Intelligent coal sampling vehicle and sampling method

Abstract

The invention provides an intelligent coal sampling vehicle and a sampling method. The intelligent coal sampling vehicle comprises an upper vehicle assembly, a lower vehicle assembly, a sampling mechanism, a storage mechanism and a control mechanism, the upper vehicle assembly is connected with the lower vehicle assembly through the slewing mechanism to form an integrated vehicle body structure, and the traveling mechanism is arranged on the lower vehicle assembly and used for driving the sampling vehicle to move, so that the sampling vehicle is more stable and flexible; the sampling mechanism is arranged on the loading assembly and is used for collecting a coal sample; the control mechanism comprises a central control module and a scanning unit, the scanning unit performs three-dimensional live-action scanning on a field coal pile, and the central control module automatically generates a sampling scheme and controls the sampling mechanism to sample. The material storage mechanism comprises a first material box and a second material box, a weighing sensor is arranged on the first material box, a coal sample is firstly weighed in the first material box and then transferred to the second material box to be combined and stored, separation of sampling and weighing is achieved, the accuracy and representativeness of subsamples are guaranteed, and the whole sampling process is strictly carried out according to the national standard that sample preparation is carried out after subsample combination.

Description

Technical Field

[0001] The present invention relates to the technical field of coal sampling, and in particular to an intelligent coal sampling vehicle and a sampling method. Background Art

[0002] Coal quality inspection is a key link in the coal industry chain, and its accuracy and efficiency directly affect coal production, storage, transportation, trade and comprehensive utilization. Especially in commodity coal trade, coal quality directly determines the price, so the accuracy of coal quality testing is particularly important.

[0003] Coal quality testing mainly includes three links: sampling, sample preparation and testing. The purpose of sampling and sample preparation is to obtain a test coal sample that can represent the entire batch of mined coal. Through testing and analysis, the main physical and chemical properties of coal can be determined to further guide production, processing, trade and comprehensive utilization. Among them, sampling errors account for up to 80% of the entire mining and processing process, which shows the importance of coal sampling quality in coal quality analysis and testing. Therefore, improving sampling quality plays a vital role in improving the accuracy of coal quality analysis results.

[0004] Coal sampling methods are mainly divided into two categories: manual sampling and mechanical sampling. Manual sampling is the earliest and simplest sampling method. Manual sampling uses manual sampling tools to take samples at coal yards or transportation stations. Although it is easy to operate and has low cost, it is easily interfered by human factors and there is a risk of favoritism and fraud. At the same time, the labor intensity of sampling workers is high, the efficiency is low, and safety accidents are prone to occur.

[0005] Mechanical sampling is the use of professional sampling equipment to sample coal piles or coal in transport to improve sampling efficiency and objectivity of results. However, traditional fixed mechanical sampling equipment is limited by geography and is difficult to flexibly respond to sampling needs in different scenarios, such as cars / train carriages or coal piles of different shapes, and is difficult to adapt to the sampling time restrictions of railways, docks or freight yards. In addition, the equipment and infrastructure costs are high, making it difficult to achieve random distribution of points across the entire cross-section, and it is impossible to avoid the impact of external interference on the sampling results.

[0006] Furthermore, in order to realize rapid sampling and preparation on cars / train carriages and coal piles on bulk platforms and improve work efficiency, integrated sampling and preparation equipment integrating sampling, crushing, reduction, and collection on mobile trucks has appeared one after another, such as a vehicle-mounted mobile fully automatic coal sampling and preparation machine and its sampling and preparation method disclosed in application number CN201210522831.6 and a vehicle-mounted mobile fully automatic coal sampling and preparation equipment disclosed in application number CN201620391723.3, both of which are integrated sampling and preparation equipment integrating sampling, crushing, reduction, and collection on mobile trucks. However, the technology of this type of equipment is not yet mature, and the method of sampling and preparing samples while sampling is adopted, which does not meet the national standard requirement of "sampling after merging sub-samples", and the equipment reliability is poor, resulting in large errors and biases in the sampling and preparation results.

[0007] In addition, application number CN115266193 A discloses a fully intelligent mobile solid mineral sampling vehicle, which collects a three-dimensional image of the mineral coal area automatically, and processes and generates a three-dimensional distribution map of the 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, and then controlling the movement and sampling of the equipment in real time, thereby realizing automatic identification of the coal area and automatic and regular random three-dimensional sampling. However, this patent also uses a mobile truck as a sampling platform, which is bulky, lacks driving flexibility, and has the problems of complex operation and low efficiency.

[0008] In view of this, the present invention is proposed. Summary of the invention

[0009] The purpose of the present invention is to provide an intelligent coal sampling vehicle and sampling method to solve the defects in the design of sampling vehicles in the prior art. Most of them use mobile trucks as platforms, which are bulky, have national standard requirements for the sampling process, and have poor equipment reliability, resulting in large errors and biases in the sampling results. The many technical effects that can be produced by the preferred technical solutions among the many technical solutions provided by the present invention are described in detail below.

[0010] To achieve the above object, the present invention provides the following technical solutions:

[0011] The present invention provides an intelligent coal sampling vehicle, comprising an on-board assembly, an off-board assembly, a sampling mechanism, a material storage mechanism and a control mechanism; the on-board assembly is connected to the off-board assembly through a rotating mechanism, and the off-board assembly is provided with a traveling mechanism; the sampling mechanism is arranged on the on-board assembly; the material storage mechanism is arranged on the off-board assembly, and comprises a first material box and a second material box, the first material box is provided with a weighing sensor, and the material outlet of the first material box is arranged corresponding to the material inlet of the second material box; the control mechanism comprises a central control module and a scanning unit, the scanning unit is rotatably arranged on the on-board assembly, and the rotating mechanism, the sampling mechanism, the material storage mechanism and the scanning unit are electrically connected to the central control module respectively.

[0012] Preferably, the traveling mechanism comprises an engine, a hydraulic pump, a hydraulic motor, a transfer case, a transmission shaft, a front wheel assembly and a rear wheel assembly, the engine is connected to the hydraulic pump, the hydraulic pump is connected to the hydraulic motor, the hydraulic motor is connected to the transmission shaft through the transfer case, and the front axle of the front wheel assembly and the rear axle of the rear wheel assembly are respectively connected to the transmission shaft.

[0013] Preferably, the slewing mechanism includes a slewing motor, a reducer and a slewing bearing, the slewing motor and the reducer are arranged on the upper vehicle assembly, the slewing bearing is arranged on the lower vehicle assembly, the hydraulic pump is connected to the slewing motor through a control valve, and the slewing motor is connected to the slewing bearing through the reducer.

[0014] Preferably, the sampling mechanism comprises a lifting arm, a lifting arm cylinder, a movable arm, a telescopic arm, a telescopic cylinder, a swing cylinder, a slider, an adjustment cylinder, a sliding frame, a propulsion cylinder, a propulsion belt assembly and a sampling arm; the lifting arm cylinder, the telescopic cylinder, the adjustment cylinder, the swing cylinder and the propulsion cylinder are respectively connected to the hydraulic pump through a control valve;

[0015] The arm lifting cylinder is connected to the arm lifting device and is used to drive the arm lifting device to swing;

[0016] One end of the lifting arm is connected to the boom cylinder, and the other end is connected to the boom;

[0017] The boom cylinder is connected to the boom and is used to drive the boom to lift or lower;

[0018] The telescopic arm is connected to the movable arm through the telescopic oil cylinder, and the telescopic arm is connected to the sliding block through the swing oil cylinder;

[0019] The slider is connected to the sliding frame through the adjusting cylinder; the propulsion cylinder and the propulsion belt assembly are arranged on the sliding frame; the propulsion cylinder is connected to the sampling arm through the propulsion belt assembly, and is used to drive the sampling arm to perform propulsion or retraction.

[0020] Preferably, the sampling arm includes a rotary motor, a jaw opening cylinder, a drill rod, a push rod and a sampling head; the rotary motor is arranged on the propulsion belt assembly and connected to the drill rod, and is used to drive the drill rod to rotate; the jaw opening cylinder is arranged in the drill rod and is connected to the sampling head through the push rod, and is used to drive the jaws of the sampling head to open and close; the jaw opening cylinder is connected to the hydraulic pump through a control valve.

[0021] Preferably, the material storage mechanism also includes a lifting cylinder, a connecting rod assembly and a lifting arm. The lifting cylinder is arranged on the getting-off assembly, and is connected to the hydraulic pump through a control valve, and is connected to the lifting arm through a connecting rod assembly. The first material box and the second material box are arranged on the lifting arm.

[0022] Preferably, the first feed port and the first discharge port of the first material box and the second feed port and the second discharge port of the second material box are respectively sealed by corresponding material box doors, and the material box doors are respectively controlled to open and close by material box cylinders, and the material box cylinders are connected to the hydraulic pump through a control valve.

[0023] Preferably, a distribution hopper is provided in the second material box, and evenly distributed material dropping holes are opened on the distribution hopper.

[0024] Preferably, the scanning unit is connected to the on-board assembly via a universal rotation mechanism.

[0025] Preferably, an intelligent coal sampling method is characterized by comprising the following steps:

[0026] S1: The sampling vehicle moves to the predetermined position of the sampling site through the driving mechanism, and performs a full range of three-dimensional real-scene scanning of the coal pile on site through the scanning unit to obtain the three-dimensional morphological data of the coal pile surface, and enters it into the central control module of the sampling vehicle as basic data;

[0027] S2: The central control module calculates the total volume of the coal pile based on the basic data and the AI ​​calculation model, and calculates the total weight of the coal pile according to the density. At the same time, it compares and verifies the total mass of the coal pile provided by the owner, calculates and analyzes the three-dimensional shape of the coal pile, determines the geometric center of the coal pile, and establishes a coordinate system with the geometric center as the origin;

[0028] S3: Design the number of sampling points according to the three-dimensional shape, total weight and sampling point requirements of the coal pile; use massive data to perform simulation calculations, randomly divide sampling areas of equal volume consistent with the number of sampling points, and obtain the number of volume elements;

[0029] S4: Form a three-dimensional topography in each sampling area and randomly generate n point clouds to simulate potential sampling locations;

[0030] S5: Analyze the three-dimensional morphology of each sampling area, index the position of the point cloud in the volume element; select the point cloud whose index number does not exceed the set value, extract voxel features, and use regression prediction to determine the geometric center of the point cloud. This position is the sampling point, and its coordinates are marked at the same time;

[0031] S6: Based on the location of the sampling vehicle, the layout of the coal pile and the distribution of the sampling points, the AI ​​calculation model is used to simulate and calculate and plan the optimal sampling sequence; then, the sampling mechanism is controlled to perform the sampling action in the predetermined sequence;

[0032] S7: The coal samples collected by the sampling mechanism are sent to the first material box for weighing, and the weighed coal samples are transferred to the second material box for combined storage.

[0033] The preferred technical solution of the present invention can at least produce the following technical effects:

[0034] The present invention effectively solves the defects in the design of sampling vehicles in the prior art. Most of them use mobile trucks as platforms, which are bulky, meet national standard requirements for the sampling process, and have poor equipment reliability, resulting in large errors and large biases in the sampling results. The present invention provides an intelligent coal sampling vehicle, including an on-board assembly, an off-board assembly, a sampling mechanism, a storage mechanism and a control mechanism; the on-board assembly is connected to the off-board assembly through a slewing mechanism, and the off-board assembly is provided with a traveling mechanism for driving the sampling vehicle to move; the sampling mechanism is arranged on the on-board assembly for collecting coal samples; the storage mechanism is arranged on the off-board assembly, including a first material box and a second material box, and a weighing sensor is arranged on the first material box, and the discharge port of the first material box is arranged corresponding to the feed port of the second material box; the control mechanism includes a central control module and a scanning unit, and the scanning unit is rotatably arranged on the on-board assembly, and the slewing mechanism, the sampling mechanism, the storage mechanism and the scanning unit are electrically connected to the central control module respectively. The present invention forms an integrated, stable, flexible and efficient sampling vehicle structure through the synergistic effect of the upper vehicle assembly, the lower vehicle assembly, the sampling mechanism, the material storage mechanism and the control mechanism. The upper vehicle assembly is connected to the lower vehicle assembly through a slewing mechanism so that the upper vehicle assembly can rotate 360 ​​degrees relative to the lower vehicle assembly. The lower vehicle assembly is provided with a traveling mechanism to drive the sampling vehicle to move. Compared with the heavy-duty vehicle in the prior art, the sampling vehicle is more stable and flexible. When the sampling vehicle arrives at the site, the scanning unit performs a three-dimensional real-scene scan of the coal pile at the site. The central control module automatically generates a sampling scheme based on the three-dimensional scanning data, controls the sampling mechanism to perform the sampling action, and first sends the collected coal sample into the first material box for accurate weighing, and then the weighed coal sample is transferred to the second material box for combined storage, realizing the separation of sampling and weighing, ensuring the accuracy and representativeness of the sub-samples, and the entire sampling process is strictly carried out in accordance with the requirements of the national standard "sample preparation after sub-sample merging", avoiding errors and biases caused by sampling and sample preparation, and improving sampling efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 It is a structural schematic diagram of an intelligent coal sampling vehicle provided by the present invention;

[0037] Figure 2 It is a structural schematic diagram of an onboard assembly and an offboard assembly of an intelligent coal sampling vehicle provided by the present invention in a disassembled state;

[0038] Figure 3It is a structural schematic diagram of a travel mechanism of an off-car assembly of an intelligent coal sampling car provided by the present invention;

[0039] Figure 4 It is a structural schematic diagram of a sampling mechanism of an intelligent coal sampling vehicle provided by the present invention;

[0040] Figure 5 It is a structural schematic diagram of a propulsion cylinder and a propulsion belt assembly of a sampling mechanism of an intelligent coal sampling vehicle provided by the present invention;

[0041] Figure 6 It is a structural schematic diagram of a material storage mechanism of an intelligent coal sampling vehicle provided by the present invention;

[0042] Figure 7 It is a structural schematic diagram of a first material box of a material storage mechanism of an intelligent coal sampling vehicle provided by the present invention;

[0043] Figure 8 It is a structural schematic diagram of a second material box of a material storage mechanism of an intelligent coal sampling vehicle provided by the present invention;

[0044] Fig. 9 It is a flow chart of a sampling method of an intelligent coal sampling vehicle provided by the present invention.

[0045] In the figure:

[0046] 1. Upper vehicle assembly; 11. Driver's cab; 12. Slewing motor; 13. Reducer;

[0047] 2. Lower vehicle assembly; 21. First lower vehicle frame; 22. Second lower vehicle frame; 23. Front axle; 24. Front tire; 25. Rear axle; 26. Rear tire; 27. Slewing bearing; 28. Control valve; 29. ​​Transfer case; 210. Hydraulic motor; 211. Transmission shaft; 212. Engine; 213. Hydraulic pump;

[0048] 3. Sampling mechanism; 31. Boom; 32. Boom cylinder; 33. Boom; 34. Boom cylinder; 35. Telescopic arm; 36. Swing cylinder; 37. Sliding block; 38. Adjustment cylinder; 39. Sliding frame; 310. Propulsion cylinder; 311. Rotation motor; 312. Claw opening cylinder; 313. Drill rod; 314. Push rod; 315. Sampling head; 316. Mounting seat; 317. First propulsion belt; 318. Second propulsion belt; 319. Transmission wheel;

[0049] 4. Material storage mechanism; 41. First material box; 411. First feeding door; 412. First feeding cylinder; 413. First discharging cylinder; 414. First discharging door; 42. Second material box; 421. Second feeding door; 422. Second feeding cylinder; 423. Second discharging door; 424. Second discharging cylinder; 43. Weighing sensor; 44. Lifting cylinder; 45. Connecting rod assembly; 46. Lifting arm; 47. Bracket; 48. Material distribution hopper; 481. Dropping hole; 5. Scanning unit. DETAILED DESCRIPTION

[0050] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0051] like Figure 1-Figure 8 As shown, the present invention provides an intelligent coal sampling vehicle and a sampling method, including an upper vehicle assembly 1, an lower vehicle assembly 2, a sampling mechanism 3, a storage mechanism 4 and a control mechanism. The upper vehicle assembly 1 is connected to the lower vehicle assembly 2 through a slewing mechanism, and the lower vehicle assembly 2 is provided with a traveling mechanism for driving the sampling vehicle to move. The sampling mechanism 3 is arranged on the upper vehicle assembly 1 for collecting coal samples. The storage mechanism 4 is arranged on the lower vehicle assembly 2, including a first material box 41 and a second material box 42, and a weighing sensor 43 is arranged on the first material box 41, and the discharge port of the first material box 41 is corresponding to the feed port of the second material box 42. The control mechanism includes a central control module and a scanning unit 5, and the scanning unit 5 is rotatably arranged on the upper vehicle assembly 1, and the slewing mechanism, the sampling mechanism 3, the storage mechanism 4 and the scanning unit 5 are respectively electrically connected to the central control module, and the central control module can control the slewing mechanism, the sampling mechanism 3, the storage mechanism 4 and the scanning unit 5 to perform corresponding actions.

[0052] Through the synergistic effect of the upper vehicle assembly 1, the lower vehicle assembly 2, the sampling mechanism 3, the material storage mechanism 4 and the control mechanism, an integrated, stable, flexible and efficient sampling vehicle structure is formed. The upper vehicle assembly 1 is connected to the lower vehicle assembly 2 through a slewing mechanism, so that the upper vehicle assembly 1 can rotate 360 ​​degrees relative to the lower vehicle assembly 2. The lower vehicle assembly 2 is provided with a driving mechanism to drive the sampling vehicle to move. Compared with the heavy-duty vehicle in the prior art, it is more stable and flexible. When the sampling vehicle arrives at the site, the scanning unit 5 performs a three-dimensional real-scene scan of the coal pile on site. The central control module automatically generates a sampling plan based on the three-dimensional scanning data, and controls the sampling mechanism 3 to perform the sampling action, and first sends the collected coal sample into the first material box 41 for accurate weighing, and then the weighed coal sample is transferred to the second material box 42 for combined storage, realizing the separation of sampling and weighing, ensuring the accuracy and representativeness of the sub-samples, and the entire sampling process is strictly carried out in accordance with the requirements of the national standard "sub-samples are combined and then sampled", avoiding errors and biases caused by sampling and sampled, and improving the sampling efficiency and quality.

[0053] Furthermore, the central control module is arranged in the cab 11 of the upper vehicle assembly 1, so that only one person is required to complete the whole operation process of driving the vehicle and collecting samples at the same time.

[0054] As an optional implementation, Figure 1 , Figure 2 , Figure 3 As shown, the traveling mechanism includes an engine 212, a hydraulic pump 213, a hydraulic motor 210, a transfer case 29, a transmission shaft 211, a front wheel assembly and a rear wheel assembly. The engine 212 is connected to the hydraulic pump 213, the hydraulic pump 213 is connected to the hydraulic motor 210, the hydraulic motor 210 is connected to the transmission shaft 211 through the transfer case 29, and the front axle 23 of the front wheel assembly and the rear axle 25 of the rear wheel assembly are respectively connected to the transmission shaft 211.

[0055] The engine 212 drives the hydraulic pump 213 to work, and the high-pressure oil generated by the hydraulic pump 213 enters the hydraulic motor 210, driving the output shaft of the hydraulic motor 210 to generate rotational motion. After being decelerated by the transfer case 29, the power is transmitted to the drive shaft 211, and the drive shaft 211 transmits the power to the front axle 23 and the rear axle 25 respectively, driving the front tire 24 of the front wheel assembly and the rear tire 26 of the rear wheel assembly to rotate, thereby realizing the driving action of the sampling vehicle.

[0056] As an optional implementation, Figure 2 , Figure 3 As shown, the slewing mechanism includes a slewing motor 12, a reducer 13 and a slewing bearing 27. The slewing motor 12 and the reducer 13 are arranged on the upper vehicle assembly 1, and the slewing bearing 27 is arranged on the lower vehicle assembly 2. The hydraulic pump 213 is connected to the slewing motor 12 through the control valve 28, and the slewing motor 12 is connected to the slewing bearing 27 through the reducer 13.

[0057] The engine 212 drives the hydraulic pump 213 to work, and the high-pressure oil generated by the hydraulic pump 213 enters the swing motor 12 through the control valve 28. The swing motor 12 rotates and transmits power to the reducer 13. Since the pinion of the reducer 13 is tightly meshed with the large ring gear of the swing support 27, the large ring gear starts to rotate under the drive of the pinion, thereby driving the upper assembly 1 to freely rotate relative to the lower assembly 2 in the horizontal plane.

[0058] The flow direction of the high-pressure oil can be changed by the control valve 28 to control the rotation direction of the rotary motor 12, thereby driving the upper vehicle platform to rotate left or right relative to the lower vehicle assembly 2.

[0059] Furthermore, the lower vehicle assembly 2 can adopt a split swing structure, including a first lower vehicle frame 21 and a first lower vehicle frame 21, wherein the first lower vehicle frame 21 is connected to the second lower vehicle frame 22 through a swing mechanism so that the two can rotate relative to each other. The slewing bearing 27 is arranged on the first lower vehicle frame 21, that is, the first lower vehicle frame 21 is rotatably connected to the upper vehicle assembly 1.

[0060] It should be noted that the traveling mechanism, the slewing mechanism and the swinging mechanism all adopt conventional drive structures of engineering vehicles in the prior art, and no further details will be given here.

[0061] As an optional implementation, Figure 1 , Figure 4 , Figure 5 As shown, the sampling mechanism 3 includes a lifting arm 31, a lifting arm cylinder 32, a boom 33, a telescopic arm 35, a telescopic cylinder, a swing cylinder 36, a slider 37, an adjustment cylinder 38, a sliding frame 39, a propulsion cylinder 310, a propulsion belt assembly and a sampling arm. The lifting arm cylinder 32, the telescopic cylinder, the adjustment cylinder 38, the swing cylinder 36 and the propulsion cylinder 310 are respectively connected to the hydraulic pump 213 through the control valve 28. The lifting arm cylinder 32 is connected to the lifting arm 31 to drive the lifting arm 31 to swing. One end of the lifting arm 31 is connected to the boom cylinder 34, and the other end is connected to the boom 33. The boom cylinder 34 is connected to the boom 33 to drive the boom 33 to lift or lower. The telescopic arm 35 is connected to the boom 33 through the telescopic cylinder, and the telescopic cylinder drives the telescopic arm 35 to extend and retract, thereby adjusting the extension length of the sampling arm. The telescopic arm 35 is connected to the slider 37 through the swing cylinder 36, and is used to adjust the angle of the sampling arm through a swinging action. The slider 37 is connected to the sliding frame 39 through the adjustment cylinder 38, and the adjustment cylinder 38 drives the sliding frame 39 to reciprocate along the slider 37. The propulsion cylinder 310 and the propulsion belt assembly are arranged on the sliding frame 39. The propulsion cylinder 310 is connected to the sampling arm through the propulsion belt assembly, and is used to drive the sampling arm to advance or retract relative to the sliding frame 39.

[0062] As an optional implementation, Figure 1 , Figure 4 , Figure 5 As shown, the sampling arm includes a rotary motor 311, a jaw opening cylinder 312, a drill rod 313, a push rod 314 and a sampling head 315. The rotary motor 311 is arranged on the propulsion belt assembly and connected to the drill rod 313, and is used to drive the drill rod 313 to rotate. The jaw opening cylinder 312 is arranged in the drill rod 313 and is connected to the sampling head 315 through the push rod 314, and is used to drive the jaws of the sampling head 315 to open and close. The jaw opening cylinder 312 is connected to the hydraulic pump 213 through the control valve 28.

[0063] Furthermore, the rotary motor 311 is connected to the propulsion belt assembly through the mounting seat 316. The propulsion belt assembly includes a first propulsion belt 317 and a second propulsion belt 318. One end of the first propulsion belt 317 is connected to the mounting seat 316, and the other end bypasses the transmission wheel 319 and is connected to the sliding frame 39. One end of the second propulsion belt 318 is connected to the movable end of the propulsion cylinder 310, and the other end bypasses the transmission wheel 319 and is connected to the mounting seat 316.

[0064] The engine 212 drives the hydraulic pump 213 to work. The high-pressure oil generated by the hydraulic pump 213 enters the propulsion cylinder 310 through the control valve 28. The telescopic action of the propulsion cylinder 310 is transmitted to the mounting seat 316 through the second propulsion belt 318, thereby driving the sampling arm to advance or retract.

[0065] The rotary motor 311 drives the drill rod 313 to rotate so as to realize the drilling action of the sampling head 315. The drill rod 313 is connected to the sliding frame 39 through a bearing.

[0066] The jaw opening cylinder 312 drives the jaws of the sampling head 315 to open and close through the push rod 314 to grab or release the coal sample.

[0067] The rotary drilling method can meet the needs of coal pile sampling in winter.

[0068] As an optional implementation, Figure 1 , Figure 6 As shown, the material storage mechanism 4 also includes a lifting cylinder 44, a connecting rod assembly 45 and a lifting arm 46. The lifting cylinder 44 is arranged on the lowering assembly 2, and is connected to the hydraulic pump 213 through the control valve 28, and is connected to the lifting arm 46 through the connecting rod assembly 45. The first material box 41 and the second material box 42 are arranged on the lifting arm 46.

[0069] Furthermore, the first material box 41 is connected to the lifting arm 46 via a bracket 47 , and the second material box 42 is detachably connected to the lifting arm 46 .

[0070] The engine 212 drives the hydraulic pump 213 to work. The high-pressure oil generated by the hydraulic pump 213 enters the lifting cylinder 44 through the control valve 28. The lifting cylinder 44 extends and drives the lifting arm 46 through the connecting rod assembly 45 to lift the first material box 41 and the second material box 42 to a preset height.

[0071] As an optional implementation, Figure 1 , Figure 6 , Figure 7 , Figure 8 As shown, the first feed port and the first discharge port of the first material box 41 and the second feed port and the second discharge port of the second material box 42 are respectively sealed by corresponding material box doors, and the material box doors are respectively controlled to open and close by material box cylinders, and the material box cylinders are connected to the hydraulic pump 213 through the control valve 28.

[0072] Furthermore, the first feed port and the first discharge port of the first material box 41 are sealed by the first feed door 411 and the first discharge door 414 respectively; the first feed door 411 is opened and closed by the first feed cylinder 412 , and the first discharge door 414 is opened and closed by the first discharge cylinder 413 .

[0073] The second feed port and the second discharge port of the second material box 42 are sealed by the second feed door 421 and the second discharge door 423 respectively. The second feed door 421 is controlled to open and close by the second feed cylinder 422, and the second discharge door 423 is controlled to open and close by the second discharge cylinder 424. The second discharge door 423 is a double-opening design, and the second discharge cylinder 424 and the second discharge door 423 can be opened to a controllable degree, thereby adjusting the unloading speed.

[0074] There are four weighing sensors 43 , which are respectively arranged at the four corners of the bottom of the first material box 41 to obtain the weight of the coal sample to be weighed.

[0075] The second material box 42 can be docked with the sample preparation workstation and is also provided with a slide rail for docking with the transfer vehicle.

[0076] The steps of sampling and unloading of the present invention include:

[0077] Step 1: The engine 212 drives the hydraulic pump 213 to work. The high-pressure oil generated by the hydraulic pump 213 is distributed to the arm cylinder 32, the telescopic cylinder, the adjustment cylinder 38, the swing cylinder 36 and the thrust cylinder 310 through the control valve 28, providing power for the action of the sampling mechanism 3.

[0078] Step 2: Adjust the angle of the lifting arm 31 through the lifting arm cylinder 32, the boom cylinder 34 drives the boom 33 to lift, the telescopic cylinder controls the extension of the telescopic arm 35, the adjustment cylinder 38 adjusts the sliding frame 39 to move forward or backward, and the swing cylinder 36 adjusts the rotation of the sliding frame 39, thereby adjusting the position of the sampling arm.

[0079] Step 3: The slewing mechanism drives the vehicle platform to rotate to a preset angle, and aligns the sampling arm with the first sampling point of the coal pile.

[0080] Step 4: Adjust the angle of the sampling arm using the hydraulic cylinder.

[0081] Step 5: Adjust the angle of the arm 31 and the angle of the sliding frame 39 by the arm cylinder 32 and the swing cylinder 36 so that the sampling head 315 is accurately aligned with the surface of the first sampling point of the coal pile, and fine-tune the angle of the sliding frame 39 by adjusting the cylinder 38.

[0082] Step 6: The rotary motor 12 drives the drill rod 313 to rotate, and the sampling arm moves toward the drilling direction under the drive of the propulsion cylinder 310, and the sampling head 315 rotates and drills into the coal pile. During the drilling process, the clamping jaws are always kept in a closed state.

[0083] Step 7: When the sampling head 315 drills into the coal pile and reaches the preset depth of the first sampling point, the jaw opening cylinder 312 drives the jaws of the sampling head 315 to open and continue drilling, so that the coal enters the sampling head 315.

[0084] Step 8: After the first sub-sample is taken, the rotary motor 12 stops working, the drill rod 313 stops drilling, and the jaw opening cylinder 312 drives the jaws of the sampling head 315 to close, so that the coal sample is firmly grasped in the sampling head 315.

[0085] Step 9: The rotary motor 12 and the push-pull cylinder work simultaneously to move the sampling head 315 along the rotation axis to separate from the coal pile. When the sampling depth is deep, the cylinder 38 needs to be adjusted for assistance.

[0086] Step 10: After the sampling head 315 is completely separated from the coal pile, adjust the posture of the sampling arm so that the sampling head 315 is aligned with the feed port of the first material box 41, the first feed cylinder 412 drives the first feed door 411 to open, the push-pull cylinder drives the drill rod 313 to move downward and enter the first material box 41, the jaw opening cylinder 312 drives the jaws of the sampling head 315 to open, so that the coal sample falls into the first material box 41, the push-pull cylinder drives the drill rod 313 to exit the first material box 41, the jaw opening cylinder 312 drives the jaws of the sampling head 315 to close, the first feed cylinder 412 drives the first feed door 411 to close, and the weighing sensor 43 weighs the coal sample.

[0087] The sampling vehicle can also be driven by the walking mechanism to move to the second sampling point, and steps 2 to 6 can be repeated.

[0088] Step 11: When the sampling head 315 drills into the coal pile and reaches the preset depth of the second sampling point, the jaw opening cylinder 312 drives the jaws of the sampling head 315 to open.

[0089] Step 12: Rotate and drill, the coal at the second sampling point enters the sampling head 315. During the coal mining process, the claw cylinder 312 is no longer locked, allowing the push rod 314 to passively rise due to the resistance of the coal during the drilling process or actively rise through the claw cylinder 312 to control more coal to enter the sampling head 315.

[0090] Step 13: After the sampling is completed, rotate again and retreat so that the sampling head 315 moves along the rotation axis and leaves the coal pile.

[0091] Step 14: Adjust the posture of the sampling arm so that the sampling head 315 is aligned with the feed port of the first material box 41. The first feed cylinder 412 drives the first feed door 411 to open. The push-pull cylinder drives the drill rod 313 to move downward and enter the first material box 41. The jaw opening cylinder 312 drives the jaws of the sampling head 315 to open, so that the coal sample falls into the first material box 41. The push-pull cylinder drives the drill rod 313 to exit the first material box 41. The jaw opening cylinder 312 drives the jaws of the sampling head 315 to close. The first feed cylinder 412 drives the first feed door 411 to close, and the weighing sensor 43 weighs the coal sample.

[0092] Step 15: The second feed cylinder 422 drives the second feed door 421 to open, and the first discharge cylinder 413 drives the first discharge door 414 to open. The weighed coal sample is transferred from the first material box 41 to the second material box 42 for combined storage. Then, the first discharge cylinder 413 drives the first discharge door 414 to close, and the second feed cylinder 422 drives the second feed door 421 to close. When unloading is required, the second discharge cylinder 424 drives the second discharge door 423 to open, and controls its opening degree to adjust the unloading speed.

[0093] As an optional implementation, Figure 1 , Figure 6 , Figure 7 , Figure 8 As shown, a material distribution hopper 48 is disposed in the second material box 42 , and evenly distributed material drop holes 481 are opened on the material distribution hopper 48 .

[0094] Furthermore, the material distribution hopper 48 adopts a conical structure and is provided with two layers of material dropping holes 481. The function of the material distribution hopper 48 is to evenly distribute the sampled coal material through the material distribution hopper 48 when the sampled coal material falls, which can effectively prevent material accumulation.

[0095] As an optional implementation, Figure 1 As shown, the scanning unit 5 is connected to the upper vehicle assembly 1 via a universal rotation mechanism.

[0096] Furthermore, the scanning unit 5 includes a three-dimensional laser scanning device.

[0097] The function of the universal rotation mechanism is to allow the scanning unit 5 to rotate freely in multiple directions so as to be able to comprehensively and accurately scan the surface conditions of the coal pile. The universal rotation mechanism adopts the existing technology and will not be described in detail here.

[0098] like Fig. 9 As shown, the present invention provides an intelligent coal sampling method, comprising the following steps:

[0099] S1: The sampling vehicle moves to the predetermined position of the sampling site through the driving mechanism, and performs a full-scale three-dimensional real-scene scan of the coal pile on site through the scanning unit 5 to obtain the three-dimensional morphological data of the coal pile surface, and enters it into the central control module of the sampling vehicle as basic data.

[0100] S2: The central control module calculates the total volume of the coal pile based on the basic data and uses the AI ​​calculation model, and calculates the total weight of the coal pile according to the density. At the same time, it compares and verifies the total mass of the coal pile provided by the owner, calculates and analyzes the three-dimensional shape of the coal pile, determines the geometric center of the coal pile, and establishes a coordinate system with the geometric center as the origin.

[0101] S3: Design the number of sampling points based on the three-dimensional shape, total weight and sampling point requirements of the coal pile. Use massive data for simulation calculations, randomly divide sampling areas of equal volume consistent with the number of sampling points, and obtain the number of volume elements.

[0102] S4: A three-dimensional topography is formed in each sampling area, and n point clouds are randomly generated to simulate potential sampling locations.

[0103] S5: Analyze the three-dimensional morphology of each sampling area and index the position of the point cloud in the volume element. Filter out the point cloud whose index number does not exceed the set value, extract voxel features, and use regression prediction to determine the geometric center of the point cloud. This position is the sampling point, and its coordinates are marked at the same time.

[0104] S6: Based on the location of the sampling vehicle, the layout of the coal pile and the distribution of the sampling points, the AI ​​calculation model is used to simulate and calculate and plan the optimal sampling sequence. Subsequently, the sampling mechanism 3 is controlled to perform the sampling action in the predetermined sequence.

[0105] When the sampling mechanism 3 collects one sub-sample at a time, the specific sampling steps are as follows: Step 1: The engine 212 drives the hydraulic pump 213 to work, and the high-pressure oil generated by the hydraulic pump 213 is distributed to the arm cylinder 32, the telescopic cylinder, the adjustment cylinder 38, the swing cylinder 36 and the thrust cylinder 310 through the control valve 28, providing power for the operation of the sampling mechanism 3.

[0106] Step 2: Adjust the angle of the lifting arm 31 through the lifting arm cylinder 32, the boom cylinder 34 drives the boom 33 to lift, the telescopic cylinder controls the extension of the telescopic arm 35, the adjustment cylinder 38 adjusts the sliding frame 39 to move forward or backward, and the swing cylinder 36 adjusts the rotation of the sliding frame 39, thereby adjusting the position of the sampling arm.

[0107] Step 3: The slewing mechanism drives the vehicle platform to rotate to a preset angle, and aligns the sampling arm with the first sampling point of the coal pile.

[0108] Step 4: Adjust the angle of the sampling arm using the hydraulic cylinder.

[0109] Step 5: Adjust the angle of the arm 31 and the angle of the sliding frame 39 by the arm cylinder 32 and the swing cylinder 36 so that the sampling head 315 is accurately aligned with the surface of the first sampling point of the coal pile, and fine-tune the angle of the sliding frame 39 by adjusting the cylinder 38.

[0110] Step 6: The rotary motor 12 drives the drill rod 313 to rotate, and the sampling arm moves toward the drilling direction under the drive of the propulsion cylinder 310, and the sampling head 315 rotates and drills into the coal pile. During the drilling process, the clamping jaws are always kept in a closed state.

[0111] Step 7: When the sampling head 315 drills into the coal pile and reaches the preset depth of the first sampling point, the jaw opening cylinder 312 drives the jaws of the sampling head 315 to open and continue drilling, so that the coal enters the sampling head 315.

[0112] Step 8: After the first sub-sample is taken, the rotary motor 12 stops working, the drill rod 313 stops drilling, and the jaw opening cylinder 312 drives the jaws of the sampling head 315 to close, so that the coal sample is firmly grasped in the sampling head 315.

[0113] Step 9: The rotary motor 12 and the push-pull cylinder work simultaneously to move the sampling head 315 along the rotation axis to separate from the coal pile. When the sampling depth is deep, the cylinder 38 needs to be adjusted to assist until the sampling head 315 is completely separated from the coal pile.

[0114] When the sampling mechanism 3 collects two sub-samples at a time, the specific sampling steps are as follows: Step 1: The engine 212 drives the hydraulic pump 213 to work, and the high-pressure oil generated by the hydraulic pump 213 is distributed to the arm cylinder 32, the telescopic cylinder, the adjustment cylinder 38, the swing cylinder 36 and the thrust cylinder 310 through the control valve 28, providing power for the action of the sampling mechanism 3.

[0115] Step 2: Adjust the angle of the lifting arm 31 through the lifting arm cylinder 32, the boom cylinder 34 drives the boom 33 to lift, the telescopic cylinder controls the extension of the telescopic arm 35, the adjustment cylinder 38 adjusts the sliding frame 39 to move forward or backward, and the swing cylinder 36 adjusts the rotation of the sliding frame 39, thereby adjusting the position of the sampling arm.

[0116] Step 3: The slewing mechanism drives the vehicle platform to rotate to a preset angle, and aligns the sampling arm with the first sampling point of the coal pile.

[0117] Step 4: Adjust the angle of the sampling arm using the hydraulic cylinder.

[0118] Step 5: Adjust the angle of the arm 31 and the angle of the sliding frame 39 by the arm cylinder 32 and the swing cylinder 36 so that the sampling head 315 is accurately aligned with the surface of the first sampling point of the coal pile, and fine-tune the angle of the sliding frame 39 by adjusting the cylinder 38.

[0119] Step 6: The rotary motor 12 drives the drill rod 313 to rotate, and the sampling arm moves toward the drilling direction under the drive of the propulsion cylinder 310, and the sampling head 315 rotates and drills into the coal pile. During the drilling process, the clamping jaws are always kept in a closed state.

[0120] Step 7: When the sampling head 315 drills into the coal pile and reaches the preset depth of the first sampling point, the jaw opening cylinder 312 drives the jaws of the sampling head 315 to open and continue drilling, so that the coal enters the sampling head 315.

[0121] Step 8: After the first sub-sample is taken, the rotary motor 12 stops working, the drill rod 313 stops drilling, and the jaw opening cylinder 312 drives the jaws of the sampling head 315 to close, so that the coal sample is firmly grasped in the sampling head 315.

[0122] Step 9: The rotary motor 12 and the push-pull cylinder work simultaneously to move the sampling head 315 along the rotation axis to separate from the coal pile. When the sampling depth is deep, the cylinder 38 needs to be adjusted for assistance.

[0123] Step 10: After the sampling head 315 is completely separated from the coal pile, the sampling vehicle is driven by the walking mechanism to move to the second sampling point, and steps 2 to 6 are repeated.

[0124] Step 11: When the sampling head 315 drills into the coal pile and reaches the preset depth of the second sampling point, the jaw opening cylinder 312 drives the jaws of the sampling head 315 to open.

[0125] Step 12: Rotate and drill, the coal at the second sampling point enters the sampling head 315. During the coal mining process, the claw cylinder 312 is no longer locked, allowing the push rod 314 to passively rise due to the resistance of the coal during the drilling process or actively rise through the claw cylinder 312 to control more coal to enter the sampling head 315.

[0126] Step 13: After the sampling is completed, rotate and retreat again to allow the sampling head 315 to move along the rotation axis and completely leave the coal pile.

[0127] S7: The coal sample collected by the sampling mechanism 3 is sent to the first material box 41 for weighing, and the weighed coal sample is transferred to the second material box 42 for combined storage. The specific unloading steps are as follows:

[0128] Step 1: Adjust the posture of the sampling arm so that the sampling head 315 is aligned with the feed port of the first material box 41. The first feed cylinder 412 drives the first feed door 411 to open. The push-pull cylinder drives the drill rod 313 to move downward and enter the first material box 41. The jaw opening cylinder 312 drives the jaws of the sampling head 315 to open, so that the coal sample falls into the first material box 41. The push-pull cylinder drives the drill rod 313 to exit the first material box 41. The jaw opening cylinder 312 drives the jaws of the sampling head 315 to close. The first feed cylinder 412 drives the first feed door 411 to close, and the weighing sensor 43 weighs the coal sample.

[0129] Step 2: The second feed cylinder 422 drives the second feed door 421 to open, and the first discharge cylinder 413 drives the first discharge door 414 to open. The weighed coal sample is transferred from the first material box 41 to the second material box 42 for combined storage. Then, the first discharge cylinder 413 drives the first discharge door 414 to close, and the second feed cylinder 422 drives the second feed door 421 to close. When unloading is required, the second discharge cylinder 424 drives the second discharge door 423 to open, and controls its opening degree to adjust the unloading speed.

[0130] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0131] In the description of the present invention, it should be noted that, unless otherwise specified, the meaning of "plurality" is two or more. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0132] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0133] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "an example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0134] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An intelligent coal sampling vehicle, characterized in that: It includes an on-board assembly, an off-board assembly, a sampling mechanism, a material storage mechanism and a control mechanism; the on-board assembly is connected to the off-board assembly through a rotating mechanism, and the off-board assembly is provided with a traveling mechanism; the sampling mechanism is arranged on the on-board assembly; the material storage mechanism is arranged on the off-board assembly, and includes a first material box and a second material box, the first material box is provided with a weighing sensor, and the discharge port of the first material box is arranged corresponding to the feed port of the second material box; the control mechanism includes a central control module and a scanning unit, the scanning unit is rotatably arranged on the on-board assembly, and the rotating mechanism, the sampling mechanism, the material storage mechanism and the scanning unit are electrically connected to the central control module respectively.

2. The intelligent coal sampling vehicle according to claim 1 is characterized in that: The traveling mechanism comprises an engine, a hydraulic pump, a hydraulic motor, a transfer case, a transmission shaft, a front wheel assembly and a rear wheel assembly, wherein the engine is connected to the hydraulic pump, the hydraulic pump is connected to the hydraulic motor, the hydraulic motor is connected to the transmission shaft via the transfer case, and the front axle of the front wheel assembly and the rear axle of the rear wheel assembly are respectively connected to the transmission shaft.

3. The intelligent coal sampling vehicle according to claim 2 is characterized in that: The slewing mechanism includes a slewing motor, a reducer and a slewing bearing. The slewing motor and the reducer are arranged on the upper vehicle assembly, and the slewing bearing is arranged on the lower vehicle assembly. The hydraulic pump is connected to the slewing motor through a control valve, and the slewing motor is connected to the slewing bearing through the reducer.

4. The intelligent coal sampling vehicle according to claim 3 is characterized in that: The sampling mechanism comprises a lifting arm, a lifting arm cylinder, a boom, a telescopic arm, a telescopic cylinder, a swing cylinder, a slider, an adjustment cylinder, a sliding frame, a propulsion cylinder, a propulsion belt assembly and a sampling arm; the lifting arm cylinder, the telescopic cylinder, the adjustment cylinder, the swing cylinder and the propulsion cylinder are respectively connected to the hydraulic pump through a control valve; the lifting arm cylinder is connected to the lifting arm; one end of the lifting arm is connected to the boom cylinder; the boom cylinder is connected to the boom; the telescopic arm is connected to the boom through the telescopic cylinder, and the telescopic arm is connected to the slider through the swing cylinder; The sliding block is connected to the sliding frame through the adjusting oil cylinder; the propulsion oil cylinder and the propulsion belt assembly are arranged on the sliding frame; the propulsion oil cylinder is connected to the sampling arm through the propulsion belt assembly.

5. The intelligent coal sampling vehicle according to claim 4 is characterized in that: The sampling arm includes a rotary motor, a jaw opening cylinder, a drill rod, a push rod and a sampling head. The rotary motor is arranged on the propulsion belt assembly and connected to the drill rod; the jaw opening cylinder is arranged in the drill rod and connected to the sampling head through the push rod, and the jaw opening cylinder is connected to the hydraulic pump through a control valve.

6. The intelligent coal sampling vehicle according to claim 2 is characterized in that: The material storage mechanism also includes a lifting cylinder, a connecting rod assembly and a lifting arm. The lifting cylinder is arranged on the lowering assembly, and is connected to the hydraulic pump through a control valve, and is connected to the lifting arm through a connecting rod assembly; the first material box and the second material box are arranged on the lifting arm.

7. The intelligent coal sampling vehicle according to claim 6 is characterized in that: The feed inlet and the discharge outlet of the first material box and the second material box are respectively sealed by corresponding material box doors, and the material box doors are controlled to open and close by a material box cylinder, and the material box cylinder is connected to the hydraulic pump through a control valve.

8. The intelligent coal sampling vehicle according to claim 7 is characterized in that: A material distribution hopper is arranged in the second material box, and evenly distributed material dropping holes are opened on the material distribution hopper.

9. The intelligent coal sampling vehicle according to claim 1, characterized in that: The scanning unit is connected to the vehicle upper assembly via a universal rotating mechanism.

10. An intelligent coal sampling method, characterized in that: The steps include: S1: The sampling vehicle moves to the predetermined position of the sampling site through the driving mechanism, and performs a full range of three-dimensional real-scene scanning of the coal pile on site through the scanning unit to obtain the three-dimensional morphological data of the coal pile surface, and enters it into the central control module of the sampling vehicle as basic data; S2: The central control module calculates the total volume of the coal pile based on the basic data and the AI ​​calculation model, and calculates the total weight of the coal pile according to the density. At the same time, it compares and verifies the total mass of the coal pile provided by the owner, calculates and analyzes the three-dimensional shape of the coal pile, determines the geometric center of the coal pile, and establishes a coordinate system with the geometric center as the origin; S3: Design the number of sampling points according to the three-dimensional shape, total weight and sampling point requirements of the coal pile; use massive data to perform simulation calculations, randomly divide sampling areas of equal volume consistent with the number of sampling points, and obtain the number of volume elements; S4: Form a three-dimensional topography in each sampling area and randomly generate n point clouds to simulate potential sampling locations; S5: Analyze the three-dimensional morphology of each sampling area, index the position of the point cloud in the volume element; select the point cloud whose index number does not exceed the set value, extract voxel features, and use regression prediction to determine the geometric center of the point cloud. This position is the sampling point, and its coordinates are marked at the same time; S6: Based on the location of the sampling vehicle, the layout of the coal pile and the distribution of the sampling points, the AI ​​calculation model is used to simulate and calculate and plan the optimal sampling sequence; then, the sampling mechanism is controlled to perform the sampling action in the predetermined sequence; S7: The coal samples collected by the sampling mechanism are sent to the first material box for weighing, and the weighed coal samples are transferred to the second material box for combined storage.

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