A fully intelligent mobile solid mineral sampling vehicle and sampling method thereof

Abstract

The present invention discloses a fully intelligent mobile solid mineral sampling vehicle and a sampling method thereof, and relates to the technical field of bulk loose mineral sampling. On the basis of sealed transportation and sampling of mineral coal, the present invention automatically collects a three-dimensional map of the mineral coal area, and processes and generates a three-dimensional distribution map of highlighted sampling points, thereby regularly and randomly generating target sampling points, and forms a sampling path trajectory by combining the target sampling points with the equipment position. Then, by controlling the movement and sampling of the equipment in real time, automatic identification of the coal area and automatic regular random three-dimensional sampling are realized, making the sampling operation in the coal area more standardized and normalized, and realizing the use of a loading station without an automatic loading system before loading. The present invention meets the actual demand for rapid sampling in the coal area, and can greatly shorten the sampling cycle compared with the traditional manual segmented operation mode.

Description

Technical Field

[0001] The present invention relates to the technical field of bulk loose mineral sampling, and in particular to a fully intelligent mobile solid mineral sampling vehicle and a sampling method thereof. Background Art

[0002] The entire process of coal production and trade is inseparable from accurate, rapid and advanced coal analysis technology in all links. Coal testing mainly includes three links: sampling, sample preparation and testing. The purpose of coal sampling and sample preparation is to obtain a test coal sample whose test results can represent the entire batch of coal being mined. Through analysis and testing, the main characteristic indicators of coal are determined to further guide production, processing, trade and comprehensive utilization. Experimental studies have shown that the error caused by sampling accounts for 80% of the total error in the entire mining and processing, sample preparation accounts for 16%, and testing accounts for only 4%. This shows that coal sampling is of great significance in coal quality analysis and testing;

[0003] The trading volume of bulk materials such as coal is large, the loading time of railway transportation is tight, and the sampling time is limited. Traditional fixed mechanical sampling equipment is subject to great geographical restrictions, and it is difficult to flexibly and quickly complete the sampling work on cars / train carriages or on coal piles of different shapes. In addition, the investment in equipment and infrastructure is large, and it is even more difficult to achieve random distribution of points across the entire section to reduce the interference of objective factors on the sampling results. In recent years, in order to achieve rapid sampling and preparation on cars / train carriages and bulk platform coal piles and improve work efficiency, sampling, crushing, reduction, collection and other sampling equipment have been integrated into mobile trucks (CN201811113711.4, CN201220670965.8, CN201210522831.6, C N201620391723.3), the materials collected by the sampler are prepared directly on the vehicle, but the technology of this type of equipment is not yet mature. The sampling equipment and sample preparation equipment are all integrated into the truck. The sampling equipment occupies a large area, which compresses the spatial layout of the sample preparation unit, resulting in the entire system having to adopt a method of sampling and preparing samples at the same time. In principle, it does not meet the national standard requirement of "sample preparation after sub-sample merging", and the sample preparation equipment is seriously blocked and contaminated by coal, and the equipment reliability is poor. In addition, this type of equipment still uses a spiral sampling head for sampling, which has the problem of rejecting or completely crushing high-hardness and large-particle coal samples. Part of the collected material is directly discarded from the top of the sampling head or returned to the car / coal pile, which leads to large errors and bias in the sampling and preparation results.

[0004] In summary, the existing equipment uses manual control of mechanical sampling to sample the sampling area, which requires many control steps and is relatively labor-intensive. The manual operation method cannot identify coal areas with complex environmental changes and cannot automatically plan sampling paths. Its intelligent level cannot meet the current development needs of the sampling field, resulting in low sampling efficiency and poor sampling quality.

[0005] In view of the above technical defects, a solution is now proposed. Summary of the Invention

[0006] The purpose of the present invention is to: on the basis of sealed transport sampling of mineral coal, automatically collect a three-dimensional image of the mineral coal area, and process it to generate a three-dimensional distribution map of highlighted sampling points, so as to regularly and randomly generate target sampling points, form a sampling path trajectory by combining the target sampling points with the equipment position, and then realize automatic identification of coal areas and automatic regular random three-dimensional sampling by controlling the movement and sampling of the equipment in real time;

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A fully intelligent mobile solid mineral sampling vehicle, including a mineral sampling unit,

[0009] an information input unit for inputting a target mineral coal weight and sending it to a sampling point modeling unit;

[0010] A three-dimensional acquisition unit for acquiring a three-dimensional image of the mineral coal area and sending it to the sampling point modeling unit;

[0011] The sampling point modeling unit is used to receive the three-dimensional map of the mineral coal area and the target mineral coal weight, generate a three-dimensional distribution map of the highlighted sampling points through labeling and modeling, and send the three-dimensional distribution map of the highlighted sampling points to the path control unit;

[0012] The path control unit is used to receive the three-dimensional distribution map of the highlighted sampling points after marking and generate a sampling path trajectory through path model processing. It is also used to control the mineral sampling unit to sample equal amounts of mineral coal at the highlighted sampling points according to the sampling path trajectory. When the sampling of the highlighted sampling points in the three-dimensional distribution map of the highlighted sampling points is completed, the mineral sampling unit is controlled to move to the detection workstation and dump the collected mineral coal into the detection workstation.

[0013] Furthermore, the mineral sample collection unit includes a load-bearing vehicle head and a load-bearing vehicle frame. The top surface of the load-bearing vehicle frame is equipped with a sampling control mechanism, a weight-sensing sample collection structure, an electrical control cabinet, an air compressor, an oil-water separator and an on-board generator. The sampling control mechanism is equipped with a sampling head and a push page at the end away from the load-bearing vehicle frame. There are two push pages, and the push pages are symmetrically arranged on both sides of the sampling head. The push pages are loosely fitted around the outer end of the sampling head. The electrical control cabinet is electrically connected to the sampling control mechanism, the weight-sensing sample collection structure, the air compressor, the oil-water separator and the on-board generator. The sampling control mechanism is loosely fitted with the weight-sensing sample collection structure.

[0014] Furthermore, the sampling control mechanism includes an electric support base, which is rotatably arranged on the top surface of the load-bearing frame, and a hydraulic oil tank is provided on one side of the electric support base. The top side of the electric support base is hinged with a first robotic arm, and the first robotic arm is hinged with a second robotic arm, and the hydraulic shaft of the first robotic arm is connected to one end of the second robotic arm, and the second robotic arm is installed with a four-bar linkage away from the hydraulic shaft of the first robotic arm, and the sampling head is installed at one end of the four-bar linkage away from the second robotic arm, and the first robotic arm, the second robotic arm and the four-bar linkage are adapted to be equipped with a number of oil cylinders.

[0015] Furthermore, the gravity sensing sample collection structure includes a bracket fixed on the top surface of the load-carrying frame, a storage bin is provided on the top surface of the bracket, a flipping mechanism and a gravity sensor are provided between the storage bin and the bracket, the gravity sensor is installed at the four corners of the bracket, the flipping mechanism is installed in the bracket, and the output shaft of the flipping mechanism is connected to the middle part of the storage bin, and an electric double door is installed on the top surface of the storage bin.

[0016] Furthermore, the specific process of label modeling is as follows:

[0017] The three-dimensional map of the mineral coal area is divided into equal volumes and several intermediate bodies are generated. The center points of the several intermediate bodies are then marked as low-brightness points. The low-brightness points are combined with the three-dimensional map of the mineral coal area to form a three-dimensional distribution map of low-brightness sampling points in the mineral coal area.

[0018] The target mineral coal weight is calibrated as G0. Then, according to the formula Ys=G0 / g0, the number of sampling points Ys is obtained, where g0 is the preset value, g0 is the required mass at each sampling point, and the number of sampling points Ys is guaranteed to be a positive integer;

[0019] When the number of sampling points Ys is generated, randomly highlight the sampling points of the low-brightness sampling point stereo distribution map of the mineral coal area, thereby generating a highlighted sampling point stereo distribution map;

[0020] Get the distance between two highlighted sampling points in the three-dimensional distribution map of the highlighted sampling points. When the distance between the two highlighted sampling points is less than or equal to the preset distance value, cancel one of the highlighted sampling points and randomly mark a new highlighted sampling point. When the distance between the two highlighted sampling points is greater than the preset distance value, the random marking of the highlighted sampling points is completed.

[0021] And send the marked highlighted sampling point three-dimensional distribution map to the path control unit.

[0022] Furthermore, the specific process of path model processing is as follows:

[0023] The highlighted sampling point stereoscopic distribution map is marked as {A1, A2, A3, A4, ..., Ai}, where A1, A2, A3, A4, ..., Ai are the sampling points of the highlighted sampling point stereoscopic distribution map, and i is a positive integer;

[0024] Then, the initial position point of the mineral sampling unit is marked, and the shortest distance between the initial position point of the mineral sampling unit and the sampling point of the three-dimensional distribution map of the highlighted sampling points is obtained, and the sampling point corresponding to the shortest distance is marked as the second trajectory point, and the second trajectory point is used as the initial trajectory point of the mineral sampling unit entering the mineral coal area, and the sampling points in the coordinate set of the highlighted sampling points are compared. When multiple sampling points in the coordinate set of the highlighted sampling points are on the same vertical line, they are the same type of sampling points, that is, when one of the sampling points is located directly above another or more sampling points, and the vertical height difference between two adjacent sampling points is calculated respectively, and the sampling points are summarized and a contour line highlighted sampling point set is constructed; when the sampling points in the coordinate set of the highlighted sampling points are not on the same vertical line, they are heterogeneous sampling points, and a non-contour line highlighted sampling point set is constructed;

[0025] When the mineral sampling unit is at the initial trajectory point of the mineral coal area, the real-time distance between the sampling point in the coordinate set of the highlighted sampling point in the initial point of the mineral coal area and the mineral sampling unit is obtained. When the real-time distance of the sampling point is within the effective radius of the mineral sampling unit, this is a direct sampling point. When the sampling point is not within the effective radius of the mineral sampling unit, the sampling point with the nearest distance is obtained and sampled here. This is a horizontal real-time moving trajectory point. When the highlighted sampling point corresponding to this sampling point is within the contour line highlighted sampling point set, similar sampling points in the contour line highlighted sampling point set are obtained, and similar sampling points are arranged from top to bottom and the height difference between two adjacent similar sampling points is calculated. Then, vertical real-time moving water trajectory points are generated according to the height difference and similar sampling points. The sampling path trajectory is constructed by combining the initial trajectory point, direct sampling point, horizontal real-time moving trajectory point and vertical real-time moving water trajectory point, and the operation of the mineral sampling unit is controlled by the sampling path trajectory.

[0026] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0027] On the basis of sealed transportation and sampling of mineral coal, the present invention automatically collects a three-dimensional map of the mineral coal area, and processes it to generate a three-dimensional distribution map of highlighted sampling points, thereby regularly and randomly generating target sampling points, and forming a sampling path trajectory by combining the target sampling points with the equipment position. Then, by real-time control of equipment movement and sampling, automatic identification of coal areas and automatic regular random three-dimensional sampling are realized, making the coal area sampling operation more standardized and normalized, and realizing the use of a loading station without an automatic loading system before loading. The present invention meets the actual needs of rapid sampling in coal areas, and compared with the traditional manual segmented operation mode, it can greatly shorten the sampling cycle, reduce manual labor intensity, eliminate the influence of human factors, make sampling of mineral coal more intelligent and more efficient, and significantly improve the quality of sampling. The present invention is also suitable for rapid sampling on trains and car carriages, which makes the applicability of the present invention wider, and at the same time solves the problem that traditional manual control mechanical sampling requires more control steps, has relatively high labor intensity and low efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Shown is a structural flow chart of the present invention;

[0029] Figure 2 A top view of the structure of the mineral sampling unit is shown;

[0030] Figure 3 A perspective view of a mineral sampling unit is shown;

[0031] Figure 4 A schematic enlarged view of the structure of the heavy-sensing set-like structure is shown;

[0032] Legend: 1. Load-carrying vehicle head; 2. Load-carrying vehicle frame; 3. Sampling control mechanism; 4. Gravity sensor and sample collection structure; 5. Electric control cabinet; 6. Air compressor; 7. Oil-water separator; 8. On-board generator; 9. Sampling head; 301. Electric support base; 302. Hydraulic oil tank; 303. First robotic arm; 304. Second robotic arm; 305. Four-bar linkage; 401. Bracket; 402. Storage bin; 403. Flipping mechanism; 404. Gravity sensor; 405. Electric double doors. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention. Embodiment 1:

[0034] like Figure 1-4As shown, a fully intelligent mobile solid mineral sampling vehicle includes a mineral sampling unit, an information input unit, a three-dimensional acquisition unit, a sampling point modeling unit and a path control unit;

[0035] The mineral sampling unit includes a load-carrying vehicle head 1 and a load-carrying vehicle frame 2. The top surface of the load-carrying vehicle frame 2 is equipped with a sampling control mechanism 3, a weight-sensing sample collection structure 4, an electric control cabinet 5, an air compressor 6, an oil-water separator 7 and an on-board generator 8. The end of the sampling control mechanism 3 away from the load-carrying vehicle frame 2 is equipped with a sampling head 9 and a push page. There are two push pages, and the push pages are symmetrically arranged on both sides of the sampling head 9. The push pages are fitted with a gap and wrapped around the outer end of the sampling head 9. After the two push pages are closed, the sampling head 9 is squeezed closed to enhance the stability of its closure. The electric control cabinet 5 is electrically connected to the sampling control mechanism 3, the weight-sensing sample collection structure 4, the air compressor 6, the oil-water separator 7 and the on-board generator 8. The control cabinet 5 provides power support for the electrical components in the sampling control mechanism 3, the heavy sensing sample collection structure 4, the air compressor 6 and the oil-water separator 7. The on-board generator 8 is used to supplement the power of the electric control cabinet 5. The sampling control mechanism 3 and the heavy sensing sample collection structure 4 are clearance-matched. The heavy sensing sample collection structure 4 controls the rotation, lifting, bending, opening and closing of the sampling head 9 to achieve multi-directional movement of the sampling head 9 and sample mineral coal. The sampled mineral coal is then poured into the heavy sensing sample collection structure 4 for storage. The heavy sensing sample collection structure 4 is used to sense the amount of mineral coal in real time until the sampling is completed. The target amount of coal is then transported to the coal inspection area for testing, and the sampling is captured by the sampling head 9 to protect the coal.

[0036] The sampling control mechanism 3 includes an electric support base 301, which is rotatably arranged on the top surface of the load-carrying frame 2. A hydraulic oil tank 302 is provided on one side of the electric support base 301. A first mechanical arm 303 is hinged on the top side of the electric support base 301. The first mechanical arm 303 is hinged on the second mechanical arm 304, and the hydraulic shaft of the first mechanical arm 303 is connected to one end of the second mechanical arm 304. The hydraulic shaft of the first mechanical arm 303 is used to support the second mechanical arm 304. The hydraulic shaft of the first mechanical arm 303 is extended and retracted to make the second mechanical arm 304 move along an arc circle. The second mechanical arm 304 is installed with four hydraulic shafts away from the first mechanical arm 303. The connecting rod mechanism 305 and the hydraulic axis of the second robotic arm 304 are used to control the lifting of the four-bar linkage 305. The sampling head 9 is installed at one end of the four-bar linkage 305 away from the second robotic arm 304. The four-bar linkage 305 is used to drive the sampling head 9 to open for sampling. The first robotic arm 303, the second robotic arm 304 and the four-bar linkage 305 are adapted to be equipped with a number of oil cylinders, which are used to drive the operation of their components. The hydraulic control system is composed of a hydraulic oil tank 302, an air compressor 6, an oil-water separator 7 and oil cylinders. The hydraulic control system realizes the control of the first robotic arm 303, the second robotic arm 304 and the four-bar linkage 305, thereby realizing the multi-directional movement of the sampling head 9.

[0037] The gravity sensing and sample collection structure 4 includes a bracket 401 fixed to the top surface of the load-carrying frame 2. A storage bin 402 is provided on the top surface of the bracket 401. A flip mechanism 403 and a gravity sensor 404 are provided between the storage bin 402 and the bracket 401. The gravity sensor 404 is installed at the four corners of the bracket 401 and is used to sense the quality of the mineral coal in the storage bin 402 in real time. The flip mechanism 403 is installed in the bracket 401, and the output shaft of the flip mechanism 403 is connected to the middle of the storage bin 402. An electric double-door 405 is installed on the top surface of the storage bin 402, which controls the output shaft of the flip mechanism 403 to rotate forward, thereby causing the storage bin 402 to rotate forward with the edge of the bracket 401 as the center. After the storage bin 402 rotates forward with the edge of the bracket 401 as the center, the electric double-door 405 opens downward, and then the electric double-door 405 is opened to dump the sampled mineral coal in the storage bin 402, thereby ensuring the sealed transportation and subsequent inspection of the sampled mineral coal and reducing the interference of the external environment during transportation;

[0038] Working principle:

[0039] an information input unit for inputting a target mineral coal weight and sending it to a sampling point modeling unit;

[0040] A three-dimensional acquisition unit is used to acquire a three-dimensional image of the mineral coal area and send it to the sampling point modeling unit; wherein the three-dimensional image of the mineral coal area is acquired by acquisition and processing by an ultrasonic sensor;

[0041] The sampling point modeling unit receives the three-dimensional map of the mineral coal area and the target mineral coal weight, divides the three-dimensional map of the mineral coal area into equal volumes and generates a number of intermediates, then marks the center points of the several intermediates as low-brightness points, and the low-brightness points are combined with the three-dimensional map of the mineral coal area to form a three-dimensional distribution map of low-brightness sampling points in the mineral coal area;

[0042] The target mineral coal weight is calibrated as G0. Then, according to the formula Ys=G0 / g0, the number of sampling points Ys is obtained, where g0 is the preset value, g0 is the required mass at each sampling point, and the number of sampling points Ys is guaranteed to be a positive integer;

[0043] When the number of sampling points Ys is generated, randomly highlight the sampling points of the low-brightness sampling point stereo distribution map of the mineral coal area, thereby generating a highlighted sampling point stereo distribution map;

[0044] Get the distance between two highlighted sampling points in the three-dimensional distribution map of the highlighted sampling points. When the distance between the two highlighted sampling points is less than or equal to the preset distance value, cancel one of the highlighted sampling points and randomly mark a new highlighted sampling point. When the distance between the two highlighted sampling points is greater than the preset distance value, the random marking of the highlighted sampling points is completed.

[0045] And send the marked highlighted sampling point three-dimensional distribution map to the path control unit;

[0046] After receiving the marked three-dimensional distribution map of the highlighted sampling points, the path control unit generates a sampling path trajectory according to the path model, and controls the mineral sampling unit to sample an equal amount of mineral coal at the highlighted sampling points according to the sampling path trajectory. When the sampling of the highlighted sampling points in the three-dimensional distribution map of the highlighted sampling points is completed, the weight of the collected mineral coal is equal to the target mineral coal weight, thus completing the automated coal mining work;

[0047] After the sampling of the mineral coal is completed, the mineral sample collection unit is controlled to move to the testing workstation, and the sampled mineral coal is dumped into the testing workstation. After the testing workstation receives the sampled mineral coal, the mineral coal is analyzed and tested, and the quality of the mineral coal is evaluated by the ash content and the temperature emitted during combustion;

[0048] The specific working steps of path model processing are as follows:

[0049] The highlighted sampling point 3D distribution map is marked as {A1, A2, A3, A4, ..., Ai}, where A1, A2, A3, A4, ..., Ai are the sampling points of the highlighted sampling point 3D distribution map, and i is the number of highlighted sampling points Ys, where i is a positive integer;

[0050] Then, the initial position point of the mineral sampling unit is marked, and the shortest distance between the initial position point of the mineral sampling unit and the sampling point of the three-dimensional distribution map of the highlighted sampling points is obtained, and the sampling point corresponding to the shortest distance is marked as the second trajectory point, and the second trajectory point is used as the initial trajectory point of the mineral sampling unit entering the mineral coal area, and the sampling points in the coordinate set of the highlighted sampling points are compared. When multiple sampling points in the coordinate set of the highlighted sampling points are on the same vertical line, they are the same type of sampling points, that is, when one of the sampling points is located directly above another or more sampling points, and the vertical height difference between two adjacent sampling points is calculated respectively, and the sampling points are summarized and a contour line highlighted sampling point set is constructed; when the sampling points in the coordinate set of the highlighted sampling points are not on the same vertical line, they are heterogeneous sampling points, and a non-contour line highlighted sampling point set is constructed;

[0051] For example, the coordinate set of the highlighted sampling points is {A1, A2, A3, A4, ..., A13}, indicating that there are 13 highlighted sampling points; the set of contour line highlighted sampling points is {(A1, A7), (A2, A4, A5), (A8, A11)}, and then the vertical height difference between A2 and A4, and the vertical height difference between A4 and A5 are calculated. The depth of the secondary excavation and the depth of the tertiary excavation are obtained by the vertical height difference. According to the depth change, multiple sampling is required here to accurately lock the highlighted sampling points. The non-contour line highlighted sampling point set is {A3, A6, A9, A10, A12, A13}, and the mineral sampling unit fixed-point sampling can be directly controlled here;

[0052] When the mineral sampling unit is at the initial trajectory point of the mineral coal area, the real-time distance between the sampling point in the coordinate set of the highlighted sampling point in the initial point of the mineral coal area and the mineral sampling unit is obtained. When the real-time distance of the sampling point is within the effective radius of the mineral sampling unit, it is sampled directly. When the sampling point is not within the effective radius of the mineral sampling unit, the sampling point with the nearest distance is obtained and sampled here. This is the horizontal real-time moving trajectory point. When the highlighted sampling point corresponding to this sampling point is within the contour line highlighted sampling point set, the same type of sampling points in the contour line highlighted sampling point set are obtained, the same type of sampling points are arranged from top to bottom and the height difference between two adjacent similar sampling points is calculated. Then, according to the height difference and the same type of sampling points, a vertical real-time moving water trajectory point is generated. The sampling path trajectory is constructed by combining the initial trajectory point, direct sampling point, horizontal real-time moving trajectory point and vertical real-time moving water trajectory point. The operation of the mineral sampling unit is controlled by the sampling path trajectory.

[0053] The specific process of sampling at the sampling point by the mineral sampling unit is as follows:

[0054] The hydraulic system indirectly controls the movement of the collection head and inserts it downward to the sampling point, then controls the collection head to open, and the mineral coal here enters the collection head, then controls the collection head to close, and then controls the collection head to move to the top of the gravity sensing and sampling structure 4, opens the electric double-door 405 of the gravity sensing and sampling structure 4, and controls the collection head to be inserted into the storage bin 402, and then opens the collection head to allow the collected equal amount of mineral coal samples to fall into the storage bin 402 of the sensing and sampling structure. At this time, the gravity sensor 404 senses the weight of the mineral coal samples in the storage bin 402 in real time, and then controls the collection head to leave and close and repeat the above steps until the target amount of coal is collected, thereby completing the work.

[0055] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A sampling method for a fully intelligent mobile solid mineral sampling vehicle, implemented based on the fully intelligent mobile solid mineral sampling vehicle, wherein the mobile solid mineral sampling vehicle includes a mineral sampling unit, characterized in that: Also includes: an information input unit for inputting a target mineral coal weight and sending it to a sampling point modeling unit; A three-dimensional acquisition unit for acquiring a three-dimensional image of the mineral coal area and sending it to the sampling point modeling unit; The sampling point modeling unit is used to receive the three-dimensional map of the mineral coal area and the target mineral coal weight, generate a three-dimensional distribution map of the highlighted sampling points through labeling and modeling, and send the three-dimensional distribution map of the highlighted sampling points to the path control unit; A path control unit is used to receive the marked three-dimensional distribution map of the highlighted sampling points and generate a sampling path trajectory through path model processing, and is also used to control the mineral sampling unit to sample equal amounts of mineral coal at the highlighted sampling points according to the sampling path trajectory. After sampling of the highlighted sampling points in the three-dimensional distribution map of the highlighted sampling points is completed, the mineral sampling unit is controlled to move to the detection workstation and dump the collected mineral coal into the detection workstation; The specific process of label modeling is as follows: The three-dimensional map of the mineral coal area is divided into equal volumes and several intermediate bodies are generated. The center points of the several intermediate bodies are then marked as low-brightness points. The low-brightness points are combined with the three-dimensional map of the mineral coal area to form a three-dimensional distribution map of low-brightness sampling points in the mineral coal area. The target mineral coal weight is calibrated as G0. Then, according to the formula Ys=G0 / g0, the number of sampling points Ys is obtained, where g0 is the preset value, g0 is the required mass at each sampling point, and the number of sampling points Ys is guaranteed to be a positive integer; When the number of sampling points Ys is generated, randomly highlight the sampling points of the low-brightness sampling point stereo distribution map of the mineral coal area, thereby generating a highlighted sampling point stereo distribution map; Get the distance between two highlighted sampling points in the three-dimensional distribution map of the highlighted sampling points. When the distance between the two highlighted sampling points is less than or equal to the preset distance value, cancel one of the highlighted sampling points and randomly mark a new highlighted sampling point. When the distance between the two highlighted sampling points is greater than the preset distance value, the random marking of the highlighted sampling points is completed. And send the marked highlighted sampling point three-dimensional distribution map to the path control unit; The specific process of path model processing is as follows: The highlighted sampling point stereoscopic distribution map is marked as {A1, A2, A3, A4, ..., Ai}, where A1, A2, A3, A4, ..., Ai are the sampling points of the highlighted sampling point stereoscopic distribution map, and i is a positive integer; Then, the initial position point of the mineral sampling unit is marked, and the shortest distance between the initial position point of the mineral sampling unit and the sampling point of the three-dimensional distribution map of the highlighted sampling points is obtained, and the sampling point corresponding to the shortest distance is marked as the second trajectory point, and the second trajectory point is used as the initial trajectory point of the mineral sampling unit entering the mineral coal area, and the sampling points in the coordinate set of the highlighted sampling points are compared. When multiple sampling points in the coordinate set of the highlighted sampling points are on the same vertical line, they are the same type of sampling points, that is, when one of the sampling points is located directly above another or more sampling points, and the vertical height difference between two adjacent sampling points is calculated respectively, and the sampling points are summarized and a contour line highlighted sampling point set is constructed; when the sampling points in the coordinate set of the highlighted sampling points are not on the same vertical line, they are heterogeneous sampling points, and a non-contour line highlighted sampling point set is constructed; When the mineral sampling unit is at the initial trajectory point of the mineral coal area, the real-time distance between the sampling point in the coordinate set of the highlighted sampling point in the initial point of the mineral coal area and the mineral sampling unit is obtained. When the real-time distance of the sampling point is within the effective radius of the mineral sampling unit, this is a direct sampling point. When the sampling point is not within the effective radius of the mineral sampling unit, the sampling point with the nearest distance is obtained and sampled here. This is a horizontal real-time moving trajectory point. When the highlighted sampling point corresponding to this sampling point is within the contour line highlighted sampling point set, similar sampling points in the contour line highlighted sampling point set are obtained, and similar sampling points are arranged from top to bottom and the height difference between two adjacent similar sampling points is calculated. Then, vertical real-time moving water trajectory points are generated according to the height difference and similar sampling points. The sampling path trajectory is constructed by combining the initial trajectory point, direct sampling point, horizontal real-time moving trajectory point and vertical real-time moving water trajectory point, and the operation of the mineral sampling unit is controlled by the sampling path trajectory.

2. The sampling method of a fully intelligent mobile solid mineral sampling vehicle according to claim 1 is characterized in that: The mineral sampling unit comprises a load-carrying vehicle head (1) and a load-carrying vehicle frame (2); a sampling control mechanism (3), a weight-sensing sample collecting structure (4), an electric control cabinet (5), an air compressor (6), an oil-water separator (7) and an on-board generator (8) are installed on the top surface of the load-carrying vehicle frame (2); a sampling head (9) and a push page are installed at the end of the sampling control mechanism (3) away from the load-carrying vehicle frame (2); two push pages are provided, and the push pages are symmetrically arranged on both sides of the sampling head (9); the push pages are clearance-fitted and wrapped around the outer end of the sampling head (9); the electric control cabinet (5) is electrically connected to the sampling control mechanism (3), the weight-sensing sample collecting structure (4), the air compressor (6), the oil-water separator (7) and the on-board generator (8); the sampling control mechanism (3) is clearance-fitted with the weight-sensing sample collecting structure (4).

3. The sampling method of a fully intelligent mobile solid mineral sampling vehicle according to claim 2 is characterized in that: The sampling control mechanism (3) includes an electric support base (301), the electric support base (301) is rotatably arranged on the top surface of the load-carrying frame (2), a hydraulic oil tank (302) is provided on one side of the electric support base (301), a first mechanical arm (303) is hingedly connected to the top side of the electric support base (301), the first mechanical arm (303) is hingedly connected to the second mechanical arm (304), and the hydraulic shaft of the first mechanical arm (303) is connected to one end of the second mechanical arm (304), the hydraulic shaft of the second mechanical arm (304) is installed away from the first mechanical arm (303) with a four-bar linkage (305), the sampling head (9) is installed at one end of the four-bar linkage (305) away from the second mechanical arm (304), and the first mechanical arm (303), the second mechanical arm (304) and the four-bar linkage (305) are adapted to be equipped with a plurality of oil cylinders.

4. The sampling method of a fully intelligent mobile solid mineral sampling vehicle according to claim 3 is characterized in that: The gravity sensing sample collection structure (4) comprises a bracket (401) fixedly arranged on the top surface of the load-carrying frame (2); a storage bin (402) is provided on the top surface of the bracket (401); a turning mechanism (403) and a gravity sensor (404) are provided between the storage bin (402) and the bracket (401); the gravity sensor (404) is installed at the four corners of the bracket (401); the turning mechanism (403) is installed in the bracket (401); and the output shaft of the turning mechanism (403) is connected to the middle of the storage bin (402); and an electric double-door (405) is installed on the top surface of the storage bin (402).

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