed regulation pause operation is performed. The current load state is the load corresponding to the scraper conveyor pausing adaptive speed regulation. The target safe low speed is the speed threshold that the scraper conveyor must reach before formal shutdown. The speed reduction is the speed reduction value per unit time determined based on the current load state of the scraper conveyor. The larger the load, the smaller the speed reduction, and the smaller the load, the larger the speed reduction, ensuring that the speed can be reduced smoothly under different loads and avoiding material accumulation due to excessive speed reduction. The required operating speed is the speed that the scraper conveyor needs to reach at the current time point, generated by the ramp function generator based on the paused current operating speed and the speed reduction. The method of performing speed adjustment operation on the frequency converter based on the required operating speed is the same as the method of adjusting the operating speed based on the ramp speed curve and the frequency converter, and will not be repeated here. The adjusted operating speed is the real-time operating speed of the scraper conveyor after the above speed adjustment operation is performed. The current motor current is the average current value of the drive motors at the head and tail of the scraper conveyor under the adjusted operating speed during the shutdown phase.

[0058] Understandably, the no-load current is the minimum operating current of the drive motor when the scraper conveyor is running without material conveying and only overcoming its own transmission resistance. If the current motor current is less than or equal to the no-load current, and the adjusted operating speed is less than or equal to the target safe low speed, then the scraper conveyor has met the dual conditions for formal shutdown: the current motor current being less than or equal to the no-load current indicates that the scraper conveyor has completed material conveying and unloading, and the scraper conveyor is currently in a no-load operating state with no risk of material accumulation; the adjusted operating speed being less than or equal to the target safe low speed indicates that the scraper conveyor's operating speed has dropped to within the safe shutdown speed threshold. At this time, shutdown will not cause material spillage from the scraper conveyor due to excessive speed. The described operation of stopping the motor based on the target safe low speed and the adjusted operating speed involves the scraper conveyor control system, after meeting the shutdown conditions, using the target safe low speed as the final speed and combining it with the actual value of the current adjusted operating speed, issuing a shutdown speed command to the frequency converter. Upon receiving the shutdown speed command, the frequency converter gradually reduces the output power frequency to 0. The drive motors at the head or tail of the conveyor smoothly decrease from the adjusted operating speed to the target safe low speed, and then the power supply circuit to the motors is completely cut off, causing the drive motors at the head and tail to gradually stop rotating. This, in turn, drives the entire scraper conveyor to a smooth stop, avoiding mechanical shock caused by sudden power outages. A scraper conveyor that has stopped operating is one that has undergone the complete shutdown control operation.

[0059] S8. Based on the scraper conveyor that has stopped running, complete the flexible start-stop control of the scraper conveyor.

[0060] It should be explained that this invention achieves full-process control of the scraper conveyor from startup, stable operation, adaptive speed regulation to shutdown, forming a closed-loop start-stop and operation control system. This avoids various drawbacks of traditional start-stop and constant-speed operation, improving the overall safety and stability of the scraper conveyor. Simultaneously, it achieves full-process coordinated operation with the coal mining machine, making the coordination between coal mining and transportation equipment smoother, thereby improving overall production efficiency. It should be noted that the scraper conveyor control system of this invention, as the core command unit of the entire heavy-duty transmission device, is connected to the condition sensing controller. It acquires load status data such as motor current in real time and sends speed commands to the frequency converter. The frequency converter precisely controls the motor speed by adjusting the output frequency, thereby driving the scraper conveyor. The condition sensing controller is responsible for collecting operating parameters such as the current of the head and tail motors and feeding the data back to the scraper conveyor control system, forming a closed-loop control. The hydraulic control unit (containing hydraulic cylinders), under the coordination of the scraper conveyor control system, provides hydraulic power support for chain tensioning and other functions of the scraper conveyor, ensuring stable operation of the equipment under heavy load conditions. Through the coordinated work of its components, the entire system achieves flexible start-stop and adaptive speed regulation of the scraper conveyor.

[0061] To address the problems described in the background art, this invention receives a scraper conveyor start command, and based on the start command, a preset acquisition interval, and a condition sensing controller, performs load status parameter acquisition operations to obtain load status parameters. These load status parameters include the current values ​​of the head motor and the tail motor. An average current value is calculated based on these values, and a low-load threshold and a normal-load threshold are calculated based on a preset rated current value. This invention comprehensively reflects the overall start-up load of the scraper conveyor through the average current values ​​of the head and tail motors, eliminating the limitations of single-end current detection and scientifically calibrating the low-load threshold based on the rated current value. This invention establishes standardized criteria for determining the starting load based on low and normal load thresholds. Flexible start control is then implemented on the scraper conveyor based on these thresholds to achieve stable operation. This differentiated flexible start control avoids the current surges and mechanical vibrations associated with traditional direct hard starts, effectively reducing wear on core components such as the motor and transmission chain during startup and extending equipment lifespan. Furthermore, the invention acquires the current operating speed and motor current value based on the stable operation of the scraper conveyor. After the scraper conveyor enters stable operation, this invention continuously collects the current operating speed and motor current value in real time. The flow rate is used to accurately capture core operating parameters of the equipment under stable operating conditions, providing real-time data on the equipment's operating status for subsequent adaptive speed control. This identifies the parameters of the coal mining machine, including its mining height, cutting depth, travel speed, and position. Based on these parameters, the current operating speed, and the current motor current, adaptive speed control is performed on the stable-running scraper conveyor to achieve normal operation. This invention integrates the coal mining machine's operating parameters, the scraper conveyor's current operating speed, and the motor current to implement adaptive speed control, dynamically matching the scraper conveyor's operating speed to the real-time material feed rate of the coal mining machine, thus avoiding high feed rates. This invention addresses the issues of material accumulation and drive overload during periods of high material flow, while also preventing equipment idling and increased energy consumption during periods of low material flow. It achieves energy-efficient and high-performance operation of the scraper conveyor by receiving a stop command and performing flexible stop control on the normally operating scraper conveyor based on the command. This results in a stopped scraper conveyor. The invention uses a stop command as a trigger to implement flexible stop control on a normally operating scraper conveyor, replacing the traditional direct hard stop method. This effectively avoids material accumulation, chain slippage, and mechanical impact caused by sudden speed drops during the stop phase, ensuring the safe operation of all equipment components during shutdown. Flexible start-stop control of the scraper conveyor is then completed based on the stopped scraper conveyor. Therefore, this invention can achieve impact-free start-stop and flexible start-stop control that adapts to dynamic loads.

[0062] like Figure 2 The diagram shown is a functional block diagram of a heavy-duty transmission device and a flexible start-stop control system for a scraper conveyor provided in an embodiment of the present invention.

[0063] The heavy-duty transmission device and scraper conveyor flexible start-stop control system 100 described in this invention can be installed in an electronic device. Depending on the functions implemented, the heavy-duty transmission device and scraper conveyor flexible start-stop control system 100 may include a conveyor load detection module 101, a flexible start control module 102, an adaptive speed control module 103, and a flexible stop control module 104. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and are stored in the memory of the electronic device. The conveyor load detection module 101 is used to receive the scraper conveyor start command, and to perform load status parameter acquisition operation based on the scraper conveyor start command, the preset acquisition interval and the working condition perception controller to obtain load status parameters. The load status parameters include: head motor current value and tail motor current value, calculate the average current value based on the head motor current value and tail motor current value, and calculate the low load threshold and normal load threshold based on the preset rated current value. The flexible start control module 102 is used to perform flexible start control operation on the scraper conveyor based on low load threshold and normal load threshold to obtain a stable scraper conveyor, and to obtain the current running speed and current motor current value based on the stable running scraper conveyor. The adaptive speed control module 103 is used to confirm the parameters of the coal mining machine, including: coal mining machine height, coal mining machine cutting depth, coal mining machine travel speed and coal mining machine position. Based on the coal mining machine parameters, the current running speed and the current motor current value, the adaptive speed control operation is performed on the stable running scraper conveyor to obtain a normally operating scraper conveyor. The flexible shutdown control module 104 is used to receive a shutdown command, perform flexible shutdown control operation on the normally operating scraper conveyor based on the shutdown command, obtain the scraper conveyor that has stopped running, and complete the flexible start-stop control of the scraper conveyor based on the scraper conveyor that has stopped running.

[0064] In detail, the modules in the heavy-duty transmission device and the flexible start-stop control system 100 for the scraper conveyor described in this embodiment of the invention adopt the same characteristics as described above during use. Figure 1 The heavy-duty transmission device and the flexible start-stop control method for scraper conveyors described herein use the same technical means and can produce the same technical effect, so they will not be repeated here.

[0065] like Figure 3 The diagram shown is a structural schematic of an electronic device for implementing a flexible start-stop control method for a heavy-duty transmission device and a scraper conveyor, according to an embodiment of the present invention.

[0066] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a program for a flexible start-stop control method for a heavy-duty transmission device and a scraper conveyor.

[0067] The memory 11 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as the portable hard drive of the electronic device 1. In other embodiments, the memory 11 can be an external storage device of the electronic device 1, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 1. Furthermore, the memory 11 includes both internal storage units and external storage devices of the electronic device 1. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 1, such as the code of the flexible start-stop control method program for heavy-duty transmission devices and scraper conveyors, but also to temporarily store data that has been output or will be output.

[0068] In some embodiments, the processor 10 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., a flexible start-stop control method program for heavy-duty transmission devices and scraper conveyors) and calls data stored in the memory 11 to perform various functions of the electronic device 1 and process data.

[0069] The bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize the connection and communication between the memory 11 and at least one processor 10, etc.

[0070] Figure 3 Only electronic devices with components are shown; it will be understood by those skilled in the art that... Figure 3 The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0071] For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) to power the various components. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0072] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, a Bluetooth interface, etc.), which is typically used to establish communication connections between the electronic device 1 and other electronic devices.

[0073] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), and optionally, a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device 1 and to display a visual user interface.

[0074] The heavy-duty transmission device and scraper conveyor flexible start-stop control method program stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When run in the processor 10, it can achieve the following: The system receives the scraper conveyor start command, and performs load status parameter acquisition based on the scraper conveyor start command, the preset acquisition interval, and the working condition sensing controller to obtain the load status parameters, which include: the head motor current value and the tail motor current value. The average current is calculated based on the current values ​​of the head motor and tail motor, and the low load threshold and normal load threshold are calculated based on the preset rated current values. A stable scraper conveyor is obtained by performing flexible start-up control operation based on low load threshold and normal load threshold. The current operating speed and current motor current value are obtained based on the stable operation of the scraper conveyor; The parameters of the coal mining machine are confirmed, including: coal mining height, coal mining depth, coal mining speed, and coal mining position. Based on the parameters of the coal mining machine, the current operating speed, and the current motor current value, an adaptive speed regulation control operation is performed on the stable-running scraper conveyor to obtain a normally operating scraper conveyor. Receive a shutdown command, and perform a flexible shutdown control operation on the normally operating scraper conveyor based on the shutdown command to obtain the scraper conveyor that has stopped running; Based on the scraper conveyor that has stopped operating, complete the flexible start-stop control of the scraper conveyor.

[0075] Specifically, the processor 10's implementation method for the above instructions can be found in [reference needed]. Figures 1 to 4 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.

[0076] Furthermore, if the modules / units integrated in the electronic device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0077] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor of an electronic device, can perform the following: The system receives the scraper conveyor start command, and performs load status parameter acquisition based on the scraper conveyor start command, the preset acquisition interval, and the working condition sensing controller to obtain the load status parameters, which include: the head motor current value and the tail motor current value. The average current is calculated based on the current values ​​of the head motor and tail motor, and the low load threshold and normal load threshold are calculated based on the preset rated current values. A stable scraper conveyor is obtained by performing flexible start-up control operation based on low load threshold and normal load threshold. The current operating speed and current motor current value are obtained based on the stable operation of the scraper conveyor; The parameters of the coal mining machine are confirmed, including: coal mining height, coal mining depth, coal mining speed, and coal mining position. Based on the parameters of the coal mining machine, the current operating speed, and the current motor current value, an adaptive speed regulation control operation is performed on the stable-running scraper conveyor to obtain a normally operating scraper conveyor. Receive a shutdown command, and perform a flexible shutdown control operation on the normally operating scraper conveyor based on the shutdown command to obtain the scraper conveyor that has stopped running; Based on the scraper conveyor that has stopped operating, complete the flexible start-stop control of the scraper conveyor.

[0078] In the embodiments provided by this invention, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative, and actual implementations may have other classification methods.

[0079] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0080] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0081] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A heavy-duty transmission device, characterized in that, include: The heavy-duty transmission device includes: a scraper conveyor control system (204), a working condition sensing controller (205), a motor (203), a frequency converter (202), and a hydraulic control unit (200). The heavy-duty transmission device is connected to the scraper conveyor (206), and the hydraulic control unit includes a hydraulic cylinder (201).

2. A flexible start-stop control method for a scraper conveyor, applied to a heavy-duty transmission device as described in claim 1, characterized in that, include: The system receives the scraper conveyor start command, and performs load status parameter acquisition based on the scraper conveyor start command, the preset acquisition interval, and the working condition sensing controller to obtain the load status parameters, which include: the head motor current value and the tail motor current value. The average current is calculated based on the current values ​​of the head motor and tail motor, and the low load threshold and normal load threshold are calculated based on the preset rated current values. A stable scraper conveyor is obtained by performing flexible start-up control operation based on low load threshold and normal load threshold. The current operating speed and current motor current value are obtained based on the stable operation of the scraper conveyor; The parameters of the coal mining machine are confirmed, including: coal mining height, coal mining depth, coal mining speed, and coal mining position. Based on the parameters of the coal mining machine, the current operating speed, and the current motor current value, an adaptive speed regulation control operation is performed on the stable-running scraper conveyor to obtain a normally operating scraper conveyor. Receive a shutdown command, and perform a flexible shutdown control operation on the normally operating scraper conveyor based on the shutdown command to obtain the scraper conveyor that has stopped running; Based on the scraper conveyor that has stopped operating, complete the flexible start-stop control of the scraper conveyor.

3. The flexible start-stop control method for scraper conveyors as described in claim 2, characterized in that, The method of performing flexible start-up control on the scraper conveyor based on low load threshold and normal load threshold to obtain a stable scraper conveyor includes: If the average current is less than the low load threshold, the scraper conveyor is designated as a low load scraper conveyor. Low load parameters are obtained based on the low load scraper conveyor, and a stable operating scraper conveyor is identified based on the low load parameters. If the average current is greater than or equal to the low load threshold and the average current is less than the normal load threshold, then the scraper conveyor is regarded as the normal load scraper conveyor. The normal load parameters are obtained based on the normal load scraper conveyor, and the stable operating scraper conveyor is confirmed based on the normal load parameters. Otherwise, the scraper conveyor will be used as a high-load scraper conveyor, and high-load parameters will be obtained based on the high-load state. The high-load parameters include: high starting acceleration curve and target high speed. The chain tension of a high-load scraper conveyor is adjusted to obtain a standard chain tension value. A stable scraper conveyor is obtained by driving the motor based on the high starting acceleration curve, the target high speed, and the standard chain tension value.

4. The flexible start-stop control method for scraper conveyors as described in claim 5, characterized in that, The chain tension control and adjustment operation for the high-load scraper conveyor to obtain a standard chain tension value includes: The chain tension of the high-load scraper conveyor is collected to obtain the current chain tension value, the normal working chain tension value, the target chain tension value, and the chain tension difference between the target chain tension value and the current chain tension value. The tension difference range is determined based on the target chain tension value; If the chain tension difference is not within the tension difference range, the cylinder adjustment length is calculated based on the target chain tension value, the current chain tension value, and the preset tension adjustment coefficient. The cylinder length is adjusted based on the chain tension difference and the cylinder adjustment length to obtain an adjusted hydraulic control unit. The updated chain tension value is obtained based on the adjusted hydraulic control unit and used as the current chain tension value. The process returns to the step of calculating the chain tension difference based on the target chain tension value and the current chain tension value until the chain tension difference is within the tension difference range. If the chain tension difference is within the tension difference range, the updated chain tension value is used as the standard chain tension value.

5. The flexible start-stop control method for scraper conveyors as described in claim 4, characterized in that, The adaptive speed control operation of the scraper conveyor based on the parameters of the coal mining machine, the current operating speed, and the current motor current value, to obtain a normally operating scraper conveyor, includes: Obtain the coal loading time by calculating the current time based on the coal mining machine's position, current operating speed, and coal loading time parameters. Calculate the amount of coal produced by the coal mining machine based on the coal mining machine's mining height, cutting depth, traveling speed, and current time. The target operating speed is obtained by calculating the operating speed based on the current motor current value and the amount of coal in the coal mining machine. The theoretical transition time is calculated based on the target operating speed and the current operating speed, and then compared with the preset control cycle time. If the theoretical transition time is less than the control cycle time, the target operating speed is sent to the frequency converter to obtain a normally operating scraper conveyor; If the theoretical transition time is not less than the control cycle time, a ramp speed curve is generated based on the target operating speed and the current operating speed. Based on the ramp speed curve and the frequency converter, the operating speed is adjusted to obtain a normally operating scraper conveyor.

6. The flexible start-stop control method for scraper conveyors as described in claim 5, characterized in that, The formula for calculating the current time is as follows: in, Indicates the current time. Indicates the coal loading time. This indicates the preset base time. Indicates the operating speed of the coal mining machine. Indicates the location of the coal mining machine. This indicates the operating speed of the coal mining machine.

7. The flexible start-stop control method for scraper conveyors as described in claim 6, characterized in that, The formula for calculating the coal quantity of the coal mining machine is as follows: in, Indicates the amount of coal produced by the coal mining machine. This indicates the preset coal loading coefficient of the coal mining machine. Indicates the mining height of the coal mining machine. This indicates the cutting depth of the coal mining machine.

8. The flexible start-stop control method for scraper conveyors as described in claim 7, characterized in that, The calculation of the operating speed based on the current motor current value and the amount of coal in the coal mining machine to obtain the target operating speed includes: If the current motor current is greater than the preset current limit and the coal quantity of the coal mining machine is greater than the preset coal quantity limit, then the speed increase percentage is extracted from the pre-built speed increase percentage database. The speed increment is calculated based on the speed increase percentage and the current operating speed. The increased operating speed is calculated based on the speed increment and the current operating speed. The minimum value extraction operation is performed on the increased operating speed and the preset maximum safe operating speed to obtain the high load operating speed. If the current motor current is less than the preset lower current limit and the coal quantity of the coal mining machine is less than the preset lower coal quantity limit, then the speed reduction percentage is extracted from the speed increase percentage database. Based on the speed reduction percentage and the current operating speed, the speed reduction is calculated. Based on the speed reduction and the current operating speed, the operating speed is reduced. The maximum value is extracted from the reduced operating speed and the preset minimum safe operating speed to obtain the low load operating speed. Otherwise, the current running speed will be used as the normal running speed; The target operating speed is determined based on the operating speed under high load, low load, or normal operating speed.

9. The flexible start-stop control method for scraper conveyors as described in claim 8, characterized in that, The process of performing a flexible shutdown control operation on a normally operating scraper conveyor based on a shutdown command to obtain a scraper conveyor that has stopped operating includes: Based on the shutdown command, the operating speed of the normally operating scraper conveyor is adjusted and paused to obtain the current paused operating speed and the current load status. Set the target safe low speed, confirm the deceleration speed based on the current load status, input the pause current running speed and deceleration speed into the pre-built ramp function generator to obtain the required running speed, and perform speed adjustment operation on the frequency converter according to the required running speed to obtain the adjusted running speed; Obtain the current motor current and no-load current; If the current motor current is less than or equal to the no-load current, and the adjusted running speed is less than or equal to the target safe low speed, then the motor is stopped based on the target safe low speed and the adjusted running speed, resulting in a stopped scraper conveyor. Otherwise, the adjusted running speed is used as the paused current running speed, and the process returns to the step of inputting the paused current running speed and the speed reduction input to the pre-built ramp function generator until the current motor current is less than or equal to the no-load current and the adjusted running speed is less than or equal to the target safe low speed.

10. A heavy-duty transmission device and a flexible start-stop control system for a scraper conveyor, characterized in that, The system includes: The conveyor load detection module is used to receive the scraper conveyor start command, and to collect load status parameters based on the scraper conveyor start command, the preset acquisition interval and the working condition sensing controller. The load status parameters include: the head motor current value and the tail motor current value. The average current value is calculated based on the head motor current value and the tail motor current value. The low load threshold and the normal load threshold are calculated based on the preset rated current value. The flexible start control module is used to perform flexible start control operation on the scraper conveyor based on low load threshold and normal load threshold to obtain a stable scraper conveyor operation. Based on the stable operation of the scraper conveyor, the current running speed and the current motor current value are obtained. The adaptive speed control module is used to determine the parameters of the coal mining machine, including the coal mining machine height, coal mining machine cutting depth, coal mining machine travel speed, and coal mining machine position. Based on the coal mining machine parameters, the current operating speed, and the current motor current value, the module performs adaptive speed control on the stable-running scraper conveyor to obtain a normally operating scraper conveyor. The flexible shutdown control module is used to receive shutdown commands, perform flexible shutdown control operations on the normally operating scraper conveyor based on the shutdown commands, obtain the scraper conveyor that has stopped running, and complete the flexible start-stop control of the scraper conveyor based on the stopped scraper conveyor.

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