Mining platform, control system and control method

Abstract

The application discloses a mining platform, a control system and a control method, and relates to the technical field of coal mines. The mining platform comprises mining equipment, buffer and transfer equipment, transportation equipment and downstream processing equipment. The mining equipment walks along a preset mining area and mines mineral materials. The buffer and transfer equipment moves along with the mining equipment and receives the mineral materials output by the mining equipment. The transportation equipment receives the mineral materials output by the buffer and transfer equipment and transfers the mineral materials to a feeding position of the downstream processing equipment. The downstream processing equipment receives and processes the mineral materials transferred by the transportation equipment. The mining equipment, the buffer and transfer equipment, the transportation equipment and the downstream processing equipment all have positioning units and communication units, so that the control system of the mining platform can cooperatively control the material connection positions between adjacent devices according to the positioning information of the devices. The application can realize the cooperative control and automatic connection of devices in each link of open-pit mining operations, improve the mining efficiency and reduce the labor cost.

Description

Technical Field

[0001] This application relates to the field of coal mining technology, and more specifically, to a mining platform, control system, and control method. Background Technology

[0002] In open-pit mining operations, the production processes of extraction, transshipment, transportation, and crushing constitute a continuous mining operation line, involving multiple complex procedures from ore cutting to final ore transportation. Currently, each of these processes typically relies heavily on manual labor for operation and equipment maintenance, resulting in high labor costs.

[0003] In traditional mining operations, material coordination between various pieces of equipment, such as the receiving alignment between mining and transfer equipment, and the loading coordination between transfer and transport equipment, typically requires manual operation and adjustment based on experience. This results in fluctuations in the accuracy and efficiency of alignment and positioning, and a low level of automation. Furthermore, the harsh working environment and the long distance between the working face and the control center make it difficult to guarantee the real-time performance and stability of communication, leading to untimely remote monitoring and dispatch responses, which in turn affects mining efficiency.

[0004] Therefore, how to improve mining efficiency and reduce labor costs while achieving coordinated control and automatic connection of equipment in various stages of open-pit mining operations has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a mining platform that can improve mining efficiency and reduce labor costs while realizing the coordinated control and automatic connection of equipment in various stages of open-pit mining operations.

[0006] Another objective of this application is to provide a control system applicable to the aforementioned mining platform.

[0007] Another objective of this application is to provide a control method applicable to the aforementioned control system.

[0008] To achieve the above objectives, this application provides the following technical solution:

[0009] A mining platform includes mining equipment, buffer and transfer equipment, transportation equipment, and downstream processing equipment, wherein:

[0010] The mining equipment can travel along a preset mining area and mine the ore to output the ore.

[0011] The buffer transfer device can move with the mining equipment and receive the ore output by the mining equipment;

[0012] The transport equipment can reciprocate between the unloading position of the buffer transfer equipment and the loading position of the downstream processing equipment to receive and transfer the ore output by the buffer transfer equipment;

[0013] The downstream processing equipment is used to receive and process the ore transferred by the transport equipment;

[0014] The mining equipment, the buffer transfer equipment, the transportation equipment, and the downstream processing equipment all have positioning units and communication units, so that the control system of the mining platform can coordinate the material connection positions between adjacent equipment based on the positioning information of each equipment.

[0015] Optionally, in the above-mentioned mining platform, the buffer transfer device includes a receiving section and a discharging section. The receiving section is provided with a feed inlet, which is used to align with the discharging end of the mining equipment. The discharging section is provided with a discharge outlet, which is used to align with the hopper of the transport equipment.

[0016] Optionally, in the above-mentioned mining platform, the buffer transfer device further includes a traveling mechanism, a conveying mechanism, and a discharge adjustment mechanism. The traveling mechanism is used to adjust the position of the buffer transfer device relative to the mining equipment. The conveying mechanism is used to transport the ore received by the receiving part to the position of the discharge part. The discharge adjustment mechanism is used to adjust the opening of the discharge port.

[0017] Optionally, in the above-mentioned mining platform, the mining equipment includes at least one of a continuous mining machine, an electric shovel, and a tracked twin-drum mining machine; and / or,

[0018] The downstream processing equipment includes at least one of a crushing station and a transfer conveyor.

[0019] Optionally, in the above-mentioned mining platform, the transportation equipment is an unmanned mining truck. The unmanned mining truck is equipped with a domain controller, an environmental perception component, and a positioning component. The environmental perception component includes at least one of lidar, millimeter-wave radar, and depth camera. The positioning component includes a satellite positioning unit and / or an inertial navigation unit.

[0020] A control system suitable for a mining platform as described in any of the preceding claims, comprising:

[0021] A mining equipment subsystem is used to collect the status information and first positioning information of the mining equipment and control the movement, mining and unloading of the mining equipment.

[0022] A buffer transfer equipment subsystem is provided, which is used to collect the status information and second positioning information of the buffer transfer equipment and control the buffer transfer equipment to follow the movement of the mining equipment, so as to receive the ore output by the mining equipment and transport it to the transportation equipment.

[0023] A transportation scheduling subsystem is used to collect the status information and third positioning information of the transportation equipment and schedule the transportation equipment to run between the buffer transfer equipment and the downstream processing equipment.

[0024] The downstream processing equipment subsystem is used to collect the status information and fourth positioning information of the downstream processing equipment, and to control the downstream processing equipment to receive, process and output ore.

[0025] The management and control platform is communicatively connected to the mining equipment subsystem, the buffer transfer equipment subsystem, the transportation scheduling subsystem, and the downstream processing equipment subsystem. The management and control platform can remotely and centrally manage and coordinate multiple devices based on the first positioning information, the second positioning information, the third positioning information, and the fourth positioning information.

[0026] Optionally, in the above control system, the management platform can generate a first centering control command based on the first positioning information and the second positioning information, so that the receiving part of the buffer transfer device is located below the unloading end of the mining device.

[0027] Optionally, in the above control system, the management platform can generate a second centering control command based on the second positioning information and the third positioning information, so that the unloaded transport equipment runs to the unloading port of the buffer transfer equipment.

[0028] Optionally, in the above control system, the transportation scheduling subsystem can generate a driving path based on the third positioning information, the fourth positioning information, and the preset map, and control the loaded transportation equipment to run along the driving path to the loading position of the downstream processing equipment.

[0029] Optionally, in the above control system, the transportation scheduling subsystem can also be used to obtain the hopper loading capacity of the transportation equipment, and when the hopper loading capacity reaches the preset loading capacity, the transportation scheduling subsystem can send a stop unloading command to the buffer transfer equipment subsystem.

[0030] Optionally, in the above control system, the management platform includes at least one of a basic file module, a data display module, a video monitoring module, a safety early warning module, a production report module, and a digital twin module.

[0031] Optionally, in the above control system, the downstream processing equipment subsystem includes a crushing subsystem and a transfer subsystem. The crushing subsystem is used to collect the status information and positioning information of the crushing station and control the crushing station to receive the ore unloaded by the transport equipment, so as to crush the ore and output the crushed ore to the transfer conveyor. The transfer subsystem is used to collect the status information and positioning information of the transfer conveyor and control the transfer conveyor to receive the ore output by the crushing station and transfer it to a preset destination.

[0032] Optionally, in the above control system, the mining equipment subsystem, the buffer transfer equipment subsystem, the transportation scheduling subsystem, and the downstream processing equipment subsystem respectively interact with the local control system of the corresponding equipment through a bus and / or a switch, and obtain remote control rights of the corresponding equipment after the corresponding equipment switches to remote control mode.

[0033] A control method applicable to a control system as described in any of the preceding claims, comprising:

[0034] Step S1: Obtain the first positioning information of the mining equipment, the second positioning information of the buffer transfer equipment, the third positioning information of the transportation equipment, and the fourth positioning information of the downstream processing equipment;

[0035] Step S2: Based on the first positioning information of the mining equipment and the second positioning information of the buffer transfer equipment, control the buffer transfer equipment to move with the mining equipment and align the receiving part of the buffer transfer equipment with the unloading end of the mining equipment;

[0036] Step S3: Based on the second positioning information of the buffer transfer device and the third positioning information of the transport device, schedule the unloaded transport device to the unloading position of the buffer transfer device, and align the transport device with the unloading section of the buffer transfer device;

[0037] Step S4: Control the mining equipment to extract ore and transfer the ore to the transport equipment via the buffer transfer device;

[0038] Step S5: After the transport equipment completes loading, the transport equipment is controlled to run to the loading position of the downstream processing equipment and unload the material according to the third positioning information of the transport equipment and the fourth positioning information of the downstream processing equipment.

[0039] Step S6: Control the downstream processing equipment to process and output the unloaded ore.

[0040] Optionally, in the above control method, in step S4, the buffer transfer device can control the conveying mechanism and unloading adjustment mechanism of the buffer transfer device according to the arrival status of the transport device, the hopper loading capacity and the material level in the receiving section of the buffer transfer device;

[0041] When the transport equipment has not reached the unloading position of the buffer transfer equipment, the receiving part of the buffer transfer equipment can temporarily store the ore.

[0042] When the transport equipment arrives at the unloading position of the buffer transfer equipment, the buffer transfer equipment can start the conveying mechanism of the buffer transfer equipment and open the unloading port of the buffer transfer equipment through the unloading adjustment mechanism for loading.

[0043] When the hopper of the transport equipment reaches the preset loading capacity, the buffer transfer equipment stops unloading or closes the unloading port of the buffer transfer equipment through the unloading adjustment mechanism.

[0044] Optionally, in the above control method, in step S5, the transportation scheduling subsystem can adjust the travel path, departure interval and unloading sequence of the transportation equipment according to the road traffic conditions, the location of the transportation equipment, the material receiving status of the crushing station of the downstream processing equipment and the operating status of the transfer conveyor.

[0045] Optionally, in the above control method, in step S6, the crushing subsystem of the downstream processing equipment subsystem can adjust the operating parameters of the crushing station according to the material level, crushing load, feeder operating status and over-limit material identification results of the crushing station of the downstream processing equipment.

[0046] The downstream processing equipment subsystem's transfer and transmission subsystem can adjust its start / stop or frequency conversion speed regulation based on the load, speed, foreign object identification, and fault status of the downstream processing equipment's transfer and transmission machine.

[0047] The mining platform provided in this application equips mining equipment, buffer transfer equipment, transportation equipment, and downstream processing equipment with positioning and communication units. This enables the platform's control system to acquire the precise location information of each device in real time. Based on the positioning information between adjacent devices, it coordinates the material connection positions, achieving automated and precise alignment and material connection between mining equipment and buffer transfer equipment, and between buffer transfer equipment and transportation equipment. This replaces the traditional method of relying on manual experience for alignment and positioning, effectively shortening alignment time and improving connection accuracy. Simultaneously, because each device has a communication unit, its operating status, location information, and fault data can be uploaded to the control system's central control center in real time. This allows remote operators to centrally monitor and schedule the entire mining process, significantly reducing reliance on on-site personnel and lowering labor costs. Furthermore, through positioning information and collaborative control strategies, the system automatically optimizes and executes the connection scheduling between devices, avoiding equipment idling and ineffective waiting caused by delays or errors in manual operation, significantly improving the continuity and operational efficiency of the entire mining line.

[0048] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are those explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0050] Figure 1 This is a schematic diagram of the structure of a mining platform provided in an embodiment of this application;

[0051] Figure 2 A partial schematic diagram of a mining platform provided in an embodiment of this application;

[0052] Figure 3 A schematic diagram of the control system provided in an embodiment of this application;

[0053] Figure 4 A schematic diagram of the control platform provided in the embodiments of this application;

[0054] Figure 5 A schematic diagram illustrating the interaction between the mining equipment subsystem and the on-site control system of the mining equipment provided in this application embodiment;

[0055] Figure 6 A flowchart of the control method provided in the embodiments of this application;

[0056] The annotations in the attached figures are explained as follows:

[0057] Among them, 100 is a mining platform, 101 is mining equipment, 102 is a buffer transfer device, 1021 is a receiving section, 1021a is a feed inlet, 1022 is a discharge section, 1022a is a discharge outlet, 1023 is a traveling mechanism, 1024 is a conveying mechanism, 103 is a transportation device, 104 is a downstream processing device, 1041 is a crushing station, and 1042 is a transfer conveyor.

[0058] 200 is the control system; 201 is the mining equipment subsystem; 202 is the buffer and transfer equipment subsystem; 203 is the transportation scheduling subsystem; 204 is the downstream processing equipment subsystem; 2041 is the crushing and processing subsystem; 2042 is the transfer and transmission subsystem; 205 is the management and control platform; 2051 is the basic file module; 2052 is the data display module; 2053 is the video monitoring module; 2054 is the safety early warning module; 2055 is the production report module; 2056 is the digital twin module; 206 is the continuous mining machine local control system; 2061 is the power supply slip ring box unit; 2062 is the incoming medium voltage line. Cabinet units: 2063 is the medium-voltage transformer unit, 2064 is the low-voltage incoming line cabinet unit, 2065 is the PLC control cabinet, 2066 is the cutting section control unit, 2067 is the shovel section control unit, 2068 is the transportation section control unit, 2069 is the track drive section control unit, 2070 is the unloading section control unit, 2071 is the hydraulic system control unit, 2072 is the cooling system control unit, 2073 is the dust removal system control unit, 2074 is the auxiliary system control unit, 2075 is the operation console, 2076 is the monitoring system, 2077 is the protection monitoring system, and 2078 is the display screen. Detailed Implementation

[0059] The core of this application is to provide a mining platform that can improve mining efficiency and reduce labor costs while achieving coordinated control and automatic connection of equipment in various stages of open-pit mining operations.

[0060] Another core aspect of this application is to provide a control system suitable for the aforementioned mining platform.

[0061] Another core aspect of this application is to provide a control method applicable to the aforementioned control system.

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] Traditional open-pit coal mining operations typically involve multiple production stages, including coal cutting, ore buffering, mine truck transportation, ore crushing, and belt conveyor transfer. In existing technologies, these stages are usually completed independently by different equipment, resulting in low information sharing between the devices. Furthermore, operations such as equipment positioning, material unloading alignment, mine truck scheduling, crushing, and conveyor output often rely on manual experience for control. This leads to long alignment times, low scheduling efficiency, high labor costs, and problems such as untimely remote monitoring, equipment idling, and frequent start-ups and shutdowns under harsh working conditions.

[0064] Therefore, such as Figure 1 As shown in the illustration, this application discloses a mining platform 100, including mining equipment 101, buffer transfer equipment 102, transportation equipment 103, and downstream processing equipment 104. By equipping each of the mining equipment 101, buffer transfer equipment 102, transportation equipment 103, and downstream processing equipment 104 with positioning and communication units, the control system 200 of the mining platform 100 can acquire the precise location information of each device in real time. Based on the positioning information between adjacent devices, it can coordinate the control of material connection positions, thereby achieving automated and precise alignment and material connection between the mining equipment 101 and the buffer transfer equipment 102, and between the buffer transfer equipment 102 and the transportation equipment 103. This replaces the traditional operation method that relies on manual experience for centering and positioning, effectively shortening alignment time and improving connection accuracy. Simultaneously, since each device has a communication unit, the operating status, location information, and fault data of each device can be uploaded to the central control center of the control system 200 in real time. This allows remote operators to centrally monitor and schedule the entire mining process, significantly reducing reliance on on-site personnel and lowering labor costs. Furthermore, through location information and collaborative control strategies, the system automatically optimizes and executes the connection and scheduling between various devices, avoiding equipment idling and ineffective waiting caused by delays or errors in manual operation, and significantly improving the continuity and operational efficiency of the entire mining operation line.

[0065] The following will combine Figure 1 and Figure 2 The mining platform 100 disclosed in the embodiments of this application will be explained and described in detail.

[0066] like Figure 1As shown, the mining equipment 101 can move along a preset mining area and mine ore to output ore, while the buffer transfer equipment 102 can move with the mining equipment 101 and receive the ore output by the mining equipment 101. Simultaneously, the transport equipment 103 can reciprocate between the unloading position of the buffer transfer equipment 102 and the loading position of the downstream processing equipment 104 to receive and transfer the ore output by the buffer transfer equipment 102, and the downstream processing equipment 104 receives and processes the ore transferred by the transport equipment 103. Furthermore, the mining equipment 101, buffer transfer equipment 102, transport equipment 103, and downstream processing equipment 104 all have positioning units and communication units, enabling the control system 200 of the mining platform 100 to coordinately control the material connection positions between adjacent equipment based on the positioning information of each device.

[0067] In some embodiments, the positioning unit can collect at least one of the following information: position, attitude, heading angle, speed, running trajectory, and position of material connection points of the corresponding equipment. The positioning unit may include at least one of the following: a satellite positioning module, an inertial navigation module, an odometer, an encoder, a laser positioning module, a visual positioning module, an ultra-wideband positioning module, and a radio frequency identification (RFID) positioning module. The satellite positioning module may employ at least one of the following: a BeiDou positioning module, a GPS positioning module, a GLONASS positioning module, and a Galileo positioning module. The inertial navigation module may include at least one of the following: an inertial measurement unit, a gyroscope, and an accelerometer. The visual positioning module may include at least one of the following: a monocular camera, a binocular camera, a depth camera, and an industrial camera. Through a combination of one or more of the above positioning methods, the positions of each piece of equipment and the relative positions between adjacent equipment can be collected and verified under different working conditions, such as good satellite signal conditions in open-pit mines, satellite signal obstruction, high dust levels, or high alignment accuracy requirements at loading and unloading points. This provides a positioning basis for the control system 200 to perform coordinated control of material connection positions.

[0068] In some embodiments, the communication unit can transmit at least one of the following: location information, status information, control commands, alarm information, video data, and production data between the corresponding device and the control subsystem, management platform 205, adjacent devices, or local control system. The communication unit may include at least one of the following: wireless communication module, wired communication module, short-range communication module, vehicle-mounted communication module, and industrial network communication module. The wireless communication module may include at least one of the following: 5G communication module, 4G communication module, WiFi communication module, private network wireless communication module, microwave communication module, wireless bridge communication module, and satellite communication module; the wired communication module may include at least one of the following: fiber optic communication module, Ethernet communication module, industrial Ethernet communication module, and cable communication module; the short-range communication module may include at least one of the following: Bluetooth communication module, ZigBee communication module, LoRa communication module, UWB communication module, and RFID communication module; the vehicle communication module may include at least one of the following: V2X communication module, vehicle Ethernet communication module, and CAN communication module; and the industrial network communication module may include at least one of the following: CAN bus module, RS485 communication module, RS232 communication module, Profibus communication module, Profinet communication module, Modbus communication module, EtherCAT communication module, and OPC UA communication module.

[0069] In the above embodiments, the mining equipment 101, buffer transfer equipment 102, transportation equipment 103, and downstream processing equipment 104 are all equipped with positioning units and communication units, enabling the control system 200 to acquire the position, operating status, and operation information of each device in real time. The control system can also control the material connection position based on the positional relationship between adjacent devices. For example, based on the positional relationship between the mining equipment 101 and the buffer transfer equipment 102, the control system 200 can make the buffer transfer equipment 102 follow the mining equipment 101 and maintain material alignment. It can also, based on the positional relationship between the buffer transfer equipment 102 and the transportation equipment 103, schedule the unloaded transportation equipment 103 to the unloading position of the buffer transfer equipment 102 and complete loading alignment. Similarly, based on the positional relationship between the transportation equipment 103 and the downstream processing equipment 104, the control system can control the loaded transportation equipment 103 to travel to the loading position of the downstream processing equipment 104 for unloading. This allows for continuous collaborative operation of mining, transfer, transportation, crushing, and transshipment processes, reducing manual intervention and equipment downtime, and improving overall mining efficiency.

[0070] In some embodiments, such as Figure 2As shown, the mining equipment 101 can be a continuous mining machine, which can travel along a preset trajectory in the coal seam or ore storage area and cut the ore through the cutting section. Specifically, the continuous mining machine can move forward, backward, and turn through the track drive unit, cut the ore through the cutting section, collect the falling ore through the shovel section to the internal transport section, and then transport the ore to the unloading end, and output the ore to the buffer transfer equipment 102 through the unloading end. Of course, the continuous mining machine can also be equipped with functional units such as spraying, cooling, dust removal, hydraulics, protection monitoring, and video monitoring to meet the needs of high dust, high load, and continuous operation in open-pit coal mines.

[0071] Of course, the mining equipment 101 may be, but is not limited to, a continuous mining machine. In other embodiments, the mining equipment 101 may also include an electric shovel, a tracked twin-drum mining machine, or other mobile mining equipment capable of mining and outputting ore. That is, any equipment that can move along a preset mining area to mine and output ore to the subsequent buffer transfer equipment 102 can be used as the mining equipment 101 in this application.

[0072] In some embodiments, such as Figure 2 As shown, the buffer transfer device 102 can be a self-moving buffer bin, and the buffer transfer device 102 can be set between the mining equipment 101 and the transportation equipment 103 to serve as a receiving, temporary storage, buffering, and transfer device when the mining equipment 101 continuously outputs ore, thereby reducing downtime caused by inconsistent cycle times between the mining equipment 101 and the transportation equipment 103. Specifically, as Figure 2 As shown, the buffer transfer device 102 may include a receiving section 1021 and a discharging section 1022. The receiving section 1021 is provided with a feed inlet 1021a, which is aligned with the discharging end of the mining equipment 101. The discharging section 1022 is provided with a discharge port 1022a, which is aligned with the hopper of the transport equipment 103. When the mining equipment 101 continuously mines and outputs ore, the buffer transfer device 102 receives the ore discharged from the mining equipment 101 through its receiving section 1021. After entering the buffer transfer device 102, the ore can be temporarily stored within the buffer transfer device 102 before being discharged into the hopper of the transport equipment 103 through the discharge port 1022a.

[0073] In the above embodiments, by providing a receiving section 1021 and a discharging section 1022 on the buffer transfer device 102, the buffer transfer device 102 can simultaneously adapt to the discharging end of the front-end mining device 101 and the hopper position of the rear-end transport device 103. By aligning the receiving section 1021 with the discharging end of the mining device 101, ore spillage can be reduced and receiving stability improved. Furthermore, aligning the discharging section 1022 with the hopper of the transport device 103 can improve loading efficiency and avoid problems such as uneven loading, spillage, or insufficient loading.

[0074] In some embodiments, such as Figure 2 As shown, the buffer transfer device 102 may further include a traveling mechanism 1023, a conveying mechanism 1024, and a discharge adjustment mechanism. The traveling mechanism 1023 can adjust the position of the buffer transfer device 102 relative to the mining equipment 101, and the conveying mechanism 1024 can transport the ore received by the receiving section 1021 to the discharge section 1022. Simultaneously, the discharge adjustment mechanism can adjust the opening degree of the discharge port 1022a. Specifically, the traveling mechanism 1023 can be a tracked traveling mechanism to adapt to the uneven ground, high dust levels, and heavy-load operation conditions of open-pit coal mine working faces. The buffer transfer device 102 can move forward, backward, or turn via the traveling mechanism 1023, ensuring that its receiving section 1021 is always kept below the discharge end of the mining equipment 101 or within a preset receiving range. The conveying mechanism 1024 can be a plate feeder, scraper conveyor, belt conveyor, or other mechanism capable of conveying ore inside the buffer transfer device 102. The unloading adjustment mechanism may include a gate, a chute adjustment mechanism, a valve plate, or other structures used to adjust the opening of the unloading port 1022a, so as to adjust the unloading amount according to the position of the hopper of the conveying equipment 103, the loading amount, or the loading speed. For example, the unloading adjustment mechanism may include a cover plate and a telescopic cylinder, and the cylinder body of the telescopic cylinder may be fixed on the side wall of the unloading port 1022a. At the same time, the piston rod of the telescopic cylinder may be connected to the cover plate, so as to change the outlet area of ​​the unloading port 1022a blocked by the cover plate through the telescopic action of the telescopic cylinder, thereby realizing the adjustment of the opening of the unloading port 1022a.

[0075] In the above embodiments, through the cooperation of the walking mechanism 1023, the conveying mechanism 1024, and the unloading adjustment mechanism, the buffer transfer device 102 can not only follow the mining equipment 101, but also control the start, speed, and stop of unloading according to the arrival status of the transport equipment 103. For example, when the unloaded transport equipment 103 has not reached the unloading port 1022a, the buffer transfer device 102 can temporarily store the ore output by the mining equipment 101, and the unloading port 1022a can be closed at this time. When the transport equipment 103 arrives, the buffer transfer device 102 unloads the ore to the transport equipment 103 through the conveying mechanism 1024 and the unloading adjustment mechanism. When the hopper loading capacity of the transport equipment 103 reaches the preset loading capacity, the opening of the unloading port 1022a can be closed or reduced through the unloading adjustment mechanism, thereby stopping or slowing down the unloading.

[0076] In some embodiments, such as Figure 1 and Figure 2As shown, the transportation equipment 103 can be an unmanned mining truck, which can be equipped with a domain controller, an environmental perception component, and a positioning component. The environmental perception component can include at least one of LiDAR, millimeter-wave radar, and a depth camera, and the positioning component can include a satellite positioning unit and / or an inertial navigation unit. Specifically, the domain controller, as the onboard control core of the unmanned mining truck, can receive scheduling tasks, path information, and operating instructions issued by the transportation scheduling subsystem 203 of the control system 200, and perform driving control by combining the vehicle's own positioning information, environmental perception information, and vehicle status information. Simultaneously, the environmental perception component can identify targets such as road boundaries, obstacles, other vehicles, operating equipment, and personnel to improve the driving safety of the unmanned mining truck in harsh environments such as high dust levels, rain, snow, and bumpy roads in open-pit coal mines. The positioning component can use a satellite positioning unit, or it can use a fusion of a satellite positioning unit and an inertial navigation unit to obtain the vehicle's position and attitude information even when satellite signals are weak or temporarily blocked.

[0077] In the above embodiments, by equipping the transport equipment 103 with unmanned driving capabilities, the transport equipment 103 can automatically reciprocate between the unloading position of the buffer transfer equipment 102 and the loading position of the downstream processing equipment 104. When the transport equipment 103 is in an unloaded state, the transport scheduling subsystem 203 of the control system 200 can control it to travel along a preset map or planned path to the unloading port 1022a of the buffer transfer equipment 102 for loading; after the transport equipment 103 has completed loading, the transport scheduling subsystem 203 can control it to travel along a planned path to the loading position of the downstream processing equipment 104 for unloading, thereby reducing the number of mining truck drivers required, lowering labor costs, and improving the safety and continuity of the transportation process.

[0078] In some embodiments, the downstream processing equipment 104 may include at least one of a crushing station 1041 and a transfer conveyor 1042, that is, the downstream processing equipment 104 may be composed of either the crushing station 1041 or the transfer conveyor 1042, or it may be composed of both the crushing station 1041 and the transfer conveyor 1042. The crushing station 1041 receives the ore unloaded from the transport equipment 103 and crushes it, while the transfer conveyor 1042 receives the ore output from the crushing station 1041 and transfers it to a predetermined destination. The transfer conveyor 1042 may be a conveyor belt conveyor, a high-angle conveyor, a belt conveyor, or other transfer equipment capable of conveying crushed ore. Specifically, the transport equipment 103 transports the ore to the loading position of the crushing station 1041 and unloads the ore from the hopper into the receiving hopper of the crushing station 1041. The crushing station 1041 can crush the ore through its internal toothed roller crushing mechanism, and output the crushed ore to the transfer conveyor 1042 through a plate feeder or other feeding device. After receiving the crushed ore, the transfer conveyor 1042 can transport the ore out of the pit or to a subsequent stockpile, processing station or other preset destination.

[0079] In the above embodiments, the downstream processing equipment 104 is no longer merely a passive receiving device, but is integrated into the collaborative control chain of the entire mining platform through the control system 200. The control system 200 can acquire the status and location information of the downstream processing equipment 104, and perform coordinated control based on the receiving capacity of the crushing station 1041, the conveying capacity of the transfer conveyor 1042, and the operating status of the transportation equipment 103, thereby reducing situations such as mine blockage waiting for unloading, crushing station blockage, and transfer conveyor being unloaded or overloaded.

[0080] like Figure 3 As shown in the embodiments, this application also discloses a control system 200, and the control system 200 is applicable to the mining platform 100 disclosed in the above embodiments. Therefore, it has all the technical effects of the mining platform 100, which will not be repeated here.

[0081] Among them, such as Figure 3As shown, the control system 200 may include a mining equipment subsystem 201, a buffer transfer equipment subsystem 202, a transportation scheduling subsystem 203, a downstream processing equipment subsystem 204, and a management and control platform 205. The management and control platform 205 can communicate with each of the mining equipment subsystem 201, the buffer transfer equipment subsystem 202, the transportation scheduling subsystem 203, and the downstream processing equipment subsystem 204 to achieve remote centralized management and control and multi-machine collaborative control. Specifically, the management and control platform 205 can interact with each subsystem via wireless communication, fiber optic communication, or a combination of both. Each subsystem can upload its corresponding equipment's location information, operating status, fault alarms, video monitoring data, production data, and energy consumption data to the management and control platform 205. The management and control platform 205 can then centrally display, remotely control, schedule decisions, and collaboratively control based on this information.

[0082] In some embodiments, such as Figure 5 As shown, the mining equipment subsystem 201 can collect the status information and first positioning information of the mining equipment 101, and control the movement, mining, and unloading of the mining equipment 101. Specifically, when the mining equipment 101 is a continuous mining machine, the mining equipment subsystem 201 can be installed on the continuous mining machine and interact with the local control system 206 of the continuous mining machine through a bus and / or switch. The mining equipment subsystem 201 can collect information such as the cutting height, liquid temperature and level, motor temperature, walking speed, cooling water pressure, motor current, incoming line voltage, machine posture, equipment faults, and monitoring video of the continuous mining machine, and can control the start and stop, cutting and mining, track traction walking, spraying, shovel lifting, ore conveying, and unloading of the continuous mining machine in remote control mode.

[0083] In some embodiments, such as Figure 5 As shown, the local control system 206 of the continuous mining machine may include a power supply slip ring box unit 2061, an incoming medium-voltage cabinet unit 2062, a medium-voltage transformer unit 2063, a low-voltage incoming cabinet unit 2064, a PLC control cabinet 2065, a cutting section control unit 2066, a shovel section control unit 2067, a transportation section control unit 2068, a track drive section control unit 2069, a unloading section control unit 2070, a hydraulic system control unit 2071, a cooling system control unit 2072, a dust removal system control unit 2073, an auxiliary system control unit 2074, an operation console 2075, a monitoring system 2076, a protection and monitoring system 2077, and a display screen 2078. The protection and monitoring system 2077 can transmit signals from various sensors on the machine body to the PLC control cabinet 2065 and display the real-time operating status on the display screen 2078. Simultaneously, the monitoring system 2076 can transmit camera signals from key locations on the machine body to the display screen 2078 via a switch, facilitating personnel observation of the surrounding environment.

[0084] In the above embodiments, the mining equipment subsystem 201 can remotely control the mining equipment 101 while retaining its local control function and local control priority. That is, when the mining equipment 101 is in local control mode, on-site personnel can directly control the equipment through the operation console 2075; when the mining equipment 101 switches to remote control mode, the control system 200 can obtain remote control rights of the mining equipment 101 through the mining equipment subsystem 201, thereby completing the start-up, shutdown, movement, cutting, and unloading control of the mining equipment 101 at the remote control center. This ensures both the realization of remote intelligent control and the ability of on-site personnel to take over the equipment at any time when necessary, thus improving system safety.

[0085] In some embodiments, such as Figure 3 As shown, the buffer transfer equipment subsystem 202 can collect the status information and second positioning information of the buffer transfer equipment 102, and control the buffer transfer equipment 102 to move with the mining equipment 101 to receive the ore output by the mining equipment 101 and transport it to the transportation equipment 103. Specifically, the buffer transfer equipment subsystem 202 can be installed on the self-moving buffer silo and interact with the local control system of the self-moving buffer silo through a bus and / or switch. The buffer transfer equipment subsystem 202 can collect information such as the body position, walking status, material level in the silo, operating status of the conveying mechanism, opening and closing status of the discharge port, fault alarms, and video monitoring data of the buffer transfer equipment 102. When the buffer transfer equipment 102 switches to remote control mode, the control system 200 can obtain control of the buffer transfer equipment 102 through the buffer transfer equipment subsystem 202, and then remotely control the buffer transfer equipment 102 to start and stop, track movement, start and stop and speed adjustment of the plate feeder, and open and close the discharge port. At the same time, the buffer transfer equipment subsystem 202 can also transmit the machine status information and key position monitoring video to the remote control center through wireless communication or fiber optic communication, and the control platform 205 will display it in real time.

[0086] In the above embodiments, the buffer transfer equipment subsystem 202 can control the buffer transfer equipment 102 to maintain a following relationship with the mining equipment 101 according to the first positioning information and the second positioning information, so that the receiving part 1021 of the buffer transfer equipment 102 is located below the unloading end of the mining equipment 101. It can also control the opening and closing of the unloading port 1022a and the unloading amount according to the arrival status of the transport equipment 103, thereby realizing buffering and continuous transfer between the mining equipment 101 and the transport equipment 103.

[0087] In some embodiments, such as Figure 3As shown, the transportation scheduling subsystem 203 can collect the status information and third positioning information of the transportation equipment 103, and schedule the transportation equipment 103 to run between the buffer transfer equipment 102 and the downstream processing equipment 104. The transportation scheduling subsystem 203 can also communicate with the on-board domain controller of each transportation equipment 103 to obtain the position, speed, load, hopper loading capacity, operating status, fault information, and environmental perception information of each transportation equipment 103. Specifically, the transportation scheduling subsystem 203 can be mounted on the transportation equipment 103 and interact with the local control system of the transportation equipment 103 via a bus and / or switch. The transportation scheduling subsystem 203 can generate a driving path based on the third positioning information of the transportation equipment 103, the fourth positioning information of the downstream processing equipment 104, and a preset map, and control the loaded transportation equipment 103 to run along the driving path to the loading position of the downstream processing equipment 104. The preset map may include information such as working face roads, unloading location of buffer transfer equipment 102, unloading point of crushing station 1041, meeting areas, restricted areas, speed limit areas, and safety areas. The transportation scheduling subsystem 203 can generate or adjust the travel path of transportation equipment 103 based on the current location, loading status, road traffic conditions, and receiving status of downstream processing equipment 104. When the transport equipment 103 switches to remote control mode, the domain controller on the transport equipment 103 receives control commands issued by the control system 200 through the transport scheduling subsystem 203, enabling the control system 200 to obtain control of the transport equipment 103 through the transport scheduling subsystem 203. The domain controller drives the vehicle actuators according to the commands, thereby remotely controlling the start-up, shutdown, driving path, and unloading of the transport equipment 103. At the same time, the domain controller can collect the vehicle operation status data of the transport equipment 103 in real time. The transport scheduling subsystem 203 summarizes the equipment status information and key location monitoring videos, and then transmits them to the remote control center through wireless communication or fiber optic communication, where they are displayed in real time by the management and control platform 205.

[0088] In some embodiments, such as Figure 3 As shown, the transportation scheduling subsystem 203 can also acquire the hopper loading capacity of the transportation equipment 103, and send a stop unloading command to the buffer transfer equipment subsystem 202 when the hopper loading capacity reaches the preset loading capacity. The hopper loading capacity can be obtained through weighing sensors, level sensors, image recognition, vehicle suspension pressure information, or other methods that can reflect the hopper loading status. When the hopper loading capacity of the transportation equipment 103 has not reached the preset loading capacity, the buffer transfer equipment 102 can continue to unload material onto the transportation equipment 103; when the hopper loading capacity reaches the preset loading capacity, the transportation scheduling subsystem 203 sends a stop unloading command to the buffer transfer equipment subsystem 202, which then controls the unloading adjustment mechanism to close the unloading port 1022a or stop the conveying mechanism 1024, thereby preventing overload and spillage.

[0089] In the above embodiments, the transportation scheduling subsystem 203 can not only control the transportation equipment 103 to automatically run back and forth between the two end devices, but also associate the loading status of the transportation equipment 103 with the unloading control of the buffer transfer equipment 102, making the loading process more accurate and safer.

[0090] In some embodiments, such as Figure 3 As shown, the downstream processing equipment subsystem 204 can collect the status information and fourth positioning information of the downstream processing equipment 104, and control the downstream processing equipment 104 to receive, process, and output ore. The downstream processing equipment subsystem 204 may include a crushing subsystem 2041 and a transfer and transmission subsystem 2042. The crushing subsystem 2041 can collect the status information and positioning information of the crushing station 1041, and control the crushing station 1041 to receive the ore unloaded from the transport equipment 103 for crushing and outputting the crushed ore to the transfer and transmission machine 1042. Simultaneously, the transfer and transmission subsystem 2042 can collect the status information and positioning information of the transfer and transmission machine 1042, and control the transfer and transmission machine 1042 to receive the ore output from the crushing station 1041 and transfer it to a preset destination. Specifically, the crushing and processing subsystem 2041 can be installed on the crushing station 1041 and interact with the local control system of the crushing station 1041 via a bus and / or switch. The crushing and processing subsystem 2041 can collect data on the equipment start-up and shutdown status, toothed roller speed, feeder status, hopper material level, blockage status, over-limit material identification information, fault alarm information, and video monitoring information of the crushing station 1041. When the crushing station 1041 switches to remote control mode, the control system 200 can obtain control of the crushing station 1041 through the crushing and processing subsystem 2041, and then remotely control the start-up and shutdown of the crushing station 1041, the toothed roller crushing speed, the start-up and shutdown and speed adjustment of the plate feeder, the unloading point ore card command, and the over-limit material identification and crushing functions. The transfer and transmission subsystem 2042 can be installed on the transfer and transmission machine 1042 and interact with the local control system of the transfer and transmission machine 1042 via a bus and / or switch. The transfer and transmission subsystem 2042 can collect data on the start / stop status, operating speed, belt load, belt misalignment, belt tearing, foreign object identification, fault alarm information, and video monitoring information of the transfer and transmission machine 1042. When the transfer and transmission machine 1042 switches to remote control mode, the control system 200 can obtain control of the transfer and transmission machine 1042 through the transfer and transmission subsystem 2042, and then remotely control the start / stop, frequency conversion speed regulation, foreign object identification, and fault handling of the transfer and transmission machine 1042.

[0091] In the above embodiments, the crushing subsystem 2041 and the transfer subsystem 2042 can correspond to the crushing and processing stage and the transfer and output stage, respectively, thereby making the control of the downstream processing equipment 104 more precise and reliable. Specifically, the crushing subsystem 2041 can control the unloading point operation based on the arrival information of the transport equipment 103 and the material receiving status of the crushing station 1041, while the transfer subsystem 2042 can control the conveying speed or start / stop status based on the discharge status of the crushing station 1041 and its own load, thus achieving a continuous connection between the unloading of ore from the transport equipment 103, the crushing processing of the crushing station 1041, and the output of the transfer conveyor 1042.

[0092] In some embodiments, such as Figure 4 As shown, the management and control platform 205 may include at least one of the following: basic file module 2051, data display module 2052, video monitoring module 2053, security early warning module 2054, production report module 2055, and digital twin module 2056. That is, the management and control platform 205 may be composed of one or more of the above modules. The system includes several modules: a basic file module 2051, which manages basic personnel files, equipment files, and fault files; a data display module 2052, which displays output, process utilization rate, equipment energy consumption, equipment operating status, and platform reports; a video monitoring module 2053, which displays video feeds of mining equipment 101, buffer transfer equipment 102, transportation equipment 103, crushing station 1041, transfer conveyor 1042, and key locations on the working face; a safety early warning module 2054, which displays real-time equipment alarms, historical alarm lists, historical alarm statistics, and safety risk warnings; a production report module 2055, which generates daily production reports, inspection records, manual statistics, and shift handover records; and a digital twin module 2056, which displays the operating status of mining equipment 101, buffer transfer equipment 102, transportation equipment 103, crushing station 1041, transfer conveyor 1042, and real-time operational data correlation. The 205 management platform can remotely start and stop various subsystems, perform one-click sequential startup, fault alarms, equipment interlocking, video monitoring, data display, and digital twin display.

[0093] In the above embodiments, through the multiple functional modules of the control platform 205, the remote control center can centrally monitor, remotely control, analyze data, manage early warnings, and compile production statistics for the open-pit coal mine mixed mining operation line. Simultaneously, the control platform 205 can remotely start / stop, perform one-click sequential start-up, fault alarms, equipment interlocking, video monitoring, data display, and digital twin display for each subsystem. The digital twin module 2056 can map the real-time location information and operating status of each device into a virtual scene, allowing operators to intuitively grasp the spatial relationships and material connection status between devices, thereby improving the accuracy and timeliness of remote control.

[0094] In some embodiments, such as Figure 3 As shown, the control platform 205 can generate a first alignment control command based on the first positioning information and the second positioning information, so that the receiving part 1021 of the buffer transfer device 102 is located below the unloading end of the mining device 101. Specifically, the first positioning information may include the position, attitude, and unloading end position of the mining device 101, and the second positioning information may include the position, attitude, and receiving part 1021 position of the buffer transfer device 102. The control platform 205 can calculate the relative deviation between the unloading end of the mining device 101 and the receiving part 1021 of the buffer transfer device 102 based on the first positioning information and the second positioning information, and generate the first alignment control command based on the relative deviation. The buffer transfer device subsystem 202 can control the walking mechanism 1023 to move according to the first alignment control command, so that the receiving part 1021 is aligned with the unloading end of the mining device 101.

[0095] In the above embodiments, the control platform 205 generates a first centering control command based on the first positioning information and the second positioning information, which can replace the centering operation performed manually based on experience. This enables the buffer transfer device 102 to follow and adjust its position in real time during the movement of the mining equipment 101, reducing ore spillage and downtime adjustment time, and improving the connection efficiency between mining and transfer.

[0096] In some embodiments, the control platform 205 can generate a second alignment control command based on the second and third positioning information to cause the unloaded transport equipment 103 to run below the unloading port 1022a of the buffer transfer equipment 102. Specifically, the second positioning information may include the position, attitude, and unloading port 1022a position of the buffer transfer equipment 102, and the third positioning information may include the position, attitude, and hopper position of the transport equipment 103. The control platform 205 or the transport scheduling subsystem 203 can calculate the relative deviation between the hopper and the unloading port 1022a of the transport equipment 103 based on the second and third positioning information, and control the transport equipment 103 to automatically travel to the preset loading position, thereby aligning the hopper with the unloading port 1022a.

[0097] In the above embodiments, the control platform 205 generates a second centering control command based on the second and third positioning information, which can improve the accuracy of the loading position of the mining truck and avoid problems such as spillage, uneven loading, or low loading efficiency caused by deviations in the parking position of the mining truck. At the same time, when the transport equipment 103 is in an empty state, it can automatically drive to the loading position according to the preset map or scheduling instructions, thereby reducing manual command and waiting time.

[0098] In some embodiments, the mining equipment subsystem 201, the buffer transfer equipment subsystem 202, and the downstream processing equipment subsystem 204 can respectively interact with the local control system of the corresponding equipment via a bus and / or a switch, and obtain remote control rights of the corresponding equipment after the corresponding equipment switches to remote control mode. Specifically, each device can retain its local control function and local control priority. When the device is in local control mode, on-site personnel can directly control the device through the local control console; when the device switches to remote control mode, the control system 200 can issue control commands to the device through the corresponding subsystem.

[0099] In the above embodiments, by retaining local control functions and priorities, on-site personnel can take over the equipment during equipment debugging, maintenance, abnormal handling, or emergencies, thereby improving system safety and reliability; through remote control mode, the control system 200 can perform centralized management and multi-machine collaborative control during normal production, thereby reducing on-site personnel input and improving the level of intelligence.

[0100] like Figure 6 As shown in the embodiments, this application also discloses a control method, which is applicable to the control system 200 disclosed in the above embodiments. Therefore, it possesses all the technical effects of the above-described control system 200, and will not be repeated here. The control method may include the following steps:

[0101] Step S1 involves acquiring the first positioning information of the mining equipment 101, the second positioning information of the buffer transfer equipment 102, the third positioning information of the transportation equipment 103, and the fourth positioning information of the downstream processing equipment 104. Specifically, the first positioning information can be collected by a positioning unit installed on the mining equipment 101, the second positioning information can be collected by a positioning unit installed on the buffer transfer equipment 102, the third positioning information can be collected by a positioning component installed on the transportation equipment 103, and the fourth positioning information can be obtained by a positioning unit installed on the downstream processing equipment 104. This positioning information can be uploaded to the control system 200 through the communication units of each device and displayed and processed on the management platform 205.

[0102] Step S2: Based on the first positioning information of the mining equipment 101 and the second positioning information of the buffer transfer equipment 102, the buffer transfer equipment 102 is controlled to follow the mining equipment 101 and align the receiving part 1021 of the buffer transfer equipment 102 with the unloading end of the mining equipment 101. Specifically, the control system 200 can determine the target following position of the buffer transfer equipment 102 based on the walking trajectory, current position, attitude, and unloading end position of the mining equipment 101. At the same time, the buffer transfer equipment subsystem 202 controls the walking mechanism 1023 to move according to the target following position, so that the buffer transfer equipment 102 moves to a preset receiving position behind or to the side of the mining equipment 101, and the feed inlet 1021a of the receiving part 1021 is located below the unloading end of the mining equipment 101.

[0103] In the above steps, if the mining equipment 101 continues to move forward or adjust its direction during the mining process, the control system 200 can update the relative position between the mining equipment 101 and the buffer transfer equipment 102 in real time, and dynamically correct the walking command of the buffer transfer equipment 102 so that the buffer transfer equipment 102 always maintains a suitable distance and centering relationship with the mining equipment 101.

[0104] Step S3: Based on the second positioning information of the buffer transfer device 102 and the third positioning information of the transport device 103, the unloaded transport device 103 is scheduled to run to the unloading position of the buffer transfer device 102, and the transport device 103 is aligned with the unloading section 1022 of the buffer transfer device 102. Specifically, when the transport device 103 is in an unloaded state, the transport scheduling subsystem 203 can generate a driving path based on a preset map, the current position of the transport device 103, and the position of the unloading port 1022a of the buffer transfer device 102, and control the transport device 103 to travel along the driving path to below the unloading port 1022a. When the transport device 103 approaches the buffer transfer device 102, the transport scheduling subsystem 203 can perform precise positioning control based on the hopper position of the transport device 103 and the position of the unloading port 1022a of the buffer transfer device 102, so that the transport device 103 stops at the preset loading position.

[0105] In the above steps, environmental perception and positioning of the transport equipment 103 can be achieved through lidar, millimeter-wave radar, depth camera, satellite positioning unit and inertial navigation unit, thereby ensuring that the transport equipment 103 can safely and accurately reach the loading position in an unmanned driving state.

[0106] Step S4: The mining equipment 101 is controlled to extract ore, and the ore is transferred to the transport equipment 103 via the buffer transfer device 102. Specifically, the control system 200 can control the mining equipment 101 to move along a preset mining area or preset trajectory and perform mining operations. The ore extracted by the mining equipment 101 is output to the receiving section 1021 of the buffer transfer device 102 through its discharge end. After receiving the ore, the buffer transfer device 102 can transport the ore to the discharge section 1022 via the conveying mechanism 1024, and discharge the ore into the hopper of the transport equipment 103 through the discharge port 1022a.

[0107] In the above steps, the buffer transfer device 102 can control the conveying mechanism 1024 and the unloading adjustment mechanism according to the arrival status of the transport device 103, the hopper loading capacity, and the material level in its own bin. For example, when the transport device 103 is not in place, the buffer transfer device 102 can temporarily store the ore; when the transport device 103 arrives, the buffer transfer device 102 starts the conveying mechanism 1024 and opens the unloading port 1022a for loading; when the hopper loading capacity of the transport device 103 reaches the preset loading capacity, the buffer transfer device 102 stops unloading or closes the unloading port 1022a.

[0108] In step S5, after the transport equipment 103 completes loading, it can be controlled to move to the loading position of the downstream processing equipment 104 and unload material based on the third positioning information of the transport equipment 103 and the fourth positioning information of the downstream processing equipment 104. Specifically, when the hopper loading capacity of the transport equipment 103 reaches the preset loading capacity, the transport scheduling subsystem 203 can control the transport equipment 103 to leave the unloading position of the buffer transfer equipment 102, and generate a driving path based on the preset map, the current position of the transport equipment 103 and the loading position of the downstream processing equipment 104. The transport equipment 103 can travel along the driving path to the unloading point of the crushing station 1041 or the loading position of other downstream processing equipment 104, and perform the unloading action after arriving at the destination.

[0109] In the above steps, the transportation scheduling subsystem 203 can also adjust the driving path, departure interval and unloading sequence of the transportation equipment 103 according to the road traffic conditions, the location of other transportation equipment 103, the material receiving status of the crushing station 1041 and the operating status of the transfer conveyor 1042, so as to avoid congestion, waiting or equipment overload.

[0110] Step S6: Control the downstream processing equipment 104 to process and output the unloaded ore. Specifically, when the downstream processing equipment 104 includes a crushing station 1041 and a transfer conveyor 1042, the crushing subsystem 2041 can control the crushing station 1041 to receive the ore unloaded from the transport equipment 103, and crush the ore through the toothed roller crushing mechanism inside the crushing station 1041. The crushed ore can be output to the transfer conveyor 1042 via a plate feeder or other discharge device. The transfer conveyor subsystem 2042 controls the transfer conveyor 1042 to receive the ore output from the crushing station 1041 and transport the ore to a preset destination.

[0111] In the above steps, the crushing subsystem 2041 can adjust the operating parameters of the crushing station 1041 according to the material level in the receiving hopper of the crushing station 1041, the crushing load (toothed roller load), the operating status of the feeder, and the identification results of oversized materials; the transfer and transmission subsystem 2042 can adjust the start / stop or frequency conversion speed regulation according to the load, speed, foreign object identification, and fault status of the transfer and transmission machine 1042, thereby realizing continuous automated control from unloading from the mining truck, crushing and processing to transfer and output.

[0112] In some embodiments, the mining equipment 101 may be a continuous mining machine, the buffer transfer equipment 102 may be a self-propelled buffer bin, the transportation equipment 103 may be an unmanned mining truck, and the downstream processing equipment 104 may include a crushing station 1041 and a transfer conveyor 1042. The continuous mining machine travels along the preset mining area where the coal seam is located and performs cutting mining; the self-propelled buffer bin moves with the continuous mining machine, with its receiving section 1021 positioned below the unloading end of the continuous mining machine; the unmanned mining truck can travel to the unloading port 1022a of the self-propelled buffer bin according to scheduling instructions to complete loading; after loading, the unmanned mining truck travels along a preset map to the loading position of the crushing station 1041 to unload; the crushing station 1041 crushes the ore and outputs it to the transfer conveyor 1042; the transfer conveyor 1042 transports the ore out of the pit or to a preset destination.

[0113] In the above embodiments, the control system 200 can realize the coordinated control between the continuous mining machine, the self-propelled buffer silo, the unmanned mining truck, the crushing station 1041, and the transfer conveyor 1042. The alignment between the continuous mining machine and the self-propelled buffer silo, the loading alignment between the unmanned mining truck and the self-propelled buffer silo, the unloading scheduling between the unmanned mining truck and the crushing station 1041, and the output connection between the crushing station 1041 and the transfer conveyor 1042 can all be automatically completed by the control system 200 based on positioning information, status information, and preset control strategies, thereby replacing the traditional manual operation and manual command methods.

[0114] It should be noted that the above embodiments use a continuous mining machine, a self-propelled buffer bin, an unmanned mining truck, a crushing station 1041, and a transfer conveyor 1042 as examples, but this does not constitute a limitation on the scope of protection of this application. In other embodiments, the mining equipment 101 can be replaced by an electric shovel, a tracked double-drum mining machine, or other mining equipment; the buffer transfer equipment 102 can be other transfer equipment with receiving, buffering, and unloading functions; the transportation equipment 103 can be other transportation vehicles capable of reciprocating between the buffer transfer equipment 102 and the downstream processing equipment 104; the downstream processing equipment 104 can be selected from the crushing station 1041, the transfer conveyor 1042, or a combination of both, according to the on-site process requirements. The various subsystems in the control system 200 can also be added, removed, combined, or replaced according to the actual usage at the mine site. As long as information interaction, positioning coordination, and remote control between the various devices can be achieved, they should all fall within the scope of protection of this application.

[0115] The terminology used in the above embodiments is for the purpose of describing specific embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions "a," "an," "the," "the," "the," and "this" are intended to also include expressions such as "one or more," unless the context clearly indicates otherwise. It should also be understood that in the embodiments of this application, "one or more" refers to one, two, or more; "and / or" describes the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0116] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0117] The "multiple" mentioned in the embodiments of this application refers to two or more. It should be noted that in the description of the embodiments of this application, terms such as "first" and "second" are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0118] The terms "parallel" and "perpendicular" used in this application refer to "basically parallel" and "basically perpendicular" in practical operation. "Basically parallel" can be understood as parallelism with a certain degree of error, and similarly, "basically perpendicular" can be understood as perpendicularity with a certain degree of error.

[0119] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mining platform, characterized in that, It includes mining equipment (101), buffer and transfer equipment (102), transportation equipment (103), and downstream processing equipment (104), wherein: The mining equipment (101) can travel along a preset mining area and mine the ore to output the ore; The buffer transfer device (102) can move with the mining equipment (101) and receive the ore output by the mining equipment (101); The transport equipment (103) can reciprocate between the unloading position of the buffer transfer equipment (102) and the loading position of the downstream processing equipment (104) to receive and transfer the ore output by the buffer transfer equipment (102); The downstream processing equipment (104) is used to receive and process the ore transferred by the transport equipment (103); The mining equipment (101), the buffer transfer equipment (102), the transportation equipment (103), and the downstream processing equipment (104) all have positioning units and communication units, so that the control system (200) of the mining platform (100) can coordinate the material connection position between adjacent equipment according to the positioning information of each equipment.

2. The mining platform according to claim 1, characterized in that, The buffer transfer device (102) includes a receiving section (1021) and a discharging section (1022). The receiving section (1021) is provided with a feed inlet (1021a), which is used to align with the discharging end of the mining device (101). The discharging section (1022) is provided with a discharge port (1022a), which is used to align with the hopper of the transport device (103).

3. The mining platform according to claim 2, characterized in that, The buffer transfer device (102) further includes a walking mechanism (1023), a conveying mechanism (1024), and a discharge adjustment mechanism. The walking mechanism (1023) is used to adjust the position of the buffer transfer device (102) relative to the mining equipment (101). The conveying mechanism (1024) is used to transport the ore received by the receiving part (1021) to the position of the discharge part (1022). The discharge adjustment mechanism is used to adjust the opening of the discharge port (1022a).

4. The mining platform according to claim 1, characterized in that, The mining equipment (101) includes at least one of a continuous mining machine, an electric shovel, and a tracked twin-drum mining machine; and / or, The downstream processing equipment (104) includes at least one of a crushing station (1041) and a transfer conveyor (1042).

5. The mining platform according to claim 1, characterized in that, The transportation equipment (103) is an unmanned mining truck. The unmanned mining truck is equipped with a domain controller, an environmental perception component and a positioning component. The environmental perception component includes at least one of lidar, millimeter-wave radar and depth camera. The positioning component includes a satellite positioning unit and / or an inertial navigation unit.

6. A control system, characterized in that, Suitable for mining platforms (100) as described in any one of claims 1 to 5, comprising: The mining equipment subsystem (201) is used to collect the status information and first positioning information of the mining equipment (101) and control the movement, mining and unloading of the mining equipment (101); The buffer transfer equipment subsystem (202) is used to collect the status information and second positioning information of the buffer transfer equipment (102) and control the buffer transfer equipment (102) to follow the mining equipment (101) to receive the ore output by the mining equipment (101) and transport it to the transportation equipment (103). A transportation scheduling subsystem (203) is used to collect the status information and third positioning information of the transportation equipment (103) and schedule the transportation equipment (103) to operate between the buffer transfer equipment (102) and the downstream processing equipment (104); Downstream processing equipment subsystem (204) is used to collect the status information and fourth positioning information of the downstream processing equipment (104), and control the downstream processing equipment (104) to receive, process and output ore; The management and control platform (205) is connected to the mining equipment subsystem (201), the buffer transfer equipment subsystem (202), the transportation scheduling subsystem (203), and the downstream processing equipment subsystem (204) respectively. The management and control platform (205) can remotely centrally manage and control each device and perform multi-machine collaborative control based on the first positioning information, the second positioning information, the third positioning information, and the fourth positioning information.

7. The control system according to claim 6, characterized in that, The control platform (205) can generate a first centering control command based on the first positioning information and the second positioning information, so that the receiving part (1021) of the buffer transfer device (102) is located below the unloading end of the mining device (101).

8. The control system according to claim 6, characterized in that, The control platform (205) can generate a second centering control command based on the second positioning information and the third positioning information, so that the unloaded transport equipment (103) runs to the unloading port (1022a) of the buffer transfer equipment (102).

9. The control system according to claim 6, characterized in that, The transportation scheduling subsystem (203) can generate a driving path based on the third positioning information, the fourth positioning information and the preset map, and control the loaded transportation equipment (103) to run along the driving path to the loading position of the downstream processing equipment (104).

10. The control system according to claim 6, characterized in that, The transportation scheduling subsystem (203) can also be used to obtain the hopper loading capacity of the transportation equipment (103), and when the hopper loading capacity reaches the preset loading capacity, the transportation scheduling subsystem (203) can send a stop unloading command to the buffer transfer equipment subsystem (202).

11. The control system according to claim 6, characterized in that, The control platform (205) includes at least one of the following: basic file module (2051), data display module (2052), video monitoring module (2053), security early warning module (2054), production report module (2055), and digital twin module (2056).

12. The control system according to claim 6, characterized in that, The downstream processing equipment subsystem (204) includes a crushing subsystem (2041) and a transfer and transmission subsystem (2042). The crushing subsystem (2041) is used to collect the status information and location information of the crushing station (1041) and control the crushing station (1041) to receive the ore unloaded by the transport equipment (103) to crush the ore and output the crushed ore to the transfer and transmission machine (1042). The transfer and transmission subsystem (2042) is used to collect the status information and location information of the transfer and transmission machine (1042) and control the transfer and transmission machine (1042) to receive the ore output by the crushing station (1041) and transfer it to a preset destination.

13. The control system according to any one of claims 6 to 12, characterized in that, The mining equipment subsystem (201), the buffer transfer equipment subsystem (202), the transportation scheduling subsystem (203), and the downstream processing equipment subsystem (204) interact with the local control system of the corresponding equipment through a bus and / or a switch, and obtain remote control rights of the corresponding equipment after the corresponding equipment switches to remote control mode.

14. A control method, characterized in that, The control system (200) applicable to any one of claims 6 to 13 includes: Step S1: Obtain the first positioning information of the mining equipment (101), the second positioning information of the buffer transfer equipment (102), the third positioning information of the transportation equipment (103), and the fourth positioning information of the downstream processing equipment (104); Step S2: Based on the first positioning information of the mining equipment (101) and the second positioning information of the buffer transfer equipment (102), control the buffer transfer equipment (102) to move following the mining equipment (101), and align the receiving part (1021) of the buffer transfer equipment (102) with the unloading end of the mining equipment (101); Step S3: According to the second positioning information of the buffer transfer device (102) and the third positioning information of the transport device (103), the empty transport device (103) is scheduled to run to the unloading position of the buffer transfer device (102), and the transport device (103) is aligned with the unloading section (1022) of the buffer transfer device (102); Step S4: Control the mining equipment (101) to mine the ore and transfer the ore to the transport equipment (103) through the buffer transfer equipment (102). Step S5: After the transport equipment (103) has finished loading, the transport equipment (103) is controlled to run to the loading position of the downstream processing equipment (104) and unload the material according to the third positioning information of the transport equipment (103) and the fourth positioning information of the downstream processing equipment (104). Step S6: Control the downstream processing equipment (104) to process and output the unloaded ore.

15. The control method according to claim 14, characterized in that, In step S4, the buffer transfer device (102) can control the conveying mechanism (1024) and the unloading adjustment mechanism of the buffer transfer device (102) according to the arrival status of the transport device (103), the hopper loading capacity and the material level in the receiving part (1021) of the buffer transfer device (102); When the transport equipment (103) has not reached the unloading position of the buffer transfer equipment (102), the receiving part (1021) of the buffer transfer equipment (102) can temporarily store the ore. When the transport equipment (103) arrives at the unloading position of the buffer transfer equipment (102), the buffer transfer equipment (102) can start the conveying mechanism (1024) of the buffer transfer equipment (102) and open the unloading port (1022a) of the buffer transfer equipment (102) through the unloading adjustment mechanism for loading; When the hopper loading capacity of the transport equipment (103) reaches the preset loading capacity, the buffer transfer equipment (102) stops unloading or closes the unloading port (1022a) of the buffer transfer equipment (102) through the unloading adjustment mechanism.

16. The control method according to claim 14, characterized in that, In step S5, the transportation scheduling subsystem (203) can adjust the driving path, departure interval and unloading sequence of the transportation equipment (103) according to the road traffic conditions, the location of the transportation equipment (103), the material receiving status of the crushing station (1041) of the downstream processing equipment (104) and the operating status of the transfer conveyor (1042).

17. The control method according to claim 14, characterized in that, In step S6, the crushing subsystem (2041) of the downstream processing equipment subsystem (204) can adjust the operating parameters of the crushing station (1041) according to the material level, crushing load, feeder operating status and over-limit material identification results of the crushing station (1041) of the downstream processing equipment (104); The transfer and transmission subsystem (2042) of the downstream processing equipment subsystem (204) can adjust the start / stop or frequency conversion speed regulation according to the load, speed, foreign object identification and fault status of the transfer and transmission machine (1042) of the downstream processing equipment (104).

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